An electrical automation monitoring device for a tunnel substation

Abstract

The present invention discloses an electrical automation monitoring device for a tunnel substation, which includes a track; an inspection robot main body, and the inspection robot main body is installed on the track through driving wheels and guiding wheels; a detection mechanism, and the detection mechanism is installed outside the track, and the inspection robot main body is detected after moving to the detection device; the detection mechanism includes a frame located outside the track, a lifting mechanism is provided on one side of the frame, a plurality of detection units for detecting a plurality of driving wheels are provided at the bottom of the frame, and a lifting mechanism for lifting the driving wheels is provided on one side of the track. When the distance between the mountain tunnel and the urban area or the power company is far, the inspection robot is used for monitoring. After the inspection robot detects an abnormal signal, the staff can arrive at the substation in time for maintenance, reducing the consumption of manpower and material resources. Moreover, the inspection robot can stably monitor the substation in all directions, making it more convenient to comprehensively monitor the substation.

Description

Technical Field

[0001] The present invention relates to the technical field of substation detection, and particularly to an electrical automation monitoring device for a tunnel substation. Background Art

[0002] A substation refers to a place in the power system where voltage and current are transformed, and electric energy is received and distributed. The substation in a power plant is a step-up substation, and its function is to step up the electric energy generated by the generator and feed it into the high-voltage power grid.

[0003] A tunnel is an engineering structure buried in the stratum and is a form of human utilization of underground space. Tunnels can be divided into traffic tunnels, hydraulic tunnels, municipal tunnels, mine tunnels, and military tunnels. In order to ensure the ventilation conditions inside the highway tunnel, reduce toxic gases and ensure the oxygen concentration, ventilation equipment needs to be installed. Lighting fixtures and emergency induction lights need to be installed inside the tunnel. Generally, substations can be arranged at both ends of the tunnel to complete the power supply for the electrical equipment inside the tunnel. For extra-long tunnels over 3KM, substations must be added inside the tunnel to meet the power supply for the electrical equipment inside the tunnel. In some mountain tunnels, the distance from the urban area and service area is relatively far, and the sensors in electronic equipment such as electrical cabinets are likely to age and fail, requiring personnel to regularly check the substation manually to reduce the possibility of substation failures. However, the distance between mountain tunnels and the urban area or power company is relatively far. When maintenance personnel conduct inspections, they need to take transportation to reach the location and then carry out maintenance, consuming a lot of manpower and material resources, and the maintenance cost is relatively high. Therefore, we propose an electrical automation monitoring device for a tunnel substation. Summary of the Invention

[0004] The purpose of the present invention is to provide an electrical automation monitoring device for a tunnel substation to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An electrical automation monitoring device for a tunnel substation, comprising:

[0006] Track;

[0007] An inspection robot main body, which is installed on the track through driving wheels and guiding wheels;

[0008] A detection mechanism, which is installed outside the track, and the inspection robot main body is detected after moving to the detection device;

[0009] The detection mechanism includes a frame located outside the track, a lifting mechanism is provided on one side of the frame, a plurality of detection units for detecting a plurality of driving wheels are provided at the bottom of the frame, and a lifting mechanism for lifting the driving wheels is provided on one side of the track.

[0010] Preferably, the lifting mechanism includes guide bars installed on both sides of the track. The guide bars are located at the bottom of the guide wheels. Two notches are provided at the bottom of the track. Flap plates are provided at the positions of the notches on the track. The flap plates are rotatably connected to the track. Support columns for supporting the flap plates are provided at the bottoms of the two flap plates. Pistons are provided at the bottoms of the two support columns. A guide cylinder is provided at the bottom of the track. The guide cylinder is connected to the track through a first spring. A sleeve and a sleeve rod are provided on one side of the first spring. A first switch is provided at the bottom of the sleeve rod. An electromagnet is provided on one side of the track where the guide bar is located. The electromagnet is electrically connected to the first switch.

[0011] Preferably, the lifting and lowering mechanism includes a first motor installed above the frame. A screw rod is connected to the bottom of the first motor. A threaded sleeve threadedly connected to the screw rod is provided inside the frame. A second switch is provided on one side of the electromagnet. The second switch is electrically connected to the first motor. Guide columns and guide sleeves are provided between the frame and the roof.

[0012] Preferably, the detection unit includes a second motor installed on one side of the frame. A drive shaft is connected to the output end of the second motor. A detection wheel is connected to the outside of the drive shaft. Two deflection wheels are provided on both sides of the detection wheel. Two second springs are respectively connected between the two deflection wheels and the frame. A first protrusion is provided on one side of the deflection wheel where it is located on the frame. A second protrusion for jacking up the first protrusion is provided on the frame on the side of the deflection wheel.

[0013] Preferably, a third switch is provided at the bottom of the frame. The third switch is electrically connected to the first motor and the second motor respectively. A fourth switch is provided on one side of the third switch. The fourth switch is electrically connected to the electromagnet and the second motor respectively.

[0014] Preferably, the drive wheel includes a metal part installed on the outside of the rotating shaft of the inspection robot main body. A rubber part is provided on the outside of the metal part. An extrusion cavity is provided inside the rubber part. A plurality of collection cavities for recovering sludge are provided on the outside of the rubber part. The metal part is sleeved on the outside of the connecting key of the rotating shaft. A nut for fixing the metal part is provided on the outside of the rotating shaft.

[0015] Preferably, a plurality of cleaning rods for removing sludge in the collection cavity are provided on the outside of the deflection wheel. The cleaning rods are rubber rods.

[0016] Preferably, the cleaning rods are arc-shaped, and the area of the collection cavity gradually increases along the direction from the drive wheel to the axis of the rotating shaft.

[0017] Preferably, an axial pressure sensor for detecting the pressure in the axial direction of the drive wheel axis is provided between the drive shaft and the frame. A radial pressure sensor is provided on the outside of the drive shaft.

[0018] The present invention has at least the following beneficial effects:

[0019] Unmanned monitoring is carried out in the tunnel substation through the inspection robot main body and the track. The vulnerable parts of the inspection robot are detected regularly by the detection mechanism. Compared with the prior art, the mountain tunnel is far from the urban area or the power company. When the maintenance personnel detect, they need to take transportation to reach the location and then carry out the maintenance, which consumes a lot of manpower and material resources and has a high maintenance cost. In the present invention, when the mountain tunnel is far from the urban area or the power company, the inspection robot is used for monitoring. After the inspection robot detects an abnormal signal, the staff can arrive at the substation in time for maintenance, reducing the consumption of manpower and material resources. Moreover, the inspection robot can stably monitor the substation in all directions, making it more convenient to comprehensively monitor the substation. Secondly, by setting up a detection mechanism to detect the inspection robot regularly, the service life of the inspection robot is extended and the maintenance cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of the present invention;

[0021] Figure 2 is a bottom view structural diagram of the present invention;

[0022] Figure 3 is a structural diagram of the inspection robot of the present invention;

[0023] Figure 4 is a partial view of the driving wheel and the guide wheel of the present invention;

[0024] Figure 5 is a partial cross-sectional view of the driving wheel of the present invention;

[0025] Figure 6 is a cross-sectional view of the driving wheel of the present invention;

[0026] Figure 7 is a partial view of the detection mechanism of the present invention;

[0027] Figure 8 is a partial exploded view of the detection unit of the present invention;

[0028] Figure 9 is Figure 8 the enlarged view of area A in

[0029] Figure 10 is a partial cross-sectional view of the frame of the present invention.

[0030] In the figure: 1 - track; 2 - main body of the inspection robot; 3 - driving wheel; 31 - metal part; 32 - rubber part; 33 - extrusion cavity; 34 - collection cavity; 4 - guiding wheel; 5 - detection mechanism; 6 - lifting mechanism; 61 - first motor; 62 - screw rod; 63 - guide post; 64 - guide sleeve; 7 - detection unit; 71 - second motor; 72 - driving shaft; 73 - detection wheel; 74 - deflection wheel; 75 - second spring; 76 - first protrusion; 77 - second protrusion; 78 - axial pressure sensor; 79 - radial pressure sensor; 8 - lifting mechanism; 81 - guiding strip; 82 - flap; 83 - support column; 84 - piston; 85 - sleeve; 86 - first spring; 87 - guiding cylinder; 88 - sleeve rod; 89 - electromagnet; 9 - frame; 10 - cleaning rod; 11 - first switch; 12 - second switch; 13 - third switch; 14 - fourth switch. Specific embodiments

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figures 1-10 , the present invention provides a technical solution: an electrical automation monitoring device for a tunnel substation, including:

[0033] The track 1 is installed on the roof of the substation through a plurality of connecting rods and bolts. The track 1 is fixed relative to the substation wall, and the track 1 provides a stable movement path for the inspection robot.

[0034] The main body 2 of the inspection robot is installed on the track 1 through the driving wheel 3 and the guiding wheel 4. The driving wheel 3 of the main body 2 of the inspection robot is driven by the internal driving motor of the inspection robot, so as to ensure the stable movement of the inspection robot on the track 1. The guiding wheel 4 plays a role in facilitating the more stable movement of the main body 2 of the inspection robot on the track 1, which is convenient for the use of the inspection robot. The inspection robot can inspect the cabinets in the tunnel substation at fixed times, so as to ensure that technicians can timely discover the abnormalities of the substation, so that technicians can deal with them in time and reduce the possibility of substation failures.

[0035] The detection mechanism 5 is installed outside the track 1. The main body 2 of the inspection robot is detected after moving to the detection device. The detection mechanism 5 can periodically detect the main body 2 of the inspection robot, which is convenient for technicians to timely discover the faults of the inspection robot, extend the service life of the inspection robot, and ensure that the working state of the inspection robot is relatively stable.

[0036] The detection mechanism 5 includes a frame 9 located outside the track 1. A lifting mechanism 6 is provided on one side of the frame 9, and a plurality of detection units 7 for detecting a plurality of drive wheels 3 are provided at the bottom of the frame 9. A lifting mechanism 8 for lifting the drive wheels 3 is provided on one side of the track 1. After the inspection robot main body 2 moves to the bottom of the detection unit 7, the lifting mechanism 8 lifts the inspection robot main body 2, so as to facilitate the detection unit 7 to be lowered by the lifting mechanism 6 for detection, which is convenient for detecting the drive wheels 3 of the inspection robot. The substation in the tunnel needs to use a heat dissipation device for heat dissipation. Because the passing vehicles in the tunnel cause dust to be easily lifted, the dust will enter the substation through the heat dissipation device, resulting in more dust adhering to the surface of the track 1. The air in the tunnel is relatively humid. On rainy days or in humid weather, the accumulated dust on the track 1 will turn into sludge, which will hinder the movement of the drive wheels 3 when the drive wheels 3 move. Secondly, the rubber part 32 of the drive wheels 3 is easily corroded when they are in a humid environment for a long time. Moreover, at the shaft position of the drive wheels 3 and the inspection robot main body 2, looseness will occur after long-term use, and the drive wheels 3 are easily damaged. Therefore, it is necessary to regularly detect the drive wheels 3 to ensure the normal use of the inspection robot. By periodically checking the drive wheels 3 of the inspection robot, the use of the drive wheels 3 is facilitated.

[0037] The lifting mechanism 8 includes guide bars 81 installed on both sides of the track 1. The guide bars 81 are fixedly connected to the track 1 and are located at the bottom of the guide wheels 4. Two notches are formed at the bottom of the track 1. Flap plates 82 are provided at the positions of the notches on the track 1. The flap plates 82 are rotatably connected to the track 1. One end of the flap plate 82 can be attached to the surface of the track 1, playing a role in supporting the driving wheels 3, facilitating the passage of two of the driving wheels 3. Support columns 83 for supporting the flap plates 82 are provided at the bottoms of the two flap plates 82. Pistons 84 are provided at the bottoms of the two support columns 83. The support columns 83 are fixedly connected to the pistons 84. A sleeve 85 is slidably connected to the piston 84. A sleeve 85 is provided at the bottom of the track 1. The sleeve 85 is connected to the track 1 by a first spring 86. The two ends of the first spring 86 are respectively fixedly connected to the track 1 and the sleeve 85. A guide cylinder 87 and a sleeve rod 88 are provided on one side of the spring. A first switch 11 is provided at the bottom of the sleeve rod 88. An electromagnet 89 is provided on one side of the track 1 where the guide bar 81 is located. The electromagnet 89 is fixedly connected to the track 1. The electromagnet 89 is electrically connected to the first switch 11. When the driving wheels 3 move on the track 1, the two driving wheels 3 located in front of the movement of the inspection robot main body 2 will squeeze the previous flap plate 82. The previous flap plate 82 will be pressed down under the pressure of the two driving wheels 3. The front support column 83 will directly squeeze the piston 84, and then the front support column 83 will be lifted. The rear flap plate 82 will be flipped to a larger angle. At this time, the guide wheels 4 always move along the guide bar 81. After the front driving wheel 3 crosses the front flap plate 82, the rear driving wheel 3 and the front driving wheel 3 move onto the four flap plates 82 at the same time. The guide wheels 4 move to the bent position of the guide bar 81. The four driving wheels 3 and the four guide wheels 4 rise under the action of the flap plates 82 and the guide bar 81, and then the entire inspection robot rises directly. When the inspection robot main body 2 moves to the top of the flap plate 82, the support columns 83 on both sides are squeezed by the driving wheels 3 on both sides, and then drive the piston 84 to descend. The inside of the sleeve 85 is in a sealed condition. The sleeve 85 descends under the action of the piston 84, driving the first spring 86 to stretch. The sleeve rod 88 moves relative to the guide cylinder 87. At this time, the first switch 11 is squeezed, and the first switch 11 drives the electromagnet 89 to be energized, generating an adsorption force that directly adsorbs the inspection robot housing to one side of the electromagnet 89. The inspection robot moves along with the guide wheels 4, and then the four driving wheels 3 are completely separated from the flap plates 82. At this time, the inspection robot is stably lifted, facilitating the subsequent detection of the inspection robot by the detection unit 7.

[0038] The lifting mechanism 6 includes a first motor 61 installed above the frame 9. One end of the first motor 61 is fixedly connected to the ceiling. The bottom of the first motor 61 is connected to a screw rod 62, and the screw rod 62 is fixedly connected to the free end of the output shaft of the first motor 61. Inside the frame 9, there is a threaded sleeve threadedly connected to the screw rod 62, and the threaded sleeve is fixedly connected to the frame 9. On one side of the electromagnet 89, there is a second switch 12. The second switch 12 is located on the surface of the electromagnet 89 and is electrically connected to the first motor 61. Between the frame 9 and the roof, there are a guide post 63 and a guide sleeve 64. The guide post 63 is fixedly connected to the frame 9, and the guide sleeve 64 is fixedly connected to the ceiling by bolts. The guide post 63 is slidably connected to the guide sleeve 64. After the electromagnet 89 adsorbs the outer shell of the inspection robot, at this time the second switch 12 is turned on, and the first motor 61 rotates. Under the action of the guide post 63 and the guide sleeve 64, the frame 9 descends, and the detection unit 7 is lowered to the outside of the driving wheel 3, facilitating the detection of the driving wheel 3 by the detection unit 7.

[0039] The detection unit 7 includes a second motor 71 installed on one side of the frame 9. The second motor 71 is fixedly connected to the frame 9. The output end of the second motor 71 is connected to a driving shaft 72, and the driving shaft 72 is relatively fixed to the free end of the output shaft of the second motor 71 through a coupling. The driving shaft 72 can slide relative to the left and right parts of the frame 9. On the outside of the driving shaft 72, there is a detection wheel 73, and the detection wheel 73 is fixedly connected to the driving shaft 72. On both sides of the detection wheel 73, there are two deflection wheels 74, and the deflection wheels 74 are slidably connected to the driving shaft 72. Between the two deflection wheels 74 and the frame 9 respectively, there are second springs 75. One end of the second spring 75 is fixedly connected to the deflection wheel 74, and the other end of the second spring 75 is rotatably connected to the frame 9 through a rotating groove. The end of the second spring 75 is inserted into the rotating groove and can rotate relative to the frame 9 without detaching from the frame 9. On one side of the frame 9 where the deflection wheel 74 is located, there is a first protrusion 76, and the first protrusion 76 is fixedly connected to the deflection wheel 74. On one side of the frame 9 where the deflection wheel 74 is located, there is a second protrusion 77 that jacks up the first protrusion 76, and the second protrusion 77 is fixedly connected to the frame 9.

[0040] An axial pressure sensor 78 for detecting the pressure in the axial direction of the axis of the drive wheel 3 is provided between the drive shaft 72 and the frame 9. The axial pressure sensor 78 is fixedly connected to the frame 9. One end of the axial pressure sensor 78 is in contact with the drive shaft 72. A radial pressure sensor 79 is provided on the outer side of the drive shaft 72. The radial pressure sensor 79 is installed between the drive shaft 72 and the frame 9. The radial pressure sensor 79 can conveniently collect the force conditions on the outer sides of the detection wheel 73 and the drive shaft 72 after the detection wheel 73 rotates relative to the drive wheel 3. If the force is relatively uniform, it indicates that the drive wheel 3 is relatively stable along the circumferential direction, and the drive wheel 3 and the rotating shaft are not loose along the diameter direction. Secondly, the surface of the drive wheel 3 is not damaged. Under the action of the two side deflection wheels 74 pushing the drive wheel 3, if the drive wheel 3 moves axially along the drive shaft 72, it will push the detection wheel 73 to move, and then the value of the axial pressure sensor 78 will change greatly, thus facilitating the comprehensive detection of the drive wheel 3.

[0041] A switch three 13 is provided at the bottom of the frame 9. The switch three 13 is electrically connected to the motor one 61 and the motor two 71 respectively. A switch four 14 is provided on one side of the switch three 13. The switch four 14 is electrically connected to the electromagnet 89 and the motor two 71 respectively. When the motor one 61 drives the frame 9 to descend, after the detection wheel 73 contacts the driving wheel 3, at this time, the switch three 13 is pressed onto the track 1. The switch three 13 turns off the motor one 61 and starts the motor two 71. The motor two 71 drives the driving shaft 72 to rotate. The driving shaft 72 drives the detection wheel 73 to rotate. The detection wheel 73 drives the driving wheel 3 to rotate synchronously. Furthermore, the radial pressure sensor 79 is subjected to the pressure of the driving shaft 72. After the driving wheel 3 is radially damaged or loosened between the rotating shaft, the value of the radial pressure sensor 79 will fluctuate greatly. When the driving wheel 3 rotates radially stably, at this time, the fluctuation of the radial pressure sensor 79 is small, which is convenient for technicians to judge the usage condition of the driving wheel 3. While the detection wheel 73 is rotating, the inner ring of the deflection wheel 74 is inserted into the chute of the driving wheel 3 through the convex block. The deflection wheel 74 rotates with the rotation of the detection wheel 73. After the protrusion one 76 of the deflection wheel 74 moves to the position of the protrusion two 77, the protrusion two 77 lifts the protrusion one 76, and the deflection wheel 74 moves towards the driving wheel 3, thereby pushing the driving wheel 3 to move axially. The spring two 75 is stretched. If the pressure value of the axial pressure sensor 78 does not change, it means that the driving wheel 3 has not become loose along the axial direction of the rotating shaft, thereby ensuring that the driving wheel 3 is in a stable state. The two staggered deflection wheels 74 on both sides can facilitate the detection of both sides of the driving wheel 3. After detecting for a period of time, the motor one 61 continues to descend, and the switch four 14 is pressed onto the track 1. At this time, the motor two 71 stops rotating, and the electromagnet 89 stops being powered on. The driving wheel 3 of the inspection robot rotates in the reverse direction. After the driving wheel 3 stops rotating, with the detection wheel 73 as the fulcrum, it rotates in the reverse direction to provide a reverse force. The magnet detection wheel 73 continues to rotate under the action of the motor one 61, thereby pushing the guiding wheel 4 to move in the reverse direction. Furthermore, the guiding wheel 4 and the driving wheel 3 move in the reverse direction to the track 1 and the guiding strip 81. After the motor one 61 descends to the bottom, it rotates in the reverse direction to lift the detection unit 7 and the frame 9 to the initial position.

[0042] The driving wheel 3 includes a metal part 31 installed outside the rotating shaft of the inspection robot main body 2. The metal part 31 is annular. There is an installation hole in the middle of the metal part 31. A rubber part 32 is provided outside the metal part 31. The rubber part 32 is fixedly connected to the metal part 31. An extrusion cavity 33 is opened inside the rubber part 32. The extrusion cavity 33 is in a sealed state. A plurality of collection cavities 34 for recovering sludge are opened outside the rubber part 32. The collection cavities 34 are convenient for collecting the sludge at the contact position between the rubber part 32 and the track 1, reducing the influence of the sludge on the track 1 on the driving wheel 3. The metal part 31 is sleeved outside the connecting key of the rotating shaft. The connecting key is inserted into the installation hole, and then the metal part 31 is fixed outside the rotating shaft through a nut. When the driving wheel 3 of the inspection robot moves on the track 1, at this time the rubber part 32 contacts the surface of the track 1. The weight of the inspection robot acts on the rubber part 32, and the rubber part 32 undergoes partial deformation. Due to the internal air flow in the extrusion cavity 33, the collection cavity 34 in contact with the track 1 is flattened, the external opening of the collection cavity 34 shrinks, and the edges on both sides of the collection cavity 34 are pressed inward, thereby shoveling the sludge into the collection cavity 34. After the collection cavity 34 rotates to the top of the driving wheel 3, due to the compression of the bottom collection cavity 34, the top collection cavity 34 opens, and then the sludge drops into the interior of the collection cavity 34 under the action of gravity, which is more convenient for the driving wheel 3 to collect sludge during walking. On the basis of ensuring that the track 1 is relatively clean, it is convenient for the driving wheel 3 to move stably.

[0043] A plurality of cleaning rods 10 for removing the sludge in the collection cavity 34 are provided outside the deflection wheel 74. The cleaning rods 10 are fixedly connected to the deflection wheel 74. The cleaning rods 10 are rubber rods. When the deflection wheel 74 pushes the side of the driving wheel 3, at this time the cleaning rods 10 are pushed into the collection cavity 34 along with the deflection wheel 74. The cleaning rods 10 on both sides scrape the sludge in the collection cavity 34 in a staggered manner, the sludge becomes loose, and part of the sludge will directly fall off, which is convenient for the subsequent use of the collection cavity 34. In addition, an opening is provided on the track 1, which is convenient for the sludge to be discharged from the track 1 after being discharged from the collection cavity 34.

[0044] The cleaning rods 10 are arc-shaped, and the area of the collection cavity 34 gradually increases along the direction of the driving wheel 3 towards the axis of the rotating shaft. After the detection wheel 73 is pressed against the surface of the driving wheel 3, at this time the collection cavity 34 is compressed, and the collection cavity 34 at the bottom of the driving wheel 3 opens. While opening, the driving wheel 3 is in a rotating state. The centrifugal force of the driving wheel 3 and the gravity of the sludge facilitate the sludge to be thrown out of the collection cavity 34. On the premise of ensuring the detection of the driving wheel 3, it is convenient for the collection cavity 34 to be in a relatively clean state.

[0045] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0046] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An electrical automation monitoring device for a tunnel substation, characterized in that: Comprising: Track (1); Inspection robot main body (2), the inspection robot main body (2) is installed on the track (1) through driving wheels (3) and guide wheels (4); Detection mechanism (5), the detection mechanism (5) is installed outside the track (1), and the inspection robot main body (2) is detected after moving to the detection device; The detection mechanism (5) includes a frame (9) located outside the track (1), a lifting mechanism (6) is provided on one side of the frame (9), a plurality of detection units (7) for detecting a plurality of driving wheels (3) are provided at the bottom of the frame (9), and a lifting mechanism (8) for lifting the driving wheels (3) is provided on one side of the track (1); The lifting mechanism (8) includes guide bars (81) installed on both sides of the track (1), the guide bars (81) are located at the bottom of the guide wheels (4), two notches are opened at the bottom of the track (1), a flap (82) is provided at the position of the notch of the track (1), the flap (82) is rotatably connected to the track (1), support columns (83) for supporting the flap (82) are provided at the bottoms of the two flaps (82), pistons (84) are provided at the bottoms of the two support columns (83), a guide cylinder (87) is provided at the bottom of the track (1), the guide cylinder (87) is connected to the track (1) through a first spring (86), a sleeve (85) and a sleeve rod (88) are provided on one side of the first spring (86), a first switch (11) is provided at the bottom of the sleeve rod (88), an electromagnet (89) is provided on one side of the track (1) where the guide bar (81) is located, and the electromagnet (89) is electrically connected to the first switch (11).

2. The electrical automation monitoring device for a tunnel substation according to claim 1, wherein: The lifting mechanism (6) includes a first motor (61) installed above the frame (9), a screw rod (62) is connected to the bottom of the first motor (61), a threaded sleeve threadedly connected to the screw rod (62) is provided inside the frame (9), a second switch (12) is provided on one side of the electromagnet (89), the second switch (12) is electrically connected to the first motor (61), and a guide post (63) and a guide sleeve (64) are provided between the frame (9) and the roof.

3. An electrical automation monitoring device for a tunnel substation according to claim 2, characterized in that: The detection unit (7) includes a second motor (71) installed on one side of the frame (9), a drive shaft (72) is connected to the output end of the second motor (71), a detection wheel (73) is connected to the outside of the drive shaft (72), two deflection wheels (74) are provided on both sides of the detection wheel (73), two second springs (75) are respectively connected between the two deflection wheels (74) and the frame (9), a first protrusion (76) is provided on one side of the deflection wheel (74) located on the frame (9), and a second protrusion (77) for jacking up the first protrusion (76) is provided on one side of the frame (9) where the deflection wheel (74) is located.

4. An electrical automation monitoring device for a tunnel substation according to claim 3, characterized in that: A third switch (13) is provided at the bottom of the frame (9), the third switch (13) is electrically connected to the first motor (61) and the second motor (71) respectively, and a fourth switch (14) is provided on one side of the third switch (13), the fourth switch (14) is electrically connected to the electromagnet (89) and the second motor (71) respectively.

5. An electrical automation monitoring device for a tunnel substation according to claim 1, characterized in that: The driving wheel (3) includes a metal part (31) installed outside the rotating shaft of the inspection robot main body (2). A rubber part (32) is provided outside the metal part (31). An extrusion cavity (33) is formed inside the rubber part (32). A plurality of collection cavities (34) for recovering sludge are formed outside the rubber part (32). The metal part (31) is sleeved outside the connecting key of the rotating shaft, and a nut for fixing the metal part (31) is provided outside the rotating shaft.

6. An electrical automation monitoring device for a tunnel substation according to claim 3, characterized in that: A plurality of cleaning rods (10) for cleaning the sludge in the collection cavity (34) are provided outside the deflecting wheel (74). The cleaning rods (10) are rubber rods.

7. An electrical automation monitoring device for a tunnel substation according to claim 6, characterized in that: The cleaning rods (10) are arc-shaped, and the area of the collection cavity (34) gradually increases along the direction from the driving wheel (3) to the axis of the rotating shaft.

8. An electrical automation monitoring device for a tunnel substation according to claim 3, characterized in that: An axial pressure sensor (78) for detecting the pressure in the axial direction of the driving wheel (3) is provided between the driving shaft (72) and the frame (9), and a radial pressure sensor (79) is provided outside the driving shaft (72).

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