Inspection robot for hydropower station

Abstract

The invention discloses a hydropower station inspection robot, and relates to the technical field of inspection robots, the hydropower station inspection robot comprises a machine body, a multi-mode walking mechanism, an equipment state detection system, a gas detection assembly and a three-axis acceleration sensor, the multi-mode walking mechanism comprises a walking mechanism, a moving mechanism and an electromagnetic chuck; by means of the design of the multi-mode walking mechanism, the robot adapts to complex terrain and environment conditions in the hydropower station, all-directional and dead-corner-free inspection is achieved, the inspection efficiency of the hydropower station is greatly improved, manpower input is reduced, meanwhile, fusion of multiple sensors is achieved, and the robot is suitable for popularization and application. The fault recognition accuracy is effectively improved, potential faults of the equipment can be found more accurately, misjudgment and missed judgment are avoided, the operation reliability of the hydropower station equipment is improved, operation and maintenance personnel can be reminded in time to carry out fault processing, the fault processing time is shortened, and the risk of fault expansion is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, in particular to a hydropower station inspection robot. Background Art

[0002] With the continuous expansion of the power system, the number of hydropower stations is increasing. During operation, power station equipment faces a variety of destructive factors such as high temperature, physical vibration, and electromagnetic interference. These factors may cause equipment failure and then lead to electrical accidents. Therefore, it is crucial to regularly inspect substations to detect equipment anomalies and carry out repairs in a timely manner. At present, the following methods are mainly used for inspection of hydropower station equipment: Manual inspection: This method relies on operation and maintenance personnel to regularly check the operating status of the equipment. This method has many problems, such as low efficiency and the long time required for manual inspections. It is also highly dangerous, especially when working in high-voltage areas, posing a threat to the personal safety of operation and maintenance personnel. The detection accuracy is greatly affected by subjective factors, and the experience and judgment standards of different operation and maintenance personnel vary, resulting in inaccurate detection results. In addition, due to the influence of personnel experience, the missed detection rate is as high as 15%.

[0003] Fixed monitoring device: Single sensors such as temperature and vibration are installed on key equipment. This method has monitoring blind spots and cannot fully cover all parts of the equipment. It also cannot achieve visual inspection of the equipment surface condition. For example, equipment corrosion, oil leakage, etc. are difficult to detect in a timely manner.

[0004] General inspection robots: These use wheeled or tracked chassis. Due to the complex terrain inside hydropower stations, such as stairs and cable trenches, these robots have difficulty adapting. Furthermore, their limited inspection capabilities lack specialized inspection modules for hydropower station equipment (such as turbines and transformers), making them unable to meet the specialized inspection needs of hydropower stations. To this end, the present invention provides a hydropower station inspection robot. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a hydropower station inspection robot that solves the problems raised by the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A hydropower station inspection robot includes a body and further includes: A multi-modal walking mechanism, mounted on the fuselage, suitable for moving or crawling on various terrains; Wherein, the multimodal walking mechanism includes a walking mechanism, a moving mechanism and an electromagnetic chuck; An equipment status detection system is provided on the machine body and is used to inspect the equipment of the hydropower station; a gas detection assembly, fixed to the front side of the fuselage, for testing SF6 concentration and ozone concentration in the hydropower station; Three three-axis acceleration sensors are distributed inside the fuselage, and a path planning system and a remote control system are also arranged on the fuselage.

[0007] As a further technical solution of the present invention, the walking mechanism includes four walking legs symmetrically distributed at the front and rear ends of both sides of the fuselage, and the four walking legs have the same structure; The walking legs include an inner motor frame mounted on the inner side of the fuselage and an outer motor frame mounted on the outer side of the fuselage, wherein the inner motor frame and the outer motor frame are fixedly connected by a long screw, and a motor 1 and a motor 2 are mounted in the inner motor frame and the outer motor frame respectively; The output end of motor one extends to the outside of the fuselage through a coupling and is connected to the main joint arm. The output end of motor two is connected to an adjustment plate. There is a gap between the main joint arm and the adjustment plate. The other end of the adjustment plate is hinged to an adjustment rod. The other end of the adjustment rod is hinged to a secondary joint arm. The other end of the main joint arm and the secondary joint arm are hinged to each other and are close to the position of the adjustment rod.

[0008] As a further technical solution of the present invention, the electromagnetic suction cup is fixed to the bottom end of the auxiliary articulated arm by bolts, and identification plates or reflective stickers are pasted on the outer sides of the auxiliary articulated arm and the main articulated arm.

[0009] As a further technical solution of the present invention, the mobile mechanism includes a base frame fixed to the bottom of the fuselage, and motors 3 are provided at the four inner corners of the base frame. The output end of each motor 3 is connected to a Mecanum wheel through a reducer. A rechargeable battery is also configured on the inner side of the base frame to provide power for motor 3.

[0010] As a further technical solution of the present invention, the equipment status detection system includes a first fixing frame and a second fixing frame installed at the upper end of the front side of the fuselage, the first fixing frame is integrated with an infrared thermal imager and an ultraviolet imager, and the second fixing frame is installed with a high-resolution visual acquisition unit and an illumination lamp; A partial discharge inspection instrument and an ultrasonic flaw detector are also embedded and installed on the front side of the fuselage.

[0011] As a further technical solution of the present invention, the gas detection assembly includes an SF6 concentration sensor and an ozone sensor installed on the second fixing frame, and an audible and visual alarm for early warning is also installed on the upper rear side of the fuselage.

[0012] As a further technical solution of the present invention, two sets of storage power supplies are installed on both sides of the interior of the fuselage, and inspection doors are provided on the sides of the fuselage corresponding to the storage power supplies.

[0013] As a further technical solution of the present invention, the path planning system includes: An environmental perception module, provided at the bottom of the four sides of the fuselage, for detecting obstacles; Positioning and mapping module, which integrates laser SLAM and UWB positioning technology to determine its own position and build or update the environment map; Path planning algorithm module, which generates the optimal or most feasible operation path based on the environment map and target location; The motion execution module is used to convert the planned path into specific control instructions to drive the movement of the multimodal walking mechanism.

[0014] As a further technical solution of the present invention, the remote control system includes: Wireless communication module, used to realize remote command transmission and status feedback; The status feedback and monitoring module is used to collect the robot's status data in real time and feed it back to the user end; Safety and protection module, used to protect the system from interference or misoperation; PLC module is used to receive instructions and control the robot to execute commands.

[0015] The present invention provides a hydropower station inspection robot, which has the following beneficial effects compared with the prior art: 1. A hydropower station inspection robot, with a multimodal walking mechanism design and three walking modes, can adapt to the complex terrain and environmental conditions within the hydropower station. Compared with traditional fixed monitoring devices, this design achieves all-round, no-blind-angle inspection. Compared with traditional manual inspection methods, it greatly improves the efficiency of hydropower station inspections, reduces manpower input, and lowers operation and maintenance costs.

[0016] 2. A hydropower station inspection robot, through the cooperation of the equipment status detection system, realizes the fusion of multiple sensors, which effectively improves the accuracy of fault identification. It can more accurately detect potential equipment faults, avoid misjudgments and missed judgments, and improve the reliability of hydropower station equipment operation. It can also promptly remind operation and maintenance personnel to handle faults, shortening the time for fault handling and reducing the risk of fault expansion. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a first structural perspective diagram of a hydropower station inspection robot; Figure 2 This is a second structural perspective diagram of a hydropower station inspection robot; Figure 3 This is a schematic diagram of the internal structure of a hydropower station inspection robot; Figure 4 This is a schematic diagram of the structure of the mobile mechanism of a hydropower station inspection robot; Figure 5 This is a schematic diagram of the structure of a hydropower station inspection robot when the walking mechanism is not in use; Figure 6 for Figure 5 side view.

[0018] In the figure: 1. Body; 11. Partial discharge inspection instrument; 12. Ultrasonic flaw detector; 13. Storage power supply; 14. Three-axis acceleration sensor; 15. Path planning system; 16. Remote control system; 2. Travel mechanism; 21. Inner motor frame; 210. Motor 1; 22. Outer motor frame; 220. Motor 2; 23. Adjustment plate; 24. Main joint arm; 25. Adjustment rod; 26. Secondary joint arm; 27. Electromagnetic chuck; 3. Moving mechanism; 31. Base frame; 32. Mecanum wheel; 33. Motor 3; 4. Fixed bracket 1; 41. Infrared thermal imager; 42. Ultraviolet imager; 5. Fixing frame 2; 51. Lighting lamp; 52. High-resolution visual acquisition unit; 53. SF6 concentration sensor; 54. Ozone sensor; 6. Sound and light alarm. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] See also Figure 1-6 The present invention provides a technical solution for a hydropower station inspection robot: a hydropower station inspection robot, comprising a body 1, the body 1 adopting a moisture-proof and explosion-proof shell (IP68 protection grade), two sets of storage power supplies 13 installed on both sides of the interior of the body 1, the dual power supplies can support 8 hours of battery life, and maintenance doors are provided on the sides of the body 1 corresponding to the storage power supplies 13. The robot is equipped with an autonomous charging pile, which is set in the hydropower station and can automatically return to the autonomous charging pile for wireless charging according to a planned route. The robot also includes a multi-modal walking mechanism installed on the body 1, which is suitable for moving or crawling on various terrains; wherein the multi-modal walking mechanism includes a walking mechanism 2, a moving mechanism 3, and an electromagnetic suction cup 27; The device also includes an equipment status detection system, which is installed on the fuselage 1 and is used to inspect the hydropower station equipment. The equipment status detection system includes a fixing frame 1 4 and a fixing frame 2 5 installed at the upper end of the front side of the fuselage 1. The fixing frame 1 4 is integrated with an infrared thermal imager 41 and an ultraviolet imager 42. The fixing frame 2 5 is installed with a high-resolution visual acquisition unit 52 and a lighting lamp 51. The front side of the fuselage 1 is also embedded with a partial discharge inspection instrument 11 and an ultrasonic flaw detector 12. The high-resolution visual acquisition unit 52 can use an industrial motion camera, which can realize wide-angle lens shooting of the macroscopic morphology of the weld and microscope lens (50 times magnification) to detect micro cracks. It also includes a gas detection assembly fixed to the front side of the fuselage 1 for testing the SF6 concentration and ozone concentration in the hydropower station. The gas detection assembly includes an SF6 concentration sensor 53 and an ozone sensor 54 mounted on a fixing frame 5. An audible and visual alarm 6 for early warning is also installed on the upper rear side of the fuselage 1. The walking mechanism 2 includes four walking legs symmetrically distributed at the front and rear ends of both sides of the fuselage 1, and the four walking legs have the same structure; the walking legs include an inner motor frame 21 installed on the inner side of the fuselage 1 and an outer motor frame 22 on the outer side of the fuselage 1, the inner motor frame 21 and the outer motor frame 22 are fixedly connected by a long screw, and the inner motor frame 21 and the outer motor frame 22 are respectively installed with a motor 1 210 and a motor 2 220; the output end of the motor 1 210 extends to the outside of the fuselage 1 through a coupling and is connected to the main joint arm 24 The output end of motor 2 220 is connected to the adjustment plate 23. There is a gap between the main joint arm 24 and the adjustment plate 23. The other end of the adjustment plate 23 is hinged with an adjustment rod 25. The other end of the adjustment rod 25 is hinged with a secondary joint arm 26. The other end of the main joint arm 24 and the secondary joint arm 26 are hinged to each other, and near the position of the adjustment rod 25, motor 1 210 can drive the main joint arm 24 to change the angle, and motor 2 220 can control the secondary joint arm 26 through the adjustment plate 23 to link the adjustment rod 25.

[0021] The electromagnetic suction cup 27 is fixed to the bottom end of the auxiliary joint arm 26 by bolts. The outer sides of the auxiliary joint arm 26 and the main joint arm 24 are both affixed with identification plates or reflective stickers. The electromagnetic suction cup 27 is connected to the power supply and control system through wires. The wires are arranged on the main joint arm 24 and the auxiliary joint arm 26, and a retractable wiring harness is designed between the main joint arm 24 and the auxiliary joint arm 26 to facilitate the use of the wires when the main joint arm 24 and the auxiliary joint arm 26 are extended. By energizing the electromagnetic suction cup 27, the electromagnetic suction cup 27 generates a magnetic field through the action of the current, thereby adsorbing metal objects.

[0022] The mobile mechanism 3 includes a base frame 31 fixed to the bottom of the fuselage 1. Motors 33 are provided at the four inner corners of the base frame 31. The output end of each motor 33 is connected to a Mecanum wheel 32 through a reducer. A rechargeable battery is also configured on the inner side of the base frame 31 to provide power for the motor 33. The motor 33 drives the Mecanum wheel 32 to realize the application of the wheel-foot mode.

[0023] Three triaxial acceleration sensors 14 are distributed inside the fuselage 1. The triaxial acceleration sensors 14 can form a spatial vibration monitoring network. The fuselage 1 is also provided with a path planning system 15 and a remote control system 16. The path planning system 15 includes: The environment perception module is set at the bottom of the four sides of the fuselage 1 to detect obstacles; Figure 1 As shown, the environment perception module can use millimeter wave radar or ultrasonic sensor in conjunction with the high-resolution visual acquisition unit 52 to detect obstacles; Positioning and mapping module, which integrates laser SLAM and UWB positioning technology to determine its own position and build or update the environment map; Path planning algorithm module, which generates the optimal or most feasible operation path based on the environment map and target location; The motion execution module is used to convert the planned path into specific control instructions to drive the movement of the multimodal walking mechanism.

[0024] Furthermore, the remote control system 16 includes: Wireless communication module, used to realize remote command transmission and status feedback; The status feedback and monitoring module is used to collect the robot's status data in real time and feed it back to the user end; Safety and protection module, used to protect the system from interference or misoperation; PLC module is used to receive instructions and control the robot to execute commands.

[0025] In summary, there are three main working modes of the multimodal walking mechanism: One is the wheeled mode, which uses Mecanum wheels 32 to move on flat ground to improve inspection efficiency. Figure 5 and 6 As shown, in the wheeled mode, the walking legs of the walking mechanism are in a folded state, which does not affect the travel of the mobile mechanism 3; One is the foot-type mode, when encountering obstacles or needing to climb ladders, the walking legs come into play to achieve crossing and climbing; In the adsorption mode, it cooperates with the walking legs and generates magnetic attraction by energizing the electromagnetic suction cup 27 at the bottom of the secondary joint arm 26, which facilitates climbing on the surface of the metal pipe and adapts to the three-dimensional spatial structure of the hydropower station. Example

[0026] Applied to turbine layer inspection, specifically including the following steps: Step 1: Task reception and path planning: After the robot receives an inspection task from the remote management system (i.e., the user end), the environmental perception module in the path planning system 15 detects surrounding obstacles. The positioning and map construction module uses laser SLAM and UWB positioning technology to determine its own position and build an environmental map. The UWB positioning accuracy is ±5cm. The path planning algorithm module automatically generates an optimal path containing 12 detection points based on the map and target position. The motion execution module converts the path into control instructions and drives the multimodal walking mechanism to move along the planned path.

[0027] Step 2: Environmental Adaptation and Mode Switching: When the robot enters a staircase area, it detects terrain changes through sensors and automatically switches to foot-based mode. Motor 1 210 and Motor 2 220 of the walking mechanism 2 work together to achieve stable climbing by adjusting the angles and positions of the main joint arm 24, the secondary joint arm 26, and the adjustment rod 25. At the same time, a torque adaptive algorithm is used to automatically adjust the torque of the motors (i.e., Motor 1 210 and Motor 2 220) based on changes in resistance during the climbing process, ensuring climbing stability and safety. The attitude angle error reported in real-time by the three-axis acceleration sensor 14 is less than 3°. Step 3: Status detection and data collection: Use the infrared thermal imager 41 to scan the turbine main shaft and collect temperature field distribution data to detect whether the main shaft has abnormal temperature increase. Use the ultrasonic flaw detector 12 to detect the integrity of the runner chamber weld. By analyzing the reflection and propagation of the ultrasonic wave, determine whether the weld has defects such as cracks and pores. Step 4: Visual recognition system: Check the aging condition of the seal, use the high-resolution visual acquisition unit 52 to capture the image of the seal, and analyze the aging characteristics of the seal such as wear and cracks through the image recognition algorithm.

[0028] Step 5. Abnormal handling: When the temperature of a certain part of the turbine main shaft is found to be abnormally high (exceeding 15% compared with the baseline value), the robot immediately starts partial discharge detection and uses the partial discharge inspection instrument 11 to detect whether there is partial discharge in the area. After confirming the abnormality, the sound and light alarm 6 is triggered to issue a third-level warning. The robot uses the wireless communication module to synchronously upload thermal imaging images, vibration spectrum and other data to the operation and maintenance terminal, providing detailed fault information to the operation and maintenance personnel so that timely maintenance can be carried out. Example

[0029] Applied to the nighttime inspection operation of the switch station, the specific steps are as follows: Step 1: Start UV detection mode: During nighttime inspections, the robot turns off the lighting 51 and turns on the UV imager 42 to detect corona discharge. The UV imager 42 can capture the UV light emitted during corona discharge, thereby discovering potential equipment faults, such as aging insulators and loose joints. Step 2: Autonomous charging execution: When the robot's battery level is lower than the set threshold, it can be quickly recharged using the wireless charging piles in the power station. It can be fully charged in 30 minutes, ensuring that the robot can continue to work and improving the continuity and reliability of inspections.

[0030] Step 3. Emergency task warning: When the robot receives a lightning strike alarm, its built-in remote control system 16 can receive the alarm information in real time through the wireless communication module. The path planning system automatically adjusts the path, prioritizes checking the status of the lightning arrester, and the robot quickly moves to the lightning arrester position. The sensors of the equipment status detection system are used to conduct a comprehensive inspection of the lightning arrester, including: infrared thermal imager 41 to detect temperature, ultraviolet imager 42 to detect corona discharge, high-resolution visual acquisition unit 52 to detect whether the appearance is damaged, etc., to promptly discover potential failures of the lightning arrester after a lightning strike. Example

[0031] Applied in emergency inspection scenarios after heavy rain, specifically: Step 1: Switching of the multi-modal walking mechanism: After a rainstorm, the ground may be muddy or waterlogged, and the robot may need to climb poles. At this time, the robot switches to the foot mode or the adsorption mode according to the environmental detection results. On muddy ground, the robot uses the foot mode to avoid getting stuck in the mud by the flexible movement of the walking legs. When climbing poles, the robot can turn on the magnetic adsorption mode, using the electromagnetic suction cup 27 to generate adsorption force, which cooperates with the walking legs to ensure stable climbing on slippery metal surfaces. Step 2: Detect water seepage at cable joints: Utilize the high-resolution visual acquisition unit 52 and AI recognition algorithms to detect cable joints. The AI ​​recognition accuracy rate can reach 92%. By analyzing features such as water stains and cracks in the image, it can be determined whether the cable joints have water seepage. Step 3: Inspection of other equipment: During the inspection process, other equipment such as transformers and switch cabinets can also be inspected. The infrared thermal imager 41 is used to detect whether the temperature is normal, the ultrasonic flaw detector 12 is used to detect whether there are any internal defects, and the gas detection component is used to detect whether the SF6 and ozone concentrations are within a safe range. Example

[0032] Applied to inspection of transformer cluster areas, scenario feature analysis: The target area is an outdoor transformer cluster, including three oil-immersed transformers and a radiator group. This area is subject to electromagnetic interference, oil contamination, and high-voltage hazardous areas, which puts higher requirements on the robot inspection, specifically: Step 1: Path planning: Generate a circular detection path based on the SLAM map. The path planning algorithm module ensures that the robot automatically maintains a safe distance of 0.6m from live equipment to avoid the risk of electric shock. At the same time, the high-resolution visual acquisition unit 52 uses visual recognition to detect oil accumulation areas on the ground in real time and dynamically correct the path to ensure that the robot completes the inspection task safely and efficiently.

[0033] Step 2: Detection of various aspects of the equipment status detection system: (1) Use infrared thermal imager 41 to scan the high and low voltage bushing joints of the transformer, set the temperature difference threshold to ±5°C, and detect whether the joints are overheated; (2) Use the ultrasonic flaw detector 12 to perform ultrasonic testing to collect abnormal sounds from the transformer body, with a frequency range of 20-100kHz. By analyzing the frequency and intensity of the abnormal sounds, it is determined whether there is a fault inside the transformer; (3) Use the gas detection component to perform gas detection, monitor the color change of the respirator silicone, and combine it with visible light image analysis to judge the sealing performance and internal status of the transformer.

[0034] (4) Conduct partial discharge detection using the partial discharge inspection instrument 11, and enable the ultraviolet imager 42 to scan corona discharge at night to detect potential discharge faults; Step 3. Abnormal handling measures: When the temperature of the C-phase bushing of the 2# transformer is found to be abnormal (8.2°C higher than the baseline value), the robot automatically switches to high-precision temperature measurement mode, increases the resolution of the infrared thermal imager 41 to 640×480, and more accurately detects the temperature distribution. At the same time, the data is uploaded to the operation and maintenance terminal through the wireless communication module. Based on the robot's own positioning function, it can provide the operation and maintenance personnel with accurate fault location and detailed fault information for targeted maintenance. Example

[0035] Applied to the monitoring scenario of pressure pipelines, for example, the target equipment is a water diversion penstock with a diameter of 3.2m, and the detection requirement is weld crack detection, including macro cracks and micro cracks. The specific steps are as follows: Step 1. Switching of the multi-modal walking mechanism: Start the electromagnetic adsorption mode, energize the electromagnetic suction cup 27, and use the walking legs to cooperate with the walking movement of the electromagnetic suction cup 27 to climb and adsorb along the outer wall of the pipeline. The climbing speed is 0.3m / s. When encountering flange joints, it can also cross obstacles to ensure the continuity of inspection.

[0036] Step 2: Visual inspection operation: (1) Adjust the high-resolution visual acquisition unit 52 to a wide-angle lens to capture the macroscopic appearance of the weld and detect whether the weld has obvious defects such as cracks and deformation; (2) Adjust the high-resolution visual acquisition unit 52 to a microscope lens, use a microscope lens with 50x magnification to check for micro cracks, and through high-resolution image analysis, find tiny cracks that are difficult to detect with the naked eye; Step 3: Comparison of effect data: Taking the time required for a full inspection of a 100-meter pipeline as an example, it is shortened from 2 days for manual inspection to 4 hours for robots, which greatly improves the inspection efficiency. At the same time, the inspection accuracy is also significantly improved. It can timely detect various crack defects in pipeline welds and ensure the safe operation of pressure pipelines.

[0037] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0038] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A hydropower station inspection robot, comprising a body (1), characterized in that: Also includes: A multi-modal walking mechanism, mounted on the body (1), suitable for moving or crawling on various terrains; The multimodal walking mechanism comprises a walking mechanism (2), a moving mechanism (3), and an electromagnetic chuck (27); An equipment status detection system, provided on the machine body (1), for inspecting the equipment of the hydropower station; A gas detection component, fixed to the front side of the fuselage (1), for testing the SF6 concentration and ozone concentration in the hydropower station; Three triaxial acceleration sensors (14) are distributed inside the fuselage (1), and a path planning system (15) and a remote control system (16) are also provided on the fuselage (1).

2. A hydropower station inspection robot according to claim 1, characterized in that: The walking mechanism (2) comprises four walking legs symmetrically distributed at the front and rear ends of both sides of the fuselage (1), and the four walking legs have the same structure; The walking legs include an inner motor frame (21) mounted on the inner side of the fuselage (1) and an outer motor frame (22) mounted on the outer side of the fuselage (1), wherein the inner motor frame (21) and the outer motor frame (22) are fixedly connected via a long screw, and a motor 1 (210) and a motor 2 (220) are mounted in the inner motor frame (21) and the outer motor frame (22), respectively. The output end of the motor 1 (210) extends to the outside of the fuselage (1) through a coupling and is connected to a main joint arm (24). The output end of the motor 2 (220) is connected to an adjustment plate (23). There is a gap between the main joint arm (24) and the adjustment plate (23). The other end of the adjustment plate (23) is hinged to an adjustment rod (25). The other end of the adjustment rod (25) is hinged to a sub-joint arm (26). The other end of the main joint arm (24) and the sub-joint arm (26) are hinged to each other and are adjacent to the adjustment rod (25).

3. A hydropower station inspection robot according to claim 1, characterized in that: The electromagnetic suction cup (27) is fixed to the bottom end of the auxiliary joint arm (26) by means of bolts, and the outer sides of the auxiliary joint arm (26) and the main joint arm (24) are both pasted with identification plates or reflective stickers.

4. A hydropower station inspection robot according to claim 1, characterized in that: The moving mechanism (3) includes a base frame (31) fixed to the bottom of the fuselage (1), and motors (33) are provided at the four inner corners of the base frame (31). The output end of each motor (33) is connected to a Mecanum wheel (32) through a reducer. A rechargeable battery is also provided on the inner side of the base frame (31) for providing power to the motors (33).

5. The hydropower station inspection robot according to claim 1, characterized in that: The equipment status detection system comprises a fixing frame 1 (4) and a fixing frame 2 (5) mounted on the upper front end of the fuselage (1), wherein the fixing frame 1 (4) is integrated with an infrared thermal imager (41) and an ultraviolet imager (42), and the fixing frame 2 (5) is mounted with a high-resolution visual acquisition unit (52) and an illumination lamp (51); A partial discharge inspection device (11) and an ultrasonic flaw detector (12) are also embedded and installed on the front side of the fuselage (1).

6. The hydropower station inspection robot according to claim 1, characterized in that: The gas detection assembly includes an SF6 concentration sensor (53) and an ozone sensor (54) mounted on a second fixing frame (5). An audible and visual alarm (6) for early warning is also mounted on the upper rear side of the fuselage (1).

7. The hydropower station inspection robot according to claim 1, characterized in that: Two sets of storage power supplies (13) are installed on both sides of the interior of the fuselage (1), and inspection doors are provided on the sides of the fuselage (1) corresponding to the storage power supplies (13).

8. The hydropower station inspection robot according to claim 1, characterized in that: The path planning system (15) includes: An environmental perception module, arranged at the bottom ends of the four side surfaces of the fuselage (1), for detecting obstacles; Positioning and mapping module, which integrates laser SLAM and UWB positioning technology to determine its own position and build or update the environment map; Path planning algorithm module, which generates the optimal or most feasible operation path based on the environment map and target location; The motion execution module is used to convert the planned path into specific control instructions to drive the movement of the multimodal walking mechanism.

9. The hydropower station inspection robot according to claim 1, characterized in that: The remote control system (16) comprises: Wireless communication module, used to realize remote command transmission and status feedback; The status feedback and monitoring module is used to collect the robot's status data in real time and feed it back to the user end; Safety and protection module, used to protect the system from interference or misoperation; PLC module is used to receive instructions and control the robot to execute commands.

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