Autonomous obstacle crossing inspection robot for transformer substation

Abstract

The invention discloses an autonomous obstacle crossing inspection robot for a transformer substation, which relates to the field of inspection devices and comprises a machine body, a camera mechanism, a camera protection frame, a radar mechanism, a front moving wheel set, a rear moving wheel set and an obstacle crossing mechanism, the camera mechanism is rotatably arranged on the machine body, a camera protection frame is installed on the outer side of the camera mechanism, the radar mechanism is installed on the machine body, the front moving wheel set is arranged at the bottom of the machine body, and the rear moving wheel set is arranged at the bottom of the machine body, located on one side of the front moving wheel set and used for being matched with the front moving wheel set to drive the machine body to move. The obstacle crossing mechanisms are installed on the two sides of the machine body and used for crossing obstacles of the whole equipment. The obstacle crossing mechanism is arranged on the wheel type inspection robot, so that the stability of the inspection robot during movement can be kept, and the obstacle crossing capability of the wheel type inspection robot can be improved; the transformer substation inspection robot has the advantages of being high in moving stability, good in obstacle crossing ability and the like.

Description

Technical Field

[0001] The present invention relates to the field of inspection devices, and in particular to an autonomous obstacle-crossing inspection robot for a substation. Background Art

[0002] The substation inspection robot is a mobile inspection device composed of a mobile carrier, communication equipment and detection equipment, which adopts remote control or fully autonomous operation mode and is used for substation equipment inspection operations.

[0003] At present, substation inspection robots are mainly divided into two types in terms of mobility: wheeled and footed. Among them, wheeled inspection robots are robots that use wheels for movement, which have advantages such as high mobility stability, but have disadvantages such as poor obstacle crossing ability, while footed inspection robots are robots that use mechanical feet for movement, which have advantages such as strong obstacle crossing ability, but have disadvantages such as poor mobility stability. Therefore, how to make substation inspection robots have both the advantages of high mobility stability and good obstacle crossing ability has become a problem that needs to be solved urgently. Summary of the invention

[0004] Purpose of the invention: In view of the above shortcomings, the present invention provides a substation autonomous obstacle-crossing inspection robot to solve the above problems existing in the prior art.

[0005] Technical solution: A substation autonomous obstacle-crossing inspection robot, comprising a body, a camera mechanism, a camera protection frame, a radar mechanism, a front moving wheel set, a rear moving wheel set and an obstacle-crossing mechanism;

[0006] Among them, the camera mechanism is rotatably arranged on the body, a camera protection frame is installed on the outside of the camera mechanism, the radar mechanism is installed on the body, the front moving wheel group is arranged at the bottom of the body, the rear moving wheel group is arranged at the bottom of the body and is located on one side of the front moving wheel group, which is used to cooperate with the front moving wheel group to drive the body to move, and the obstacle crossing mechanism is installed on both sides of the body, which is used for the equipment as a whole to cross obstacles.

[0007] In a further embodiment, the obstacle overcoming mechanism includes a linear obstacle overcoming adjustment component installed on the side wall of the machine body, a rotating support obstacle overcoming component connected to the linear obstacle overcoming adjustment component, and a telescopic column fixing component arranged on the linear obstacle overcoming adjustment component corresponding to the rotating support obstacle overcoming component.

[0008] In a further embodiment, the linear obstacle crossing adjustment component includes a front wheel group obstacle crossing guide rail, a front wheel group obstacle crossing slider, a rear wheel group obstacle crossing guide rail and a rear wheel group obstacle crossing slider;

[0009] Among them, the front wheel group obstacle crossing guide rail is installed on the side wall of the machine body, the front wheel group obstacle crossing slider is slidably arranged on the front wheel group obstacle crossing guide rail, the rear wheel group obstacle crossing guide rail is installed on the side wall of the machine body and is located on one side of the front wheel group obstacle crossing guide rail, the rear wheel group obstacle crossing slider is slidably arranged on the rear wheel group obstacle crossing guide rail, the front wheel group obstacle crossing guide rail and the rear wheel group obstacle crossing guide rail are connected with the telescopic column fixing component, the front wheel group obstacle crossing slider and the rear wheel group obstacle crossing slider are connected with the rotating support obstacle crossing component, and cooperate with the front wheel group obstacle crossing guide rail and the rear wheel group obstacle crossing guide rail to move and adjust the rotating support obstacle crossing component and the telescopic column fixing component.

[0010] In a further embodiment, the rotation support obstacle crossing component includes a front wheel group obstacle crossing mounting seat, a front wheel group obstacle crossing telescopic column and a front wheel group obstacle crossing support plate;

[0011] Among them, the front wheel group obstacle crossing mounting seat is connected to the front wheel group obstacle crossing slider, the front wheel group obstacle crossing telescopic column is rotatably set on the front wheel group obstacle crossing mounting seat, and the front wheel group obstacle crossing support plate is connected to one end of the front wheel group obstacle crossing telescopic column away from the front wheel group obstacle crossing mounting seat.

[0012] In a further embodiment, the rotation support obstacle crossing component further includes a rear wheel group obstacle crossing mounting seat, a rear wheel group obstacle crossing telescopic column and a rear wheel group obstacle crossing support plate;

[0013] Among them, the rear wheel group obstacle crossing mounting seat is connected to the rear wheel group obstacle crossing sliding block, the rear wheel group obstacle crossing telescopic column is rotatably set on the rear wheel group obstacle crossing mounting seat, and the rear wheel group obstacle crossing support plate is connected to one end of the rear wheel group obstacle crossing telescopic column away from the rear wheel group obstacle crossing mounting seat.

[0014] In a further embodiment, the telescopic column fixing component includes a front auxiliary slider and a front clamping ring;

[0015] Wherein, the front auxiliary slider is slidably arranged on the obstacle crossing guide rail of the front wheel group, and the front retaining ring is connected to the front auxiliary slider.

[0016] In a further embodiment, the telescopic column fixing component further includes a front clamping plate, a front clamping wheel and a front compression spring;

[0017] Among them, the front clamping plates are provided with a plurality of them, and the plurality of the front clamping plates are arranged on the inner side of the front clamping ring at a predetermined interval, the front clamping wheel is installed on the front clamping plate and abuts against the obstacle support plate of the front wheel group, and the front clamping spring is connected between the front clamping ring and the front clamping plate, and is used for clamping the front clamping wheel and the obstacle support plate of the front wheel group.

[0018] In a further embodiment, the telescopic column fixing component further includes a rear auxiliary slider and a rear clamping ring;

[0019] Wherein, the rear auxiliary sliding block is slidably arranged on the obstacle crossing guide rail of the rear wheel group, and the rear clamping ring is connected to the rear auxiliary sliding block.

[0020] In a further embodiment, the telescopic column fixing component further includes a rear clamping plate, a rear clamping wheel and a rear compression spring;

[0021] Among them, the rear clamping plates are provided with a plurality of them, and the plurality of the rear clamping plates are arranged on the inner side of the rear clamping ring at a predetermined interval, the rear clamping wheel is installed on the rear clamping plate and abuts against the rear wheel group obstacle support plate, and the rear clamping spring is connected between the rear clamping ring and the rear clamping plate, and is used for clamping the rear clamping wheel and the rear wheel group obstacle support plate.

[0022] In a further embodiment, the obstacle-crossing mechanism includes a mechanical foot obstacle-crossing component, and the mechanical foot obstacle-crossing component includes a connecting rod leg and an anti-slip foot;

[0023] Wherein, the connecting rod leg is movably mounted on the side wall of the machine body, and the anti-skid foot is mounted on the bottom of the connecting rod leg.

[0024] Beneficial effects: The present invention discloses an autonomous obstacle-crossing inspection robot for a substation. By arranging an obstacle-crossing mechanism on the wheeled inspection robot, it is possible to maintain the stability of the inspection robot during movement and to improve the obstacle-crossing capability of the wheeled inspection robot. In addition, the wheeled inspection robot is combined with the foot-type inspection robot, so that the substation inspection robot can have the advantages of high mobile stability and good obstacle-crossing capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the first embodiment of the present invention before the overall obstacle crossing.

[0026] Figure 2 for Figure 1 A partial enlarged view of point A in the middle.

[0027] Figure 3 for Figure 1 A partial enlarged view of point B in the middle.

[0028] Figure 4 for Figure 1 A partial enlarged view of point C in the middle.

[0029] Figure 5 It is a schematic diagram of the structure of the overall obstacle crossing of the first embodiment of the present invention.

[0030] Figure 6 It is a schematic diagram of the structure of the second embodiment of the present invention before overall obstacle crossing.

[0031] Figure 7It is a schematic diagram of the structure of the overall obstacle crossing of the second embodiment of the present invention.

[0032] The reference numerals in the figure are as follows: 1, body; 2, camera mechanism; 3, camera protection frame; 4, radar mechanism; 5, front moving wheel group; 6, rear moving wheel group; 7, obstacle crossing mechanism; 8, linear obstacle crossing adjustment component; 801, front wheel group obstacle crossing guide rail; 802, front wheel group obstacle crossing slider; 803, rear wheel group obstacle crossing guide rail; 804, rear wheel group obstacle crossing slider; 9, rotating support obstacle crossing component; 901, front wheel group obstacle crossing mounting seat; 902, front wheel group obstacle crossing telescopic column; 903, front wheel group obstacle crossing Obstacle support plate; 904, rear wheel group obstacle crossing mounting seat; 905, rear wheel group obstacle crossing telescopic column; 906, rear wheel group obstacle crossing support plate; 10, telescopic column fixing component; 1001, front auxiliary slider; 1002, front retaining ring; 1003, front clamping plate; 1004, front clamping wheel; 1005, front clamping spring; 1006, rear auxiliary slider; 1007, rear retaining ring; 1008, rear clamping plate; 1009, rear clamping wheel; 1010, rear compression spring; 11, mechanical foot obstacle crossing component. DETAILED DESCRIPTION

[0033] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0034] The applicant believes that the existing substation inspection robots are mainly divided into two types in terms of mobility: wheeled and footed. Among them, the wheeled inspection robot is a robot that uses wheels for movement, which has advantages such as high mobility stability, but has disadvantages such as poor obstacle crossing ability, while the footed inspection robot is a robot that uses mechanical feet for movement, which has advantages such as strong obstacle crossing ability, but has disadvantages such as poor mobility stability. Therefore, how to make the substation inspection robot have both the advantages of high mobility stability and good obstacle crossing ability has become a problem that needs to be solved urgently.

[0035] Embodiment 1:

[0036] To this end, the applicant proposed an autonomous obstacle-crossing inspection robot for substations, such as Figure 1-Figure 7 As shown, it includes a body 1, a camera mechanism 2, a camera protection frame 3, a radar mechanism 4, a front moving wheel group 5, a rear moving wheel group 6 and an obstacle crossing mechanism 7.

[0037] Among them, the camera mechanism 2 is rotatably set on the body 1, a camera protection frame 3 is installed on the outside of the camera mechanism 2, the radar mechanism 4 is installed on the body 1, the front moving wheel group 5 is set at the bottom of the body 1, the rear moving wheel group 6 is set at the bottom of the body 1 and is located on one side of the front moving wheel group 5, which is used to cooperate with the front moving wheel group 5 to drive the body 1 to move, and the obstacle crossing mechanism 7 is installed on both sides of the body 1, which is used for the overall equipment to cross obstacles.

[0038] In the present application, the camera mechanism 2 includes a camera body and an omnidirectional pan-tilt head, etc., which can perform multi-angle rotation and shooting on the body 1 to collect necessary images, videos, audio and other information. The camera protection frame 3 is installed on the omnidirectional pan-tilt head and is located on the outside of the camera body, which can protect the camera body to a certain extent. The front moving wheel group 5 is the moving part, which is used to move the robot as a whole in the substation. In addition, the robot as a whole also includes a controller, a servo drive, a reducer, an sound and light alarm, and communication equipment, etc. For details, please refer to the relevant structure and principles of the relevant substation inspection robot in the prior art.

[0039] like Figure 1-Figure 5 As shown, the obstacle overcoming mechanism 7 includes a linear obstacle overcoming adjustment component 8 installed on the side wall of the body 1, a rotating support obstacle overcoming component 9 connected to the linear obstacle overcoming adjustment component 8, and a telescopic column fixing component 10 arranged on the linear obstacle overcoming adjustment component 8 and corresponding to the rotating support obstacle overcoming component 9.

[0040] Specifically, the linear obstacle crossing adjustment component 8 includes a front wheel group obstacle crossing guide rail 801, a front wheel group obstacle crossing slider 802, a rear wheel group obstacle crossing guide rail 803 and a rear wheel group obstacle crossing slider 804, the rotating support obstacle crossing component 9 includes a front wheel group obstacle crossing mounting seat 901, a front wheel group obstacle crossing telescopic column 902, a front wheel group obstacle crossing support plate 903, a rear wheel group obstacle crossing mounting seat 904, a rear wheel group obstacle crossing telescopic column 905 and a rear wheel group obstacle crossing support plate 906, and the telescopic column fixing component 10 includes a front auxiliary slider 1001, a front retaining ring 1002, a front retaining plate 1003, a front retaining wheel 1004, a front compression spring 1005, a rear auxiliary slider 1006, a rear retaining ring 1007, a rear retaining plate 1008, a rear retaining wheel 1009 and a rear compression spring 1010.

[0041] Among them, the front wheel group obstacle crossing guide rail 801 is installed on the side wall of the body 1, the front wheel group obstacle crossing slider 802 is slidably set on the front wheel group obstacle crossing guide rail 801, the rear wheel group obstacle crossing guide rail 803 is installed on the side wall of the body 1 and is located on one side of the front wheel group obstacle crossing guide rail 801, the rear wheel group obstacle crossing slider 804 is slidably set on the rear wheel group obstacle crossing guide rail 803, the front wheel group obstacle crossing guide rail 801 and the rear wheel group obstacle crossing guide rail 803 are connected to the telescopic column fixing component 10, the front wheel group obstacle crossing slider 802 and the rear wheel group obstacle crossing slider 804 are connected to the rotating support obstacle crossing component 9, and cooperate with the front wheel group obstacle crossing guide rail 801 and the rear wheel group obstacle crossing guide rail 803 to move and adjust the rotating support obstacle crossing component 9 and the telescopic column fixing component 10.

[0042] The front wheel group obstacle crossing mounting seat 901 is connected to the front wheel group obstacle crossing slider 802, the front wheel group obstacle crossing telescopic column 902 is rotatably set on the front wheel group obstacle crossing mounting seat 901, the front wheel group obstacle crossing support plate 903 is connected to the end of the front wheel group obstacle crossing telescopic column 902 away from the front wheel group obstacle crossing mounting seat 901, the rear wheel group obstacle crossing mounting seat 904 is connected to the rear wheel group obstacle crossing slider 804, the rear wheel group obstacle crossing telescopic column 905 is rotatably set on the rear wheel group obstacle crossing mounting seat 904, and the rear wheel group obstacle crossing support plate 906 is connected to the end of the rear wheel group obstacle crossing telescopic column 905 away from the rear wheel group obstacle crossing mounting seat 904.

[0043] The front auxiliary slider 1001 is slidably arranged on the front wheel group obstacle crossing guide rail 801, the front snap ring 1002 is connected to the front auxiliary slider 1001, a plurality of front clamping plates 1003 are arranged, and the plurality of front clamping plates 1003 are arranged at a predetermined interval on the inner side of the front clamping ring 1002, the front clamping wheel 1004 is installed on the front clamping plate 1003 and abuts against the front wheel group obstacle crossing support plate 903, and the front compression spring 1005 is connected between the front snap ring 1002 and the front clamping plate 1003, and is used to compress the front clamping wheel 1004 and the front wheel group obstacle crossing support plate 903. The rear auxiliary slider 1006 is slidably set on the rear wheel group obstacle crossing guide rail 803, the rear retaining ring 1007 is connected to the rear auxiliary slider 1006, and a plurality of rear clamping plates 1008 are provided. The plurality of rear clamping plates 1008 are set on the inner side of the rear retaining ring 1007 at a predetermined interval, and the rear clamping wheel 1009 is installed on the rear clamping plate 1008 and abuts against the rear wheel group obstacle crossing support plate 906. The rear clamping spring 1010 is connected between the rear retaining ring 1007 and the rear clamping plate 1008, and is used for clamping the rear clamping wheel 1009 and the rear wheel group obstacle crossing support plate 906.

[0044] In this embodiment, the front wheel group obstacle crossing guide rail 801, the front wheel group obstacle crossing slider 802, the front wheel group obstacle crossing mounting seat 901, the front wheel group obstacle crossing telescopic column 902, the front wheel group obstacle crossing support plate 903, the front auxiliary slider 1001, the front snap ring 1002, the front clamping plate 1003, the front clamping wheel 1004 and the front compression spring 1005 are arranged in cooperation, and the rear wheel group obstacle crossing guide rail 803, the rear wheel group obstacle crossing slider 804, the rear wheel group obstacle crossing mounting seat 904, the rear wheel group obstacle crossing telescopic column 905, the rear wheel group obstacle crossing support plate 906, the rear auxiliary slider 1006, the rear snap ring 1007, the rear clamping plate 1008, the rear clamping wheel 1009 and the rear compression spring 1010 are arranged in cooperation, and are driven and controlled by the corresponding drive control mechanism.

[0045] Among them, the front wheel group obstacle overcoming telescopic column 902 and the front wheel group obstacle overcoming support plate 903 can rotate on the front wheel group obstacle overcoming mounting seat 901, and the front wheel group obstacle overcoming support plate 903 is used for supporting with the ground. The front wheel group obstacle overcoming mounting seat 901, the front wheel group obstacle overcoming telescopic column 902 and the front wheel group obstacle overcoming support plate 903 can be driven by the front wheel group obstacle overcoming slider 802 to move laterally on the front wheel group obstacle overcoming guide rail 801. The front auxiliary slider 1001, the front retaining ring 1002, the front retaining plate 1003, the front retaining wheel 1004 and the front compression spring 1005 are used to hold the front wheel group obstacle overcoming mounting seat 901, the front wheel group obstacle overcoming telescopic column 902 and the front wheel group obstacle overcoming support plate 903 when they are stored. 01. The front wheel group obstacle crossing telescopic column 902 and the front wheel group obstacle crossing support plate 903 are supported, and the rear wheel group obstacle crossing mounting seat 904, the rear wheel group obstacle crossing telescopic column 905 and the rear wheel group obstacle crossing support plate 906 can move laterally on the rear wheel group obstacle crossing guide rail 803 driven by the rear wheel group obstacle crossing slider 804. The rear auxiliary slider 1006, the rear retaining ring 1007, the rear retaining plate 1008, the rear retaining wheel 1009 and the rear compression spring 1010 are used to support the rear wheel group obstacle crossing mounting seat 904, the rear wheel group obstacle crossing telescopic column 905 and the rear wheel group obstacle crossing support plate 906 when the rear wheel group obstacle crossing mounting seat 904, the rear wheel group obstacle crossing telescopic column 905 and the rear wheel group obstacle crossing support plate 906 are stored.

[0046] When the robot as a whole encounters an obstacle, the corresponding driving control mechanism drives and controls the front auxiliary slider 1001, the front retaining ring 1002, the front retaining plate 1003, the front retaining wheel 1004 and the front compression spring 1005 to move away from the front wheel group obstacle crossing support plate 903, and the rear auxiliary slider 1006, the rear retaining ring 1007, the rear retaining plate 1008, the rear retaining wheel 1009 and the rear compression spring 1010 to move away from the rear wheel group obstacle crossing support plate 906, and then correspondingly drives and controls the front wheel group obstacle crossing telescopic column 902 and the front wheel group obstacle crossing support plate 903 to rotate on the front wheel group obstacle crossing mounting seat 901, and the rear wheel group obstacle crossing telescopic column 905 and the rear wheel group obstacle crossing support plate 906 to move on the rear wheel group obstacle crossing mounting seat 904. The front wheel group obstacle crossing support plate 903 and the rear wheel group obstacle crossing support plate 906 are driven and controlled to contact the ground, and then the front wheel group obstacle crossing slider 802 and the rear wheel group obstacle crossing slider 804 are driven and controlled to move on the front wheel group obstacle crossing guide rail 801 and the rear wheel group obstacle crossing guide rail 803 respectively, and the corresponding front wheel group obstacle crossing mounting seat 901, front wheel group obstacle crossing telescopic column 902 and front wheel group obstacle crossing support plate 903, as well as the rear wheel group obstacle crossing mounting seat 904, rear wheel group obstacle crossing telescopic column 905 and rear wheel group obstacle crossing support plate 906 are driven and controlled to move, and the front wheel group obstacle crossing telescopic column 902 and the rear wheel group obstacle crossing telescopic column 905 are driven and controlled to perform corresponding telescopic movements until the robot as a whole crosses the obstacle.

[0047] On the contrary, when the robot as a whole completes the obstacle crossing, the corresponding driving control mechanism drives and controls the front wheel group obstacle crossing telescopic column 902 and the front wheel group obstacle crossing support plate 903 on the front wheel group obstacle crossing mounting seat 901, as well as the rear wheel group obstacle crossing telescopic column 905 and the rear wheel group obstacle crossing support plate 906 on the rear wheel group obstacle crossing mounting seat 904 to rotate in the opposite direction, until the front wheel group obstacle crossing support plate 903 and the rear wheel group obstacle crossing support plate 906 correspond to the front snap ring 1002 and the rear snap ring 1007 respectively, and at the same time drives the front auxiliary slider 1001, the front snap ring 1002, the front clamping plate 1003, the front clamping wheel 1004 and the front clamping spring 1005, as well as the rear auxiliary slider 1006, the rear clamping ring 1007, the rear clamping plate 1008, the rear clamping wheel 1009 and the rear compression spring 1010 to clamp and fix the front wheel group obstacle crossing support plate 903 and the rear wheel group obstacle crossing support plate 906 respectively.

[0048] Embodiment 2:

[0049] The applicant further discovered that in order to achieve the advantages of high mobility stability and good obstacle surmounting ability, a relatively simple way is to directly combine the wheeled inspection robot and the legged inspection robot, and therefore proposed Example 2.

[0050] like Figure 6-Figure 7 As shown, the obstacle-crossing mechanism 7 includes a mechanical foot obstacle-crossing component 11, and the mechanical foot obstacle-crossing component 11 includes a connecting rod leg and an anti-slip foot.

[0051] The connecting rod leg is movably mounted on the side wall of the machine body 1, and the anti-skid foot is mounted on the bottom of the connecting rod leg.

[0052] In this embodiment, by combining the front moving wheel group 5, the rear moving wheel group 6 and the mechanical foot obstacle crossing component 11, when the robot as a whole moves on flat ground, the robot as a whole can move with the help of the front moving wheel group 5 and the rear moving wheel group 6 to maintain stability during movement. When the robot as a whole needs to overcome obstacles, the mechanical foot obstacle crossing component 11 can be used to overcome obstacles, thereby improving the overall obstacle crossing ability of the robot, so that the substation inspection robot can simultaneously take into account the advantages of high mobile stability and good obstacle crossing ability. The relevant structure and principles can refer to the relevant structure and principles of the relevant foot-type and wheel-type substation inspection robots in the prior art.

[0053] As above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention defined in the appended claims.

Claims

1. A substation autonomous obstacle inspection robot, characterized in that: include: Body 1; A camera mechanism 2 is rotatably disposed on the body 1, and a camera protection frame 3 is installed on the outer side of the camera mechanism 2; A radar mechanism 4 is installed on the body 1; A front moving wheel set 5 is arranged at the bottom of the machine body 1; A rear moving wheel set 6 is disposed at the bottom of the body 1 and located on one side of the front moving wheel set 5, and is used to cooperate with the front moving wheel set 5 to drive the body 1 to move; The obstacle-crossing mechanism 7 is installed on both sides of the machine body 1 and is used for the whole device to cross obstacles.

2. The substation autonomous obstacle-crossing inspection robot according to claim 1, characterized in that: The obstacle overcoming mechanism 7 includes a linear obstacle overcoming adjustment component 8 installed on the side wall of the body 1, a rotation support obstacle overcoming component 9 connected to the linear obstacle overcoming adjustment component 8, and a telescopic column fixing component 10 arranged on the linear obstacle overcoming adjustment component 8 and corresponding to the rotation support obstacle overcoming component 9.

3. The substation autonomous obstacle-crossing inspection robot according to claim 2 is characterized in that: The linear obstacle crossing adjustment component 8 includes a front wheel group obstacle crossing guide rail 801, a front wheel group obstacle crossing slider 802, a rear wheel group obstacle crossing guide rail 803 and a rear wheel group obstacle crossing slider 804; The front wheel group obstacle crossing guide rail 801 is installed on the side wall of the body 1; The front wheel group obstacle crossing slider 802 is slidably arranged on the front wheel group obstacle crossing guide rail 801; The rear wheel group obstacle crossing guide rail 803 is installed on the side wall of the body 1 and is located on one side of the front wheel group obstacle crossing guide rail 801; The rear wheel group obstacle crossing sliding block 804 is slidably arranged on the rear wheel group obstacle crossing guide rail 803 .

4. The substation autonomous obstacle-crossing inspection robot according to claim 3 is characterized by: The rotating support obstacle crossing component 9 includes a front wheel group obstacle crossing mounting seat 901, a front wheel group obstacle crossing telescopic column 902 and a front wheel group obstacle crossing support plate 903; The front wheel group obstacle crossing mounting seat 901 is connected to the front wheel group obstacle crossing sliding block 802; The front wheel group obstacle-crossing telescopic column 902 is rotatably arranged on the front wheel group obstacle-crossing mounting seat 901; The front wheel group obstacle crossing support plate 903 is connected to one end of the front wheel group obstacle crossing telescopic column 902 away from the front wheel group obstacle crossing mounting seat 901.

5. The substation autonomous obstacle-crossing inspection robot according to claim 3 is characterized by: The rotating support obstacle crossing component 9 also includes a rear wheel group obstacle crossing mounting seat 904, a rear wheel group obstacle crossing telescopic column 905 and a rear wheel group obstacle crossing support plate 906; The rear wheel obstacle-crossing mounting seat 904 is connected to the rear wheel obstacle-crossing sliding block 804; The rear wheel group obstacle-crossing telescopic column 905 is rotatably arranged on the rear wheel group obstacle-crossing mounting seat 904; The rear wheel group obstacle crossing support plate 906 is connected to one end of the rear wheel group obstacle crossing telescopic column 905 away from the rear wheel group obstacle crossing mounting seat 904.

6. The substation autonomous obstacle-crossing inspection robot according to claim 5 is characterized by: The telescopic column fixing component 10 includes a front auxiliary slider 1001 and a front clamping ring 1002; The front auxiliary sliding block 1001 is slidably disposed on the front wheel group obstacle crossing guide rail 801; The front retaining ring 1002 is connected to the front auxiliary sliding block 1001 .

7. The substation autonomous obstacle-crossing inspection robot according to claim 6 is characterized by: The telescopic column fixing component 10 also includes a front clamping plate 1003, a front clamping wheel 1004 and a front pressing spring 1005; The front clamping plates 1003 are provided in a plurality, and the plurality of front clamping plates 1003 are arranged at a predetermined interval on the inner side of the front clamping ring 1002; The front card wheel 1004 is installed on the front card plate 1003 and abuts against the front wheel group obstacle crossing support plate 903; The front compression spring 1005 is connected between the front retaining ring 1002 and the front retaining plate 1003 and is used to compress the front retaining wheel 1004 and the front wheel assembly obstacle crossing support plate 903.

8. The substation autonomous obstacle-crossing inspection robot according to claim 5, characterized in that: The telescopic column fixing component 10 further includes a rear auxiliary sliding block 1006 and a rear clamping ring 1007; The rear auxiliary sliding block 1006 is slidably disposed on the rear wheel group obstacle crossing guide rail 803; The rear retaining ring 1007 is connected to the rear auxiliary sliding block 1006 .

9. The substation autonomous obstacle-crossing inspection robot according to claim 8, characterized in that: The telescopic column fixing component 10 also includes a rear clamping plate 1008, a rear clamping wheel 1009 and a rear compression spring 1010; The rear clamping plates 1008 are provided in plurality, and the plurality of rear clamping plates 1008 are arranged at a predetermined interval on the inner side of the rear clamping ring 1007; The rear card wheel 1009 is installed on the rear card plate 1008 and abuts against the rear wheel group obstacle crossing support plate 906; The rear compression spring 1010 is connected between the rear retaining ring 1007 and the rear retaining plate 1008 and is used to compress the rear retaining wheel 1009 and the rear wheel assembly obstacle crossing support plate 906.

10. The substation autonomous obstacle-crossing inspection robot according to claim 1, characterized in that: The obstacle-crossing mechanism 7 includes a mechanical foot obstacle-crossing component 11, and the mechanical foot obstacle-crossing component 11 includes a connecting rod leg and an anti-slip foot; The connecting rod leg is movably mounted on the side wall of the body 1; The anti-skid foot is installed at the bottom of the connecting rod leg.

Images