Intelligent inspection robot for power equipment

Abstract

The invention discloses an intelligent inspection robot for power equipment, and belongs to the technical field of robots, the intelligent inspection robot comprises a shell, the upper end of the shell is provided with a moving unit matched with a track, and the moving unit is used for driving the shell to move along the track; the lower end of the shell is provided with a monitoring unit, the monitoring unit comprises at least one camera, and when the shell moves along the track, the camera can directly face the cabinet to shoot; the monitoring unit comprises a mounting seat, the lower end of the mounting seat is fixedly connected with a holder bracket, the camera is mounted on the holder bracket, the upper end of the mounting seat is fixedly connected with a movable shaft, a fixed seat is arranged in the shell, the movable shaft is movably mounted in the fixed seat, an electric control unit is arranged in the fixed seat, and the electric control unit comprises a gyroscope sensor. According to the intelligent inspection robot for the power equipment, by arranging the sensor and the electric control unit, the direction of the camera can be automatically adjusted in the inspection process, the position between the two adjacent rows of cabinets can be monitored and shot, and a better monitoring effect is obtained.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an intelligent inspection robot for electric power equipment. Background Art

[0002] With the rapid development of science and technology, in the power system, the rail-mounted intelligent inspection robot is equipped with a high-definition camera and an infrared thermal imager to realize real-time monitoring of the switch cabinet and intelligent diagnosis of infrared thermal imaging, and diagnose, warn and alarm the status of the tested equipment according to the detection results, thereby replacing the operating personnel to complete various inspection, detection and monitoring tasks, so that the staff can control the environmental information inside the switch cabinet in real time, thereby improving the problem of large workload and high risk of manual inspection.

[0003] In a distribution station, the existing track-mounted intelligent inspection robot generally includes a robot body, a walking rail and a camera module. When an abnormality occurs in the power equipment of the distribution station or the power system, this type of track-mounted intelligent inspection robot rotates and adjusts the camera module to the position of the abnormality, conducts camera monitoring and problem analysis on the abnormal situation, and promptly provides feedback to the staff for rapid investigation and emergency repair of problems in the distribution station, distribution room and other environments, to ensure the normal operation of various electrical equipment in the distribution room and improve work efficiency.

[0004] However, the current inspection robots can only monitor the status of the cabinets by following the changes in the track position when in use, but cannot monitor other locations in the computer room.

[0005] To this end, we propose an intelligent inspection robot for power equipment to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to solve the problem that the energy efficiency of inspection robots in the prior art needs to be improved, and to propose an intelligent inspection robot for power equipment.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] An intelligent inspection robot for electric power equipment comprises a shell, wherein the upper end of the shell is provided with a moving unit adapted to a track, and is used to drive the shell to move along the track; the lower end of the shell is provided with a monitoring unit, and the monitoring unit comprises at least one camera, and when the shell moves along the track, the camera can take a picture of a cabinet;

[0009] The monitoring unit comprises a mounting seat, a pan-tilt bracket is fixedly connected to the lower end of the mounting seat, the camera is mounted on the pan-tilt bracket, a movable shaft is fixedly connected to the upper end of the mounting seat, a fixing seat is provided inside the shell, the movable shaft is movably installed in the fixing seat, an electric control unit is provided in the fixing seat, and the electric control unit comprises a gyroscope sensor;

[0010] When the shell changes its moving direction along the track, the gyro sensor can transmit a signal to the electronic control unit, thereby driving the movable shaft to move axially and circumferentially through the electronic control unit to change the shooting position of the camera.

[0011] Preferably, the mobile unit comprises a hub motor, the hub motor is fixedly mounted inside the housing through a hub motor suspension, and a plurality of driven wheels are respectively provided on both sides of the hub motor, and the driven wheels act on the track.

[0012] Preferably, an emergency stop switch for controlling the hub motor is installed on the side wall of the shell.

[0013] Preferably, the fixing seat comprises an inner cavity, the lower end of the inner cavity is provided with an opening, a cover plate is provided at the opening, and the cover plate is detachably connected to the fixing seat;

[0014] The cover plate is provided with a through hole, the movable shaft is arranged through the through hole, a spiral groove is opened on the side wall of the movable shaft, a protrusion is provided on the side wall of the through hole, and the protrusion is slidably arranged in the spiral groove. When the movable shaft moves axially, it will rotate around the axial direction under the cooperation of the protrusion and the spiral groove, so that the movable shaft can move in a spiral motion.

[0015] Preferably, the movable shaft has a first position height and a second position height, and the number of spiral turns of the spiral groove is half a turn, so that when the movable shaft switches back and forth between the first position height and the second position height, the movable shaft will drive the camera below to rotate 180°.

[0016] Preferably, the electronic control unit includes a first electromagnet and a controller. When the gyro sensor transmits a signal to the controller, the controller controls the first electromagnet to pass current in different directions. One end of the movable shaft located in the fixed seat is fixedly connected to a limit plate, and a permanent magnet is fixedly connected to the side wall of the limit plate. When the first electromagnet is energized, it can generate a magnetic field acting on the permanent magnet, causing the movable shaft to move upward or downward.

[0017] Preferably, the movable shaft sleeve is provided with a spring, and two ends of the spring act on the side walls of the limiting plate and the cover plate respectively.

[0018] Preferably, an annular plate is fixedly connected to the inner side wall of the cover plate, and the annular plate is arranged opposite to the limiting plate.

[0019] Preferably, the number of the cameras is two groups, and the two groups of cameras are symmetrically arranged on both sides of the pan-tilt bracket, and the cameras are rotatably mounted on the pan-tilt bracket via a second rotating shaft;

[0020] The second rotating shaft is arranged horizontally, and the two second rotating shafts are coaxial.

[0021] Preferably, a second electromagnet is installed inside the pan / tilt bracket, and the second electromagnet is a rotating electromagnet; a contact piece for connecting the second electromagnet is provided on the upper end surface of the annular plate, and when the limit plate acts on the annular plate, the second electromagnet is energized, and when the limit plate is separated from the annular plate, the second electromagnet is de-energized;

[0022] The output end of the second electromagnet is connected to a first rotating shaft, the first rotating shaft is controlled by the second electromagnet, and when the second electromagnet is powered on or off, the first rotating shaft rotates forward or reversely;

[0023] The first rotating shaft is fixedly connected with an end face gear, and both sides of the end face gear are meshed with driven gears, and the driven gear is coaxially fixedly connected with the second rotating shaft; when the first rotating shaft rotates, the two cameras rotate in opposite directions respectively.

[0024] To sum up, the technical effects and advantages of the present invention are as follows: the intelligent inspection robot for power equipment, by setting sensors and electronic control units, can automatically adjust the direction of the camera during the inspection process, monitor and shoot the position between two adjacent rows of cabinets, and obtain better monitoring effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The use status of the present invention is shown in FIG. Figure 1 ;

[0026] Figure 2 It is a schematic diagram of the decomposition structure of the present invention;

[0027] Figure 3 This is a schematic diagram of the distribution of the machine room, cabinets and tracks;

[0028] Figure 4 It is a structural schematic diagram of the monitoring unit in the present invention;

[0029] Figure 5 It is a schematic diagram of the internal structure of the fixing seat in the present invention;

[0030] Figure 6 It is a structural schematic diagram of the movable shaft in the present invention;

[0031] Figure 7 It is a schematic diagram of the internal structure of the pan / tilt bracket in the present invention;

[0032] Figure 8 The use status of the present invention is shown in FIG. Figure 2 .

[0033] In the figure: 1. housing; 2. mobile unit; 3. monitoring unit;

[0034] 21. Hub motor; 211. Hub motor suspension; 22. Driven wheel;

[0035] 41. Machine room; 42. Cabinet; 43. Walking passage; 44. Track;

[0036] 31. Mounting seat; 32. PTZ bracket; 33. Camera; 34. Fixed seat; 35. Movable shaft;

[0037] 341, inner cavity; 342, first electromagnet; 343, cover plate; 3431, through hole; 3432, protrusion; 344, annular plate;

[0038] 351, limit plate; 352, permanent magnet; 353, spring; 354, spiral groove;

[0039] 321, first rotating shaft; 3211, end gear; 322, second rotating shaft; 3221, driven gear; 323, second electromagnet. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0041] The computer room inspection robot is an automated inspection device, which is generally divided into ground-mobile type and track-suspended type. Among them, the track-suspended inspection robot will move along the established track installed on the ceiling, and always conduct inspections according to the established route. The main contents of the computer room inspection include dynamic monitoring of indicator light changes and real-time monitoring of cabinet temperature. At present, most of the cabinets 42 in the computer room 41 are arranged neatly, and a walking passage 43 is formed between adjacent cabinets 42. The inspection track 44 is generally set along the walking passage 43, so that the robot can take pictures of the front of the cabinet 42. Since the two rows of cabinets 42 in the same walking passage 43 are arranged face to face, the track 44 consists of an inspection track set in front of the cabinet 42 and a transition track connecting the adjacent inspection tracks. The inspection track and the transition track are alternately connected, such as Figure 3When the robot is in the transition track, the robot's shooting angle is always outward, and it is unable to monitor other electronic equipment installed in the walking channel 43, such as lighting, fire alarms, etc.; it is also unable to monitor the situation on the ground of the walking channel 43, so that the inspection robot's energy efficiency is not improved to the best state, which needs to be improved. To this end, the following technical solutions are adopted to solve the above problems:

[0042] like Figure 1-Figure 8 As shown, an intelligent inspection robot for power equipment includes a housing 1, and a mobile unit 2 adapted to a track 44 is provided at the upper end of the housing 1, which is used to drive the housing 1 to move along the track 44. The mobile unit 2 includes a hub motor 21, and the hub motor 21 is fixedly installed inside the housing 1 through a hub motor suspension 211. The hub motor suspension 211 mainly plays a shock-absorbing effect. A plurality of driven wheels 22 are respectively provided on both sides of the hub motor 21, and the driven wheels 22 act on the track 44 to realize the hoisting and suspension of the robot. An emergency stop switch for controlling the hub motor 21 is installed on the side wall of the housing 1, so as to control the robot to stop in an emergency.

[0043] A monitoring unit 3 is installed at the lower end of the shell 1. The monitoring unit 3 includes at least one camera 33. When the shell 1 moves along the track 44, the camera 33 can shoot the cabinet 42 and collect information about the cabinet 42 to determine the operating status of the cabinet.

[0044] The monitoring unit 3 includes a mounting base 31, and a pan-tilt bracket 32 ​​is fixedly mounted at the lower end of the mounting base 31. It should be noted that a servo motor is provided in the mounting base 31, and the servo motor is used to control the overall rotation of the pan-tilt bracket 32 ​​to cooperate with the track to achieve accurate monitoring of the cabinet 42.

[0045] The camera 33 is mounted on the pan-tilt bracket 32, and the upper end of the mounting seat 31 is fixedly connected with a movable shaft 35. A fixed seat 34 is provided inside the shell 1, and the fixed seat 34 is fixedly connected to the inner wall of the shell 1. The movable shaft 35 is movably installed in the fixed seat 34. An electronic control unit is provided in the fixed seat 34. The electronic control unit includes a gyroscope sensor. The gyroscope sensor is mainly used to monitor the azimuth change of the shell 1, and can send a signal when the shell 1 enters and exits the transition track. That is to say, when the shell 1 changes the moving direction along the track 44, the gyroscope sensor can transmit the signal to the electronic control unit, thereby driving the movable shaft 35 to move axially and circumferentially through the electronic control unit to change the shooting position of the camera 33, so that the camera 33 can monitor the walking channel 43.

[0046] The specific connection relationship between the fixed seat 34 and the movable shaft 35 is as follows:

[0047] The fixing seat 34 includes an inner cavity 341 . An opening is provided at the lower end of the inner cavity 341 . A cover plate 343 is provided at the opening. The cover plate 343 is detachably connected to the fixing seat 34 , and can be detached and assembled by screws.

[0048] The cover plate 343 is provided with a through hole 3431, which is set at the center of the cover plate 343. The movable shaft 35 is set through the through hole 3431. A spiral groove 354 is opened on the side wall of the movable shaft 35. A protrusion 3432 is set on the side wall of the through hole 3431. The protrusion 3432 is slidably set in the spiral groove 354. When the movable shaft 35 moves along the axial direction, it will rotate around the axial direction under the cooperation of the protrusion 3432 and the spiral groove 354, so that the movable shaft 35 can move in a spiral manner, and then the camera 33 can be driven to move downward for a distance and rotate horizontally. It should be noted that although the robot can also change the shooting direction of the robot by rotating the servo motor when it is in the transition track, this method requires complex program settings for the servo motor, and will cause the servo motor to be frequently turned on and off, reducing the service life of the servo motor.

[0049] More specific movement of the movable axis 35 is described as follows:

[0050] The movable shaft 35 has a first position height and a second position height. At the first position height, the movable shaft 35 is inserted deep into the inner cavity 341 of the fixed seat 34, so that the camera 33 is in a higher position. At the second position height, the movable shaft 35 extends deep outward from the fixed seat 34, so that the height of the camera 33 is lowered.

[0051] It should be noted that the number of spiral turns of the spiral groove 354 is half a turn, so that when the movable shaft 35 switches back and forth between the first position height and the second position height, the movable shaft 35 will drive the camera 33 below to rotate 180°, so that when the camera 33 moves to the transition track, it can rotate to a position facing the walking channel 43 to monitor the walking channel 43.

[0052] The detailed introduction of the electronic control unit is as follows:

[0053] The electronic control unit includes a first electromagnet 342 and a controller. When the gyro sensor transmits a signal to the controller, the controller controls the first electromagnet 342 to pass currents in different directions. According to the characteristics of the electromagnet, when currents in different directions are passed through the electromagnet, magnetic fields in different directions will be generated.

[0054] One end of the movable shaft 35 located in the fixed seat 34 is fixedly connected to a limit plate 351, and a permanent magnet 352 is fixedly connected to the side wall of the limit plate 351. When the first electromagnet 342 is supplied with currents in different directions, a magnetic field acting on the permanent magnet 352 can be generated to move the movable shaft 35 upward or downward. At the same time, it should be noted that the first electromagnet 342 is in the first power-on state by default, and can produce an adsorption effect on the permanent magnet 352, so that the movable shaft 35 is at the first position height.

[0055] Specifically, when the robot transfers from the inspection track to the transition track, the gyroscope sensor will detect the first signal, and the controller will allow the first electromagnet 342 to pass a reverse current according to the first signal, and the first electromagnet 342 will generate a magnetic field that repels the permanent magnet 352, causing the movable shaft 35 to move downward; when the robot transfers from the transition track to the inspection track, the gyroscope sensor will detect the second signal, and the controller will allow the first electromagnet 342 to pass a forward current again according to the second signal, and the first electromagnet 342 will generate a magnetic field that attracts the permanent magnet 352, causing the movable shaft 35 to reset upward.

[0056] Therefore, the position of the movable shaft 35 can be automatically controlled under the joint action of the controller, the gyro sensor, the first electromagnet 342 and the permanent magnet 352 .

[0057] In order to avoid collision between the permanent magnet and the first electromagnet 342, and to avoid collision between the limit plate 351 and the cover plate 343, a spring 353 is provided on the outer sleeve of the movable shaft 35, and the two ends of the spring 353 act on the side walls of the limit plate 351 and the cover plate 343 respectively. When the spring 353 is in the original length state, the movable shaft 35 is between the first position height and the second position height. In other words, when the movable shaft 35 is at the first position height and the second position height, the spring 353 will store elastic potential energy, which plays a buffering effect.

[0058] An annular plate 344 is fixedly connected to the inner wall of the cover plate 343, and the annular plate 344 is arranged opposite to the limiting plate 351. When the movable shaft 35 is at the second position height, the limiting plate 351 acts on the annular plate 344. At the same time, the existence of the annular plate 344 can also cooperate with the movable shaft 35 to play a certain limiting effect on the spring 353.

[0059] The specific situation of monitoring unit 3 is as follows:

[0060] There are two groups of cameras 33, one is an infrared thermal imager and the other is a visible light high-definition camera. The two groups of cameras 33 are symmetrically arranged on both sides of the pan-tilt bracket 32, and the cameras 33 are rotatably mounted on the pan-tilt bracket 32 ​​via a second rotating shaft 322; the second rotating shaft 322 is horizontally arranged, and the two second rotating shafts 322 are coaxial. That is, the infrared thermal imager and the visible light high-definition camera are respectively installed on both sides of the pan-tilt bracket 32, one on the left and one on the right, and shoot in the same direction.

[0061] In order to better photograph the walking passage 43, the following scheme is further set up:

[0062] A second electromagnet 323 is installed inside the pan / tilt bracket 32. The second electromagnet 323 is a rotary electromagnet. When the rotary electromagnet is energized, its output end rotates and resets when the power is turned off. A contact piece for connecting the second electromagnet 323 is provided on the upper end surface of the annular plate 344. When the limit plate 351 acts on the annular plate 344, the second electromagnet 323 is energized. When the limit plate 351 is separated from the annular plate 344, the second electromagnet 323 is de-energized.

[0063] The output end of the second electromagnet 323 is connected to the first rotating shaft 321 . The first rotating shaft 321 is controlled by the second electromagnet 323 . When the second electromagnet 323 is powered on or off, the first rotating shaft 321 rotates forward or reversely.

[0064] The first rotating shaft 321 is fixedly connected to an end face gear 3211, and both sides of the end face gear 3211 are meshed with driven gears 3221, and the driven gear 3221 is coaxially fixedly connected to the second rotating shaft 322; when the first rotating shaft 321 rotates, the two cameras 33 rotate in opposite directions, that is, one rotates upward and the other rotates downward, so as to cover a larger range. When the movable shaft 35 is reset upward, the annular plate 344 is separated from the limit plate 351, and the second electromagnet 323 is powered off, so that the first rotating shaft 321 rotates in the opposite direction to reset, and the two cameras 33 are reset to a horizontal state.

[0065] By installing the control mechanism on the transmission mechanism, automatic control in a certain order is realized, so that the monitoring position of the monitoring unit 3 can be accurately adjusted to achieve a better monitoring effect.

[0066] Since the movable shaft 35 is provided with a spiral groove, the movable shaft 35 can rotate and descend at the same time. The rotation can adjust the coverage of the camera 33 to the walking channel 43, and the descent of the movable shaft 35 can increase the distance between the camera 33 and the mounting seat 31, so that when one of the cameras 33 rotates upward, the field of view will not be blocked by the mounting seat 31. Therefore, the movable shaft 35 can solve the two problems of adjusting the angle of the camera 33 and avoiding interference with the mounting seat 31 by setting the spiral groove 354 structure.

[0067] In order to avoid interference or collision between the camera 33 and the mounting base 31, the on and off of the second electromagnet 323 is controlled by the contact and separation of the annular plate 344 and the limit plate 351. That is to say, before the movable shaft 35 moves to the second position height, the camera 33 will not rotate, thereby ensuring that the camera 33 has enough space when rotating up and down.

[0068] At the same time, since the two groups of cameras 33 are simultaneously engaged with the end gear 3211 through the driven gear 3221 on the second rotating shaft 322, when the two groups of cameras 33 rotate downward due to gravity, since the rotation directions of the two groups of driven gears 3221 are opposite, under the action of the end gear 3211, a mutual check and balance is formed, which can reduce the impact of gravity on the camera 33.

[0069] Here’s how it works:

[0070] When in use, the hub motor 21 is used as a driving force to drive the robot to move along the track. When the robot moves on the inspection track 44, the camera 33 faces the front of the cabinet, and can monitor the indicator light and temperature of the cabinet in real time. When the robot moves to the transition track, the gyroscope sensor will detect the signal of the rotation of the shell 1, thereby controlling the first electromagnet 342 to pass a reverse current to drive the movable shaft 35 to move downward. The movable shaft 35 will not only drive the monitoring unit 3 to move downward as a whole, but also rotate the monitoring unit 3 180 degrees, so that the camera 33 is rotated to a position facing the walking channel 43, thereby increasing the monitoring range of the camera 33.

[0071] Moreover, when the movable shaft 35 moves outward to the extreme position, that is, the second position height, the limit plate 351 will act on the annular plate 344 to energize the second electromagnet 323. The second electromagnet 323 is a rotating electromagnet, which will drive the first rotating shaft 321 to rotate when energized, and the first rotating shaft 321 will drive the end face gear 3211 to rotate. Since the two driven gears 3221 are respectively engaged with the two sides of the end face gear 3211, the two second rotating shafts 322 will move in opposite directions respectively to drive the two cameras 33 to rotate upward and downward respectively, so as to obtain a larger monitoring range, so as to monitor the walking channel 43 and the gap on the back of the two adjacent rows of cabinets 42.

[0072] When the robot returns to the inspection track from the transition track, the gyroscope sensor will send a signal to the controller again, so that the first electromagnet 342 will pass a positive current to drive the movable shaft 35 to move upward. When the movable shaft 35 moves upward, the limit plate 351 will separate from the annular plate 344, thereby cutting off the power to the second electromagnet 323 and causing the first rotating shaft 321 to rotate in the opposite direction and reset, so that the two cameras 33 will first rotate to a horizontal state. As the movable shaft 35 moves upward to the initial position, that is, the height of the first position, the monitoring unit 3 will also reset accordingly, so that the cabinet 42 can continue to be monitored.

[0073] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent inspection robot for electric power equipment, comprising a housing (1), characterized in that: The upper end of the shell (1) is provided with a moving unit (2) adapted to the track (44) and used for driving the shell (1) to move along the track (44); the lower end of the shell (1) is provided with a monitoring unit (3), the monitoring unit (3) comprising at least one camera (33), and when the shell (1) moves along the track (44), the camera (33) can shoot directly at the cabinet (42); The monitoring unit (3) comprises a mounting seat (31), a pan / tilt bracket (32) is fixedly mounted on the lower end of the mounting seat (31), the camera (33) is mounted on the pan / tilt bracket (32), a movable shaft (35) is fixedly connected to the upper end of the mounting seat (31), a fixing seat (34) is provided inside the housing (1), the movable shaft (35) is movably mounted inside the fixing seat (34), an electric control unit is provided inside the fixing seat (34), and the electric control unit comprises a gyroscope sensor; When the housing (1) changes its moving direction along the track (44), the gyro sensor can transmit a signal to the electronic control unit, thereby driving the movable shaft (35) to move axially and circumferentially through the electronic control unit to change the shooting position of the camera (33).

2. The intelligent inspection robot for electric power equipment according to claim 1, characterized in that: The mobile unit (2) comprises a wheel hub motor (21), the wheel hub motor (21) being fixedly mounted inside the housing (1) via a wheel hub motor suspension (211), and a plurality of driven wheels (22) being respectively arranged on both sides of the wheel hub motor (21), the driven wheels (22) acting on a track (44).

3. The intelligent inspection robot for electric power equipment according to claim 2, characterized in that: An emergency stop switch for controlling the wheel hub motor (21) is installed on the side wall of the housing (1).

4. The intelligent inspection robot for electric power equipment according to claim 1, characterized in that: The fixing seat (34) comprises an inner cavity (341), the lower end of the inner cavity (341) is provided with an opening, a cover plate (343) is provided at the opening, and the cover plate (343) is detachably connected to the fixing seat (34); The cover plate (343) is provided with a through hole (3431), and the movable shaft (35) is arranged to pass through the through hole (3431). A spiral groove (354) is opened on the side wall of the movable shaft (35), and a protrusion (3432) is provided on the side wall of the through hole (3431). The protrusion (3432) is slidably arranged in the spiral groove (354). When the movable shaft (35) moves along the axial direction, it will rotate around the axial direction under the cooperation of the protrusion (3432) and the spiral groove (354), so that the movable shaft (35) moves in a spiral motion.

5. The intelligent inspection robot for electric power equipment according to claim 4, characterized in that: The movable shaft (35) has a first position height and a second position height, and the number of spiral turns of the spiral groove (354) is half a turn, so that when the movable shaft (35) switches back and forth between the first position height and the second position height, the movable shaft (35) drives the camera (33) below to rotate 180 degrees.

6. The intelligent inspection robot for electric power equipment according to claim 4, characterized in that: The electric control unit comprises a first electromagnet (342) and a controller. When the gyro sensor transmits a signal to the controller, the controller controls the first electromagnet (342) to pass currents in different directions. One end of the movable shaft (35) located in the fixed seat (34) is fixedly connected to a limit plate (351). A permanent magnet (352) is fixedly connected to the side wall of the limit plate (351). When the first electromagnet (342) is energized, a magnetic field acting on the permanent magnet (352) is generated to move the movable shaft (355) upward or downward.

7. The intelligent inspection robot for electric power equipment according to claim 6, characterized in that: The outer sleeve of the movable shaft (35) is provided with a spring (353), and the two ends of the spring (353) act on the side walls of the limiting plate (351) and the cover plate (343) respectively.

8. The intelligent inspection robot for electric power equipment according to claim 6, characterized in that: An annular plate (344) is fixedly connected to the inner side wall of the cover plate (343), and the annular plate (344) is arranged opposite to the limiting plate (351).

9. The intelligent inspection robot for electric power equipment according to claim 8, characterized in that: The number of the cameras (33) is two groups, and the two groups of cameras (33) are symmetrically arranged on both sides of the pan-tilt bracket (32), and the cameras (33) are rotatably mounted on the pan-tilt bracket (32) via a second rotating shaft (322); The second rotating shaft (322) is arranged horizontally, and the two second rotating shafts (322) are coaxial.

10. The intelligent inspection robot for electric power equipment according to claim 9, characterized in that: A second electromagnet (323) is installed inside the pan / tilt bracket (32), and the second electromagnet (323) is a rotating electromagnet; a contact piece for connecting the second electromagnet (323) is provided on the upper end surface of the annular plate (344); when the limiting plate (351) acts on the annular plate (344), the second electromagnet (323) is energized; when the limiting plate (351) is separated from the annular plate (344), the second electromagnet (323) is de-energized; The output end of the second electromagnet (323) is connected to a first rotating shaft (321), and the first rotating shaft (321) is controlled by the second electromagnet (323). When the second electromagnet (323) is powered on or off, the first rotating shaft (321) rotates forward or reversely. The first rotating shaft (321) is fixedly connected to an end face gear (3211), and both sides of the end face gear (3211) are meshed with driven gears (3221), and the driven gear (3221) is coaxially fixedly connected to the second rotating shaft (322); when the first rotating shaft (321) rotates, the two cameras (33) rotate in opposite directions.

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