Intelligent inspection mobile robot for transformer substation

Abstract

The invention discloses an intelligent patrol mobile robot for a transformer substation, and belongs to the field of patrol robots, the robot comprises a spherical shell, a lifting platform arranged in the spherical shell and a recognition mechanism arranged on the lifting platform, an opening is formed in the top of the spherical shell, and a protective cover is arranged at the position, corresponding to the opening, above the spherical shell; a buffer mechanism connected with the protective cover is arranged at the top of the lifting table and comprises a hydraulic damper fixedly installed on the lifting table, the output end of the hydraulic damper is fixedly connected with a baffle fixedly connected with the bottom of the protective cover, and a buffer spring is arranged between the position, corresponding to the baffle, of the hydraulic damper and the lifting table in a sleeving mode. When the recognition mechanism extends out, the protective cover can effectively shield falling objects, and the recognition mechanism is protected against impact damage. The buffer mechanism can absorb and consume impact energy of falling objects, prevent the robot from shaking due to impact, ensure stable operation in the inspection process and improve the accuracy of detection data.

Description

Technical Field

[0001] The present application relates to the field of inspection robot technology, and specifically to an intelligent inspection mobile robot for substations. Background Art

[0002] Inspection robots, with their advanced technical architecture, play a vital role in intelligent substation inspections. They utilize mobile robots as carriers, equipped with visible light cameras, infrared thermal imagers, and other detection instruments as payload systems. They integrate multi-field information from machine vision, electromagnetic fields, GPS, and GIS to form a navigation system. Based on an embedded computer, they provide a control system software and hardware development platform. These robots implement a variety of intelligent functions, including obstacle detection and positioning, autonomous operation planning, and inspection data storage and transmission. These capabilities significantly improve the efficiency and accuracy of substation inspections.

[0003] If the inspection robot encounters falling objects during the substation inspection process, especially falling objects caused by fire, and cannot avoid them in time, the falling objects may damage the inspection robot's identification mechanisms such as cameras, which will seriously affect the normal operation and detection functions of the inspection robot, resulting in the inspection work being unable to proceed smoothly, and may even delay the investigation and handling of potential faults in the substation, thereby causing more serious power safety problems.

[0004] Therefore, the present application provides a substation intelligent inspection mobile robot to solve the above problems. Summary of the invention

[0005] The present application provides an intelligent mobile inspection robot for substations, aiming to solve the problem raised in the background technology that the existing inspection robots are unable to avoid falling objects in time during the substation inspection process, especially falling objects during fires, which causes the identification mechanism to be easily damaged, thereby affecting the normal operation and detection function of the inspection robot, and delaying the detection and handling of potential faults in the substation.

[0006] To achieve the above objectives, the present application provides the following technical solution: a substation intelligent inspection mobile robot, comprising a spherical shell as a general support, a lifting platform disposed inside the spherical shell, and an identification mechanism disposed on the lifting platform; the top of the spherical shell is provided with an opening for the identification mechanism to extend out; a protective cover is provided above the spherical shell corresponding to the opening; when the identification mechanism extends out of the opening, the protective cover blocks the top of the identification mechanism to protect the identification mechanism from falling objects; In order to prevent the impact force on the protective cover from being directly transmitted to the identification mechanism: a buffer mechanism connected to the protective cover is provided on the top of the lifting platform, and the buffer mechanism includes a hydraulic damper fixedly mounted on the lifting platform, and the output end of the hydraulic damper is fixedly connected to a baffle fixedly connected to the bottom of the protective cover, and a buffer spring is sleeved between the hydraulic damper and the lifting platform corresponding to the baffle; the protective cover is provided above the opening of the spherical shell, and when the identification mechanism is extended, it can effectively block falling objects and protect the identification mechanism from damage due to impact. The buffer mechanism consists of a hydraulic damper, a baffle and a buffer spring, which can absorb and consume the impact energy of falling objects, reduce the risk of damage to the identification mechanism, and extend the service life of the robot; at the same time, the hydraulic damper and the buffer spring work together to prevent the robot from shaking due to impact, ensure stable operation during the inspection process, and improve the accuracy of the detection data; and the buffer mechanism has a compact structure and does not affect the normal movement and operation of the robot.

[0007] Preferably, to enhance the strength of the spherical shell, the shell is constructed with a double-layer metal shell, with the outer shell being a lightweight titanium alloy mesh and the inner shell being an electromagnetic shielding layer. The double-layer metal shell design combines high strength with lightweight properties, protecting against physical impacts such as collisions and friction, thereby enhancing the durability of the robot's shell. The inner shell's electromagnetic shielding layer effectively isolates the robot from external electromagnetic interference, ensuring the stable operation of the robot's internal electronic components and control system, preventing inspection data errors or robot failures caused by electromagnetic interference, and improving the reliability and accuracy of inspections.

[0008] Preferably, the protective cover is arc-shaped, and the curvature of the bottom of the protective cover is consistent with the curvature of the outer wall of the spherical shell. This design allows the protective cover to fit tightly against the outer wall of the spherical shell, reducing gaps and effectively preventing external intrusion through the gaps, thereby improving the protection effect on the identification mechanism. At the same time, the arc-shaped structure conforms to the principles of mechanics and can disperse the impact force when impacted by falling objects, avoiding localized excessive force and enhancing the impact resistance of the protective cover.

[0009] Preferably, to ensure the stability of the device, a tumbler base is fixedly mounted at the bottom of the spherical shell, and the bottom of the tumbler base has a convex curved surface. The convex curved surface of the tumbler base provides the robot with excellent self-stabilization capabilities. Regardless of the robot's tilt, the restoring torque generated by the center of gravity offset automatically stabilizes the robot, effectively preventing it from tipping over and ensuring safe and continuous inspection work.

[0010] Preferably, for the convenience of driving the lifting platform to lift: an electric push rod is fixedly installed at the top of the tumbler base, and the output end of the electric push rod is fixedly connected to the bottom of the lifting platform. The electric push rod is installed at the top of the tumbler base and connected to the lifting platform, providing stable and precise driving force for the lifting of the lifting platform. By controlling the telescopic movement of the electric push rod, the height of the lifting platform can be flexibly adjusted, thereby controlling the extension and retraction of the recognition mechanism, enabling the robot to adjust the working position of the recognition mechanism according to different inspection environments and requirements, and improving the flexibility and adaptability of the inspection.

[0011] Preferably, the recognition mechanism includes a U-shaped frame rotatably arranged at the upper end of the lifting platform, a recognition unit rotatably installed inside the U-shaped frame for recognizing external images, and an infrared thermal imager arranged outside the U-shaped frame and connected to the rotating shaft of the recognition unit for recognizing external fires. A first servo motor is fixedly installed at the lower end of the lifting platform, the output end of the first servo motor penetrates through the lifting platform and is fixedly connected to the lower end of the U-shaped frame, and a second servo motor is fixedly installed on the other side of the U-shaped frame, and the output end of the second servo motor is fixedly connected to the rotating shaft of the recognition unit. Driven by the first servo motor and the second servo motor, the recognition mechanism can rotate flexibly in the horizontal plane and the vertical plane. This enables the recognition unit and the infrared thermal imager to detect the substation equipment in all directions and at multiple angles, greatly expanding the detection range and avoiding detection blind spots; at the same time, precise rotation control can ensure that the recognition unit and the infrared thermal imager accurately align with the detection target, improving the accuracy and reliability of the detection data.

[0012] Preferably, the moving mechanism includes a bracket rotatably arranged below the spherical shell, drum motors symmetrically installed at the bottom of the bracket, and moving wheels sleeved on the drum motors. The weight of the moving wheels is greater than the weight of the counterweight at other positions of the spherical shell, so that the moving wheels below the spherical shell always remain in contact with the ground. A third servo motor is fixedly installed inside the spherical shell, and the output end of the third servo motor penetrates through the spherical shell and is fixedly connected to the upper end of the bracket. The moving mechanism drives the moving wheels through the drum motors, providing the robot with stable linear motion ability; the third servo motor drives the bracket to rotate horizontally, realizing the flexible turning of the robot. The special counterweight design of the moving wheels makes them always in contact with the ground, ensuring the stable movement of the robot on complex terrains, improving the moving performance and environmental adaptability of the robot, and ensuring the efficient completion of the inspection work.

[0013] Preferably, in order to further protect the recognition mechanism in the working state: a liftable transparent protective cylinder is arranged inside the spherical shell corresponding to the outside of the lifting table. Two fixed seats are symmetrically and fixedly connected to the lower end of the lifting table. Two gears are rotatably arranged inside the fixed seats along the vertical direction. A first rack and a second rack are symmetrically inserted into both sides of the fixed seats and meshed with the gears. Through holes for the first rack and the second rack to penetrate are formed in the lifting table. The top of the first rack is fixedly connected to the bottom of the protective cover. The bottom of the second rack is fixedly connected to the bottom of the protective cylinder. The transparent protective cylinder and the protective cover cooperate to provide double protection for the recognition mechanism. When the protective cover is impacted and moves downward, the protective cylinder automatically moves upward to cover the recognition mechanism, further enhancing the protection ability of the recognition mechanism and reducing the risk of its damage.

[0014] Preferably, the protective cylinder is made of glass or acrylic material with anti-vertigo and high light transmittance. The protective cylinder made of anti-vertigo and high light transmittance material does not affect the detection work of the recognition mechanism.

[0015] Preferably, in order to facilitate the guiding of the protective cylinder during lifting: a guiding cylinder fixedly connected to the spherical shell is sleeved outside the protective cylinder. The guiding cylinder provides guidance for the lifting of the protective cylinder, ensuring the stable and accurate lifting of the protective cylinder and ensuring the reliable realization of the double protection function.

[0016] In this application, the protective cover is arranged above the opening of the spherical shell. When the recognition mechanism extends out, it can effectively block falling objects and protect the recognition mechanism from impact damage. The buffer mechanism consists of a hydraulic damper, a baffle and a buffer spring, which can absorb and consume the impact energy of falling objects, reduce the risk of damage to the recognition mechanism and extend the service life of the robot. At the same time, the hydraulic damper and the buffer spring work together to prevent the robot from shaking due to impact, ensure stable operation during the inspection process and improve the accuracy of detection data. Moreover, the buffer mechanism has a compact structure and does not affect the normal movement and operation of the robot.

[0017] In this application, when the protective cover is impacted and moves downward, through the linkage with the protective cover, the protective cylinder automatically moves upward to cover the recognition mechanism, further enhancing the protection ability of the recognition mechanism and reducing the risk of its damage. The protective cylinder is made of anti-vertigo and high light transmittance material and does not affect the detection work of the recognition mechanism. The guiding cylinder provides guidance for the lifting of the protective cylinder, ensuring the stable and accurate lifting of the protective cylinder and ensuring the reliable realization of the double protection function. Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of a substation intelligent inspection mobile robot; Figure 2 It is a schematic structural diagram of the other side in the figure; Figure 3 ForFigure 1 Bottom view of the structure in Figure 4 Schematic diagram of a partial structure inside the spherical shell Figure 5 is Figure 4 Side view of the structure in

[0019] In the figure: 1. Spherical shell; 11. Opening; 12. Tumbler base; 13. Electric push rod; 2. Lifting platform; 21. Through hole; 3. Identification mechanism; 31. U-shaped frame; 32. Identification unit; 33. Infrared thermal imager; 34. First servo motor; 35. Second servo motor; 4. Protective cover; 5. Buffer mechanism; 51. Hydraulic damper; 52. Baffle; 53. Buffer spring; 6. Moving mechanism; 61. Bracket; 62. Roller motor; 63. Moving wheel; 64. Third servo motor; 7. Protective cylinder; 71. Fixed seat; 72. Gear; 73. First rack; 74. Second rack; 75. Guide cylinder. Specific embodiments

[0020] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0021] Embodiment 1 This embodiment provides a substation intelligent inspection mobile robot, as Figures 1-5As shown in the figure, the robot includes a spherical shell 1 as the overall support, a lifting platform 2 arranged inside the spherical shell 1, and an identification mechanism 3 arranged on the lifting platform 2. An opening 11 through which the identification mechanism 3 can extend is provided at the top of the spherical shell 1. A protective cover 4 is arranged above the spherical shell 1 corresponding to the opening 11. When the identification mechanism 3 extends out of the opening 11, the protective cover 4 shields above the identification mechanism 3 to protect the identification mechanism 3 from being affected by falling objects; in order to prevent the impact force received by the protective cover 4 from being directly transmitted to the identification mechanism 3: a buffer mechanism 5 connected to the protective cover 4 is arranged at the top of the lifting platform 2. The buffer mechanism 5 includes a hydraulic damper 51 fixedly installed on the lifting platform 2. The output end of the hydraulic damper 51 is fixedly connected to a baffle 52 fixedly connected to the bottom of the protective cover 4. A buffer spring 53 is sleeved on the hydraulic damper 51 between the baffle 52 and the lifting platform 2; the protective cover 4 is arranged above the opening 11 of the spherical shell 1. When the identification mechanism 3 extends out, it can effectively block falling objects and protect the identification mechanism 3 from being damaged by impact. The buffer mechanism 5 is composed of a hydraulic damper 51, a baffle 52 and a buffer spring 53, which can absorb and consume the impact energy of falling objects, reduce the risk of damage to the identification mechanism 3, and extend the service life of the robot; at the same time, the hydraulic damper 51 and the buffer spring 53 work together to prevent the robot from shaking due to impact, ensure stable operation during the inspection process, and improve the accuracy of detection data; and the buffer mechanism 5 has a compact structure and does not affect the normal movement and operation of the robot. When a falling object hits the outer surface of the protective cover 4, the protective cover 4 is forced to move downward, and the buffer spring 53 is compressed, absorbing part of the impact energy through elastic deformation and converting kinetic energy into elastic potential energy; at the same time, the hydraulic damper 51 is activated, and the remaining impact energy is consumed by the internal fluid damping effect, slowing down the descending speed of the protective cover 4 and reducing the impact on the identification mechanism 3. After the impact ends, the buffer spring 53 returns to its original state, and with the assistance of the hydraulic damper 51, the protective cover 4 is smoothly reset.

[0022] In order to improve the strength of the spherical shell 1: the spherical shell 1 adopts a double-layer metal spherical shell design. The outer shell is a lightweight titanium alloy grid, and the inner shell is an electromagnetic shielding layer. The spherical shell 1 adopts a double-layer metal spherical shell design. The lightweight titanium alloy grid of the outer shell has both high strength and light weight characteristics, can resist external collisions, frictions and other physical impacts, and improves the durability of the robot shell; the electromagnetic shielding layer of the inner shell can effectively isolate external electromagnetic interference, ensure the stable operation of the internal electronic components and control systems of the robot, avoid incorrect inspection data or robot failures caused by electromagnetic interference, and improve the reliability and accuracy of the inspection work. The high-strength characteristics of the titanium alloy grid enable it to withstand greater external forces, disperse stress when the robot is impacted, and prevent the outer shell from deforming and being damaged; the electromagnetic shielding layer reflects or absorbs external electromagnetic signals through special metal materials and structural designs, preventing electromagnetic signals from entering the inside of the shell, so that the internal electronic devices of the robot work in a stable electromagnetic environment.

[0023] The protective cover 4 is arc-shaped, and the bottom arc of the protective cover 4 is consistent with the outer wall arc of the spherical shell 1. The arc shape of the protective cover 4 and the consistent bottom arc with the outer wall arc of the spherical shell 1 enable the protective cover 4 to closely fit the outer wall of the spherical shell 1, reducing gaps and effectively preventing the outside from entering through the gaps, improving the protection effect on the recognition mechanism 3. At the same time, the arc structure conforms to the mechanical principle. When impacted by a falling object, it can disperse and transfer the impact force, avoiding excessive local stress and enhancing the impact resistance of the protective cover 4. Since the arc of the protective cover 4 fits the outer wall arc of the spherical shell 1, the two are closely connected after installation, forming a relatively enclosed protective space. When impacted, the arc-shaped protective cover 4 will disperse the impact force along the arc surface, making the impact force evenly distributed on the protective cover 4 and the spherical shell 1, reducing the intensity of the locally applied impact force.

[0024] To ensure the stability of the device: An inverted pendulum base 12 is fixedly arranged at the bottom inside the spherical shell 1, and the bottom of the inverted pendulum base 12 is in a convex arc shape. The installation of the inverted pendulum base 12 at the bottom inside the spherical shell 1 and its convex arc-shaped bottom design endow the robot with good self-stabilizing ability. No matter what tilted state the robot is in, the inverted pendulum base 12 can generate a restoring moment through the center-of-gravity offset, enabling the robot to automatically return to a stable state, effectively preventing the robot from tipping over and ensuring the safe and continuous progress of the inspection work. When the robot tilts, the center of gravity of the inverted pendulum base 12 will deviate from the central axis. Due to the design of the convex arc at the bottom, under the action of gravity, the center of gravity will move towards the lower side, generating a moment that promotes the robot to restore balance. As the robot gradually returns to the balanced position, the center of gravity also returns to the vicinity of the central axis, achieving automatic stability.

[0025] To facilitate the lifting of the lifting platform 2: An electric push rod 13 is fixedly installed at the top of the inverted pendulum base 12, and the output end of the electric push rod 13 is fixedly connected to the bottom of the lifting platform 2. The electric push rod 13 is installed at the top of the inverted pendulum base 12 and connected to the lifting platform 2, providing stable and precise driving force for the lifting of the lifting platform 2. By controlling the extension and retraction of the electric push rod 13, the height of the lifting platform 2 can be flexibly adjusted, thereby controlling the extension and retraction of the recognition mechanism 3, enabling the robot to adjust the working position of the recognition mechanism 3 according to different inspection environments and requirements, improving the flexibility and adaptability of the inspection. The motor inside the electric push rod 13 drives the screw rod to rotate. The screw rod cooperates with the nut to convert the rotational motion of the motor into linear motion, driving the push rod to extend and retract. When it is necessary to raise the lifting platform 2, the electric push rod 13 extends, pushing the lifting platform 2 upward. When it is necessary to retract the recognition mechanism 3, the electric push rod 13 shortens, driving the lifting platform 2 downward.

[0026] The recognition mechanism 3 includes a U-shaped frame 31 rotatably arranged at the upper end of the lifting platform 2, a recognition unit 32 rotatably installed inside the U-shaped frame 31 for recognizing external images, and an infrared thermal imager 33 arranged outside the U-shaped frame 31 and connected to the rotating shaft of the recognition unit 32 for recognizing external fires. A first servo motor 34 is fixedly installed at the lower end of the lifting platform 2. The output end of the first servo motor 34 penetrates through the lifting platform 2 and is fixedly connected to the lower end of the U-shaped frame 31. A second servo motor 35 is fixedly installed on the other side of the U-shaped frame 31. The output end of the second servo motor 35 is fixedly connected to the rotating shaft of the recognition unit 32. Driven by the first servo motor 34 and the second servo motor 35, the recognition mechanism 3 can rotate flexibly in the horizontal plane and the vertical plane. This enables the recognition unit 32 and the infrared thermal imager 33 to detect substation equipment in all directions and at multiple angles, greatly expanding the detection range and avoiding detection blind spots. At the same time, precise rotation control can ensure that the recognition unit 32 and the infrared thermal imager 33 accurately aim at the detection target, improving the accuracy and reliability of the detection data. After the first servo motor 34 is started, its output end drives the U-shaped frame 31 to rotate in the horizontal plane, so that the recognition unit 32 and the infrared thermal imager 33 installed on the U-shaped frame 31 perform horizontal scanning. When the second servo motor 35 works, it drives the rotating shaft of the recognition unit 32 to rotate, realizing the angle adjustment of the recognition unit 32 and the infrared thermal imager 33 in the vertical plane. The two servo motors work together to achieve the omnidirectional rotation of the recognition mechanism 3.

[0027] The moving mechanism 6 includes a bracket 61 rotatably arranged below the spherical shell 1, drum motors 62 symmetrically installed at the bottom of the bracket 61, and moving wheels 63 sleeved on the drum motors 62. The weight of the moving wheels 63 is greater than the counterweight weight at other positions of the spherical shell 1, so that the moving wheels 63 below the spherical shell 1 always remain in contact with the ground. A third servo motor 64 is fixedly installed inside the spherical shell 1. The output end of the third servo motor 64 penetrates through the spherical shell 1 and is fixedly connected to the upper end of the bracket 61. The moving mechanism 6 drives the moving wheels 63 through the drum motors 62 to provide the robot with stable linear motion ability. The third servo motor 64 drives the bracket 61 to rotate horizontally to realize the flexible turning of the robot. The special counterweight design of the moving wheels 63 enables them to always remain in contact with the ground, ensuring the stable movement of the robot on complex terrains, improving the moving performance and environmental adaptability of the robot, and ensuring the efficient completion of the inspection work. After the drum motors 62 are powered on, the motor shafts drive the moving wheels 63 to rotate, enabling the robot to move straight forward or backward. When turning is required, the third servo motor 64 is started. Its output end drives the bracket 61 to rotate horizontally, and the bracket 61 drives the moving wheels 63 to change direction, thus realizing the turning operation of the robot. The heavier counterweight of the moving wheels 63 causes them to always remain in contact with the ground under the action of gravity, enabling stable movement even on uneven ground.

[0028] Embodiment 2 Different from Embodiment 1, in order to further protect the recognition mechanism 3 in the working state: inside the spherical shell 1, a liftable transparent protective cylinder 7 is provided corresponding to the outside of the lifting platform 2. At the lower end of the lifting platform 2, two fixed seats 71 are symmetrically and fixedly connected. Inside the fixed seats 71, two gears 72 are rotatably arranged in the vertical direction. A first rack 73 and a second rack 74 are symmetrically inserted on both sides of the fixed seats 71 and meshed with the gears 72. Through holes 21 are formed in the lifting platform 2 for the first rack 73 and the second rack 74 to pass through. The top of the first rack 73 is fixedly connected to the bottom of the protective cover 4, and the bottom of the second rack 74 is fixedly connected to the bottom of the protective cylinder 7. The transparent protective cylinder 7 cooperates with the protective cover 4 to provide double protection for the recognition mechanism 3. When the protective cover 4 is hit and moves downward, the protective cylinder 7 automatically moves upward to cover the recognition mechanism 3, further enhancing the protection ability of the recognition mechanism 3 and reducing the risk of its damage; when the protective cover 4 is hit and moves downward, it drives the first rack 73 fixedly connected to it to move downward. The first rack 73 meshes with the gear 72, driving the gear 72 to rotate. The gear 72 then drives the second rack 74 meshed with it to move upward. The second rack 74 is connected to the bottom of the protective cylinder 7, so that the protective cylinder 7 rises to cover the recognition mechanism 3.

[0029] The protective cylinder 7 is made of glass or acrylic material with anti-vertigo and high light transmittance. The protective cylinder 7 made of anti-vertigo and high light transmittance material does not affect the detection work of the recognition mechanism 3; In order to facilitate guiding the protective cylinder 7 during the lifting process: a guiding cylinder 75 fixedly connected to the spherical shell 1 is sleeved outside the protective cylinder 7. The guiding cylinder 75 provides guidance for the lifting of the protective cylinder 7, ensuring the smooth and accurate lifting of the protective cylinder 7 and ensuring the reliable realization of the double protection function. The guiding cylinder 75 is sleeved outside the protective cylinder 7, restricting the movement direction of the protective cylinder 7 and ensuring its smooth lifting along the vertical direction.

[0030] The wiring diagrams of the first servo motor 34, the second servo motor 35 and the third servo motor 64 in the present invention belong to the common knowledge in the art. Their working principles are already known technologies. Their models are selected according to actual use. Therefore, the control methods and wiring arrangements of the first servo motor 34, the second servo motor 35 and the third servo motor 64 will not be explained in detail.

[0031] The control mode of this application is controlled by a controller. The control circuit of the controller can be realized by simple programming by those skilled in the art. The provision of power also belongs to the common knowledge in the art. And this application is mainly used to protect mechanical devices. Therefore, the control mode and circuit connection of this application will not be explained in detail.

[0032] It should be noted that the various standard parts used in this application can all be obtained from the market, and the non-standard parts can be specially customized. The connection methods adopted in this application are also very common means in the mechanical field, so they will not be elaborated here.

[0033] The above is only the preferred specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application, according to the technical solution and its concept of this application, makes equivalent replacements or changes, and should be covered by the protection scope of this application.

Claims

1. Substation intelligent inspection mobile robot, characterized in that: It includes a spherical shell (1) as the general support, a lifting platform (2) arranged inside the spherical shell (1), and an identification mechanism (3) arranged on the lifting platform (2). An opening (11) through which the identification mechanism (3) can extend is provided at the top of the spherical shell (1). A protective cover (4) is arranged above the spherical shell (1) corresponding to the opening (11). When the identification mechanism (3) extends out of the opening (11), the protective cover (4) shields above the identification mechanism (3) to protect the identification mechanism (3) from being affected by falling objects; A buffer mechanism (5) connected to the protective cover (4) is arranged at the top of the lifting platform (2). The buffer mechanism (5) includes a hydraulic damper (51) fixedly installed on the lifting platform (2). The output end of the hydraulic damper (51) is fixedly connected to a baffle (52) fixedly connected to the bottom of the protective cover (4). A buffer spring (53) is sleeved on the hydraulic damper (51) between the baffle (52) and the lifting platform (2). When the protective cover (4) is impacted, the buffer mechanism (5) absorbs and consumes the impact energy of the falling object, preventing the identification mechanism (3) from jittering due to the impact and ensuring stable operation during the inspection process; It further includes a moving mechanism (6) arranged at the bottom of the spherical shell (1).

2. The intelligent inspection mobile robot for a substation according to claim 1, wherein: The spherical shell (1) adopts a double-layer metal spherical shell design. The outer shell is a lightweight titanium alloy grid, and the inner shell is an electromagnetic shielding layer.

3. The intelligent inspection mobile robot for a substation according to claim 1, wherein: The protective cover (4) is arc-shaped, and the bottom arc of the protective cover (4) is consistent with the outer wall arc of the spherical shell (1).

4. The intelligent inspection mobile robot for a substation according to claim 1, wherein: An inverted pendulum base (12) is fixedly arranged at the bottom inside the spherical shell (1), and the bottom of the inverted pendulum base (12) is convex arc-shaped.

5. The intelligent inspection mobile robot for a substation according to claim 4, wherein: An electric push rod (13) is fixedly installed at the top of the inverted pendulum base (12), and the output end of the electric push rod (13) is fixedly connected to the bottom of the lifting platform (2).

6. The intelligent inspection mobile robot for a substation according to claim 1, characterized in that: The identification mechanism (3) includes a U-shaped frame (31) rotatably arranged at the upper end of the lifting platform (2), an identification unit (32) rotatably installed inside the U-shaped frame (31) for identifying external images, and an infrared thermal imager (33) arranged outside the U-shaped frame (31) and connected to the rotating shaft of the identification unit (32) for identifying external fires. A first servo motor (34) is fixedly installed at the lower end of the lifting platform (2). The output end of the first servo motor (34) penetrates the lifting platform (2) and is fixedly connected to the lower end of the U-shaped frame (31). A second servo motor (35) is fixedly installed on the other side of the U-shaped frame (31), and the output end of the second servo motor (35) is fixedly connected to the rotating shaft of the identification unit (32).

7. The intelligent inspection mobile robot for a substation according to claim 1, characterized in that: The moving mechanism (6) includes a bracket (61) rotatably arranged below the spherical housing (1), drum motors (62) symmetrically installed at the bottom of the bracket (61), and moving wheels (63) sleeved on the drum motors (62). The weight of the moving wheels (63) is greater than the counterweight weight at other positions of the spherical housing (1), so that the moving wheels 63 below the spherical housing (1) always remain in contact with the ground. A third servo motor (64) is fixedly installed inside the spherical housing (1), and the output end of the third servo motor (64) penetrates through the spherical housing (1) and is fixedly connected to the upper end of the bracket (61).

8. The intelligent inspection mobile robot for a substation according to claim 1, characterized in that: A liftable transparent protective cylinder (7) is arranged inside the spherical housing (1) corresponding to the outside of the lift table (2). Two fixed seats (71) are symmetrically and fixedly connected to the lower end of the lift table (2). Two gears (72) are rotatably arranged vertically inside the fixed seats (71). A first rack (73) and a second rack (74) are symmetrically inserted on both sides of the fixed seats (71) and meshed with the gears (72). Through holes (21) for the first rack (73) and the second rack (74) to penetrate are formed on the lift table (2). The top of the first rack (73) is fixedly connected to the bottom of the protective cover (4), and the bottom of the second rack (74) is fixedly connected to the bottom of the protective cylinder (7).

9. The intelligent inspection mobile robot for a substation according to claim 8, wherein: The protective cylinder (7) is made of glass or acrylic material with anti-vertigo and high light transmittance.

10. The intelligent inspection mobile robot for a substation according to claim 8, wherein: A guide cylinder (75) fixedly connected to the spherical housing (1) is sleeved outside the protective cylinder (7).

Images