An intelligent inspection robot for power equipment

Abstract

The present invention discloses an intelligent inspection robot for electric power equipment, belonging to the field of robotics. The robot comprises a housing, the upper end of which is provided with a moving unit adapted to a track for driving the housing to move along the track; a monitoring unit is mounted at the lower end of the housing, the monitoring unit comprising at least one camera, and when the housing moves along the track, the camera can photograph the cabinets; the monitoring unit comprises a mounting base, the lower end of which is fixedly connected to a pan-tilt bracket, the camera being mounted on the pan-tilt bracket, the upper end of the mounting base being fixedly connected to a movable shaft, a fixed base being provided inside the housing, the movable shaft being movably mounted in the fixed base, the fixed base being provided with an electric control unit, the electric control unit comprising a gyroscope sensor. The intelligent inspection robot for electric power equipment, by providing sensors and an electric control unit, can automatically adjust the direction of the camera during the inspection process, monitor and photograph the position between two adjacent rows of cabinets, and obtain better monitoring effects.

Description

Technical Field

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

[0002] With the rapid development of science and technology, in the power system, rail-mounted intelligent inspection robots are equipped with high-definition cameras and infrared thermal imagers to achieve real-time monitoring of switch cabinets and intelligent diagnosis of infrared thermal imaging. They can also diagnose, warn and alarm the status of the equipment under test based on the detection results, thereby replacing operators to complete various inspection, detection and monitoring tasks, allowing staff to control the environmental information inside the switch cabinet in real time, thereby improving the problem of heavy workload and high risk of manual inspection.

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

[0004] However, when currently in use, inspection robots can only monitor the status of cabinets by following changes in track position, but are unable to 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 power equipment includes a housing, wherein the upper end of the housing is provided with a moving unit adapted to a track for driving the housing to move along the track; the lower end of the housing is provided with a monitoring unit, wherein the monitoring unit includes at least one camera, and when the housing moves along the track, the camera can directly photograph a cabinet;

[0009] The monitoring unit includes a mounting base, a pan-tilt bracket fixedly connected to the lower end of the mounting base, the camera is mounted on the pan-tilt bracket, a movable shaft is fixedly connected to the upper end of the mounting base, a fixing base is provided inside the housing, the movable shaft is movably installed in the fixing base, an electronic control unit is provided in the fixing base, and the electronic control unit includes 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 in the axial and circumferential directions through the electronic control unit to change the shooting position of the camera.

[0011] Preferably, the mobile unit includes a hub motor, which is fixedly mounted inside the housing via a hub motor suspension. 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 housing.

[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] A through hole is provided on the cover plate, and the movable shaft is set to pass through the through hole. A spiral groove is opened on the side wall of the movable shaft, and a protrusion is provided on the side wall of the through hole. The protrusion is slidably set 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 moves 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 gyroscope 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 outer sleeve is provided with a spring, and the 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; the upper end surface of the annular plate is provided with a contact piece for connecting the second electromagnet, 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, and the first rotating shaft is controlled by the second electromagnet. When the second electromagnet is powered on or off, the first rotating shaft rotates forward or reverse;

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

[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 This is a schematic diagram of the use of the present invention 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 computer room, cabinets, and tracks;

[0028] Figure 4 Schematic diagram of the structure of the monitoring unit in the present invention;

[0029] Figure 5 Schematic diagram of the internal structure of the fixing seat in the present invention;

[0030] Figure 6 Schematic diagram of the structure of the movable shaft in the present invention;

[0031] Figure 7 Schematic diagram of the internal structure of the pan / tilt bracket in the present invention;

[0032] Figure 8 This is a schematic diagram of the use of the present invention 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. Computer room; 42. Cabinet; 43. Walking path; 44. Track;

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

[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 clearly and completely described 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 and track-suspended types. Among them, the track-suspended inspection robot will move along the established track installed on the ceiling, and will 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 neatly arranged, and a walking aisle 43 is formed between adjacent cabinets 42. The inspection track 44 is generally set along the walking aisle 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 aisle 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 cannot monitor other electronic equipment installed in the walking channel 43, such as lights, fire alarms, etc.; nor can it monitor the situation on the ground of the walking channel 43. As a result, the inspection robot's energy efficiency is not improved to the optimal state, which needs to be improved. To this end, the following technical solutions are adopted to solve the above problems:

[0042] like Figures 1-8 As shown, an intelligent inspection robot for power equipment includes a housing 1. A mobile unit 2 adapted for use with a track 44 is provided at the upper end of the housing 1 to drive the housing 1 along the track 44. The mobile unit 2 includes a hub motor 21, which is fixedly mounted inside the housing 1 via a hub motor suspension 211. The hub motor suspension 211 primarily serves to reduce shock. A plurality of driven wheels 22 are provided on either side of the hub motor 21. The driven wheels 22 act on the track 44 to achieve the robot's hoisting and suspension. An emergency stop switch for controlling the hub motor 21 is mounted on the side wall of the housing 1 to facilitate shutting down the robot 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 installed at the lower end of the mounting base 31. It should be noted that a servo motor is provided in the mounting base 31, which 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 to 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, and the electronic control unit includes a gyroscope sensor. The gyroscope sensor is mainly used to monitor the orientation changes of the shell 1 and can send signals when the shell 1 enters and exits the transition track. That is to say, when the shell 1 changes its 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 using screws.

[0048] The cover plate 343 is provided with a through hole 3431, which is located at the center of the cover plate 343. The movable shaft 35 is provided through the through hole 3431. A spiral groove 354 is provided on the side wall of the movable shaft 35. A protrusion 3432 is provided on the side wall of the through hole 3431. The protrusion 3432 slides in the spiral groove 354. When the movable shaft 35 moves axially, it rotates around the axis in cooperation with the protrusion 3432 and the spiral groove 354, causing the movable shaft 35 to spirally move, thereby driving the camera 33 to move downward 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 causes 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 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 gyroscope sensor transmits a signal to the controller, the controller controls the first electromagnet 342 to pass current in different directions. According to the characteristics of the electromagnet, when the electromagnet passes current in different directions, it will generate magnetic fields in different directions.

[0054] One end of the movable shaft 35 within the fixed base 34 is fixedly connected to a limit plate 351. A permanent magnet 352 is fixedly connected to the sidewall of the limit plate 351. When current in different directions flows through the first electromagnet 342, it generates a magnetic field that acts on the permanent magnet 352, causing the movable shaft 35 to move upward or downward. It should be noted that the first electromagnet 342 is in the first energized state by default, which attracts the permanent magnet 352 and maintains the movable shaft 35 at the first 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 cause the first electromagnet 342 to pass a reverse current based on the first signal. The first electromagnet 342 generates 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 cause the first electromagnet 342 to pass a forward current again based on the second signal. The first electromagnet 342 generates 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] To prevent collisions between the permanent magnet and the first electromagnet 342, and between the stop plate 351 and the cover plate 343, a spring 353 is mounted on the outer sleeve of the movable shaft 35. The ends of the spring 353 act on the sidewalls of the stop plate 351 and the cover plate 343, respectively. When the spring 353 is at its original length, the movable shaft 35 is positioned between its first and second heights. In other words, when the movable shaft 35 is at both its first and second heights, the spring 353 stores elastic potential energy, providing a cushioning effect.

[0058] An annular plate 344 is fixedly connected to the inner sidewall of the cover plate 343. The annular plate 344 is positioned opposite the limiting plate 351. When the movable shaft 35 is at the second height position, the limiting plate 351 acts on the annular plate 344. Furthermore, the presence of the annular plate 344 can also cooperate with the movable shaft 35 to provide a certain limiting effect on the spring 353.

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

[0060] There are two sets of cameras 33, one each consisting of an infrared thermal imager and a visible light HD camera. These two sets of cameras 33 are symmetrically arranged on either side of the pan-tilt bracket 32. The cameras 33 are rotatably mounted on the pan-tilt bracket 32 via second rotating shafts 322. The second rotating shafts 322 are horizontally arranged and coaxial. Specifically, the infrared thermal imager and the visible light HD camera are mounted on either side of the pan-tilt bracket 32, one on the left and one on the right, respectively, and face the same direction.

[0061] In order to better capture the image of the walking passage 43, the following plan was further set up:

[0062] A second electromagnet 323 is mounted within the pan / tilt bracket 32. This second electromagnet 323 is a rotating electromagnet. When energized, the rotating electromagnet's output terminal rotates, and when de-energized, it resets. A contact for connecting the second electromagnet 323 is provided on the upper surface of the annular plate 344. When the stop plate 351 acts on the annular plate 344, the second electromagnet 323 is energized. When the stop plate 351 separates 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 reverse.

[0064] A face gear 3211 is fixedly connected to the first rotating shaft 321. Driven gears 3221 mesh with each side of the face gear 3211. These driven gears 3221 are coaxially fixedly connected to the second rotating shaft 322. When the first rotating shaft 321 rotates, the two cameras 33 rotate in opposite directions—one upward and the other downward—to cover a wider range. When the movable shaft 35 returns upward, it separates the annular plate 344 from the stop plate 351, de-energizing the second electromagnet 323. This causes the first rotating shaft 321 to rotate in the opposite direction, returning the two cameras 33 to a horizontal position.

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

[0066] Because the movable shaft 35 has a spiral groove, the movable shaft 35 rotates and descends simultaneously. Rotation adjusts the coverage of the camera 33 to the walking path 43, while descending the movable shaft 35 increases the distance between the camera 33 and the mounting base 31, so that when one of the cameras 33 rotates upward, the view is not blocked by the mounting base 31. Therefore, the movable shaft 35, by providing a spiral groove 354 structure, can simultaneously solve the two problems of adjusting the angle of the camera 33 and avoiding interference with the mounting base 31.

[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 there is enough space for the camera 33 to rotate 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] During use, the hub motor 21 drives the robot along the track. When the robot moves on the inspection track 44, the camera 33 faces the front of the cabinet, enabling real-time monitoring of the cabinet's indicator lights and temperature. When the robot reaches the transition track, the gyroscope sensor detects the rotation of the housing 1, which controls the first electromagnet 342 to pass a reverse current, driving the movable shaft 35 downward. This not only drives the entire monitoring unit 3 downward, but also rotates the monitoring unit 3 180 degrees, allowing the camera 33 to rotate directly toward the walking path 43, thereby increasing the camera's monitoring range.

[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, so that the second electromagnet 323 is energized. 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 facilitate monitoring of the walking aisle 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, so that the cabinet 42 can continue to be monitored.

[0073] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection 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) 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 directly face the cabinet (42) for photographing; The monitoring unit (3) includes a mounting base (31), a pan / tilt bracket (32) is fixedly mounted on the lower end of the mounting base (31), the camera (33) is mounted on the pan / tilt bracket (32), the upper end of the mounting base (31) is fixedly connected to a movable shaft (35), a fixing base (34) is provided inside the housing (1), the movable shaft (35) is movably mounted in the fixing base (34), an electric control unit is provided in the fixing base (34), and the electric control unit includes a gyroscope sensor; 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), 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), a protrusion (3432) is provided on the side wall of the through hole (3431), and the protrusion (3432) is slidably arranged in the spiral groove (354). When the movable shaft (35) moves in the axial direction, it rotates 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; The electric 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 current 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, it can generate a magnetic field acting on the permanent magnet (352), so that the movable shaft (355) moves upward or downward. 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); 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; 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 reverse. An end face gear (3211) is fixedly connected to the first rotating shaft (321), and driven gears (3221) are meshed on both sides of the end face gear (3211), 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 respectively; 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 in the axial and circumferential directions through the electronic control unit to change the shooting position of the camera (33).

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

3. The intelligent inspection robot for 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 power equipment according to claim 1, 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.

5. The intelligent inspection robot for power equipment according to claim 1, 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.

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