Substation multi-task fault detection device based on hexapod robot

Abstract

The invention belongs to the technical field of manipulators, and particularly discloses a transformer substation multi-task fault detection device based on a hexapod robot, the transformer substation multi-task fault detection device comprises a robot body and a manipulator mounted on the top surface of the robot body, the manipulator comprises a swing arm and a grabbing part, and the grabbing part moves through swing of the swing arm; the grabbing part comprises a grabbing plate, a clamping plate and a moving frame; the front side end of the swing arm is connected with the center of the rear side face of the grabbing plate, and the two clamping plates are both located on the front side portion of the grabbing plate and are oppositely arranged. When a cable is grabbed through the two clamping plates close to each other, the pressure of the cable on the rear side portions of the clamping plates enables the clamping plates to deviate, the front side portions of the clamping plates rotate between the two side plates through the supporting rods, the rear side portions of the clamping plates gradually get close to the side plates through the elastic components, and at the moment, the clamping plates incline in the cable grabbing process; and the grabbing effect of the cable is guaranteed through the two inclined clamping plates, and the cable is prevented from falling off from the grabbing component.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and in particular relates to a multi-task fault detection device for a substation based on a hexapod robot. Background Art

[0002] A substation is a place where voltage and current are transformed, electrical energy is received and distributed. Inspections of substations can be performed regularly by humans or robots.

[0003] When a hexapod robot is used to inspect equipment on the ground in a substation, if a cable falls out of the equipment, the hexapod robot uses its manipulator to pull the cable back into the equipment. However, since the surface of the cable is mostly cylindrical, the cable can easily fall off the manipulator during the grabbing process, making it impossible to quickly pull the cable back into the equipment.

[0004] Therefore, it is necessary to invent a substation multi-task fault detection device based on a hexapod robot to solve the above problems. Summary of the Invention

[0005] In response to the above problems, the present invention provides a substation multi-task fault detection device based on a hexapod robot to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a multi-task fault detection device for a substation based on a hexapod robot, comprising a robot body and a manipulator mounted on the top surface of the robot body, the manipulator comprising a swing arm and a gripping component, wherein the gripping component is moved by the swing of the swing arm;

[0007] The grabbing components include a grabbing plate, a clamping plate and a movable frame;

[0008] The front end of the swing arm is connected to the center of the rear side of the grabbing plate. The two splints are both on the front side of the grabbing plate. The two splints are arranged opposite to each other. The splints are installed on the mobile frame using elastic components. The mobile frame is slidably installed on the grabbing plate. The power components are used to make the two mobile frames approach each other. When the two splints cooperate to grab the cable, the rear ends of the splints are deflected using the elastic components.

[0009] Furthermore, the movable frame includes a front plate and a rear plate, which are connected by a connecting rod, the rear side of the front plate is in contact with the front side of the grabbing plate, and the front side of the rear plate is in contact with the rear side of the grabbing plate. The surface of the grabbing plate is provided with a sliding groove corresponding to the connecting rod, and an inner rod and a spring are embedded in the sliding groove. The top end of the spring is connected to the top movable frame, and the bottom end of the spring is connected to the bottom movable frame. The spring is in a compressed state, and the connecting rod is sleeved on the surface of the inner rod.

[0010] Furthermore, the mobile frame further includes a bracket and a side panel;

[0011] The two brackets correspond to the two splints one by one. The brackets are located on the outer side of the splint. The brackets include two side plates. The front sides of the two side plates are fixedly connected by a horizontal plate, and the rear sides of the side plates are connected to the front side of the front plate. Two side plates are installed on the inner side of the horizontal plate. The splint is located between the two side plates. The side sides of the splint are penetrated by support rods, and the front side of the splint is rotated between the two side plates by support rods.

[0012] Furthermore, the elastic component includes an arc-shaped plate, a crossbar and a spring;

[0013] The two curved plates are respectively installed on both sides of the splint, and the two curved plates correspond to the two side plates one by one. The outer ends of the curved plates pass through the side plates, and the surfaces of the side plates are provided with curved grooves corresponding to the curved plates. The outer ends of the two curved plates are connected by a cross bar, and the cross bar is connected to the front side of the front plate by multiple spring clips. The elastic force of the multiple spring clips makes the outer side surface of the cross bar fit with the outer side surface of the side plate.

[0014] Furthermore, the power component includes a motor and a pull rod;

[0015] A groove for arranging a motor is provided at the center of the front end of the swing arm. The output end of the motor is connected to the center of the pull rod, the end of the pull rod is connected to the rear plate, and the output end of the motor reels the pull rod, and the reeled pull rod brings the two rear plates closer to each other.

[0016] Furthermore, a push plate is provided at the center of the front side of the grabbing plate, and a limiting plate is provided at the top and bottom of the push plate. The overall shape of the push plate is set to be semi-cylindrical, the front side of the push plate is flush with the front side of the limiting plate, the rear side of the limiting plate is connected to the front side of the grabbing plate, the rear side of the push plate is set to an arc surface, and the arc surface is fit with the inner side of the limiting plate, and an insertion rod is inserted at the center of the push plate, the rear end of the insertion rod is connected to the front side of the grabbing plate, the front end of the insertion rod is connected to the circular plate, and the front side of the push plate is provided with a movable groove corresponding to the circular plate, and an elastic member is provided inside the movable groove that is sleeved on the surface of the insertion rod, the front end of the elastic member is connected to the rear side of the circular plate, and the rear end of the elastic member is connected to the front side of the movable groove.

[0017] Furthermore, the top and bottom of the arc-shaped surface are fixed with a pasting plate, and the rear side of the pasting plate is in contact with the front side of the grabbing plate.

[0018] Furthermore, a plug is fixed on the inner side of the front plate, a socket corresponding to the plug is provided on the surface of the limiting plate, the front side of the inner end of the plug is provided with a chamfered surface, and the plug uses the chamfered surface to correspond to the arc surface of the push plate.

[0019] Technical effects and advantages of the present invention:

[0020] 1. When the present invention grabs the cable through two clamps close to each other, the pressure of the cable on the rear side of the clamp causes the clamp to deviate, the front side of the clamp is rotated between the two side plates by the support rod, and the rear side of the clamp gradually approaches the side plate by the elastic component. At this time, the clamp is tilted during the process of grabbing the cable. The two tilted clamps ensure the cable grabbing effect and prevent the cable from falling from the grabbing component.

[0021] 2. The present invention uses the squeezing of the plug to move the push plate away from the grabbing plate. Multiple plugs enable the push plate to move forward smoothly. The forward-moving push plate and two inclined clamping plates clamp the cable, ensuring the stability of the cable on the grabbing component and preventing the cable from moving in the grabbing component.

[0022] 3. When the present invention grabs a square cable that exceeds the width of the clamping plate through the grabbing component, the side of the square cable is attached to the push plate and the front side of the limiting plate, and the inner side of the movable clamping plate is attached to the surface of the square cable. The movable frame uses the side plates and support rods to make the horizontal clamping plate squeeze the square cable, and the stability of the square cable between the two clamping plates is ensured by the clamping of the two clamping frames. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 1 is an overall schematic diagram of a substation multi-task fault detection device based on a hexapod robot according to an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of the front side of a grabbing component according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of the rear side of a grabbing component according to an embodiment of the present invention;

[0026] Figure 4 2 is a schematic diagram of a bracket and a splint according to an embodiment of the present invention;

[0027] Figure 5 is a schematic perspective cross-sectional view of a push plate according to an embodiment of the present invention;

[0028] In the figure: 1. Robot body; 2. Manipulator; 3. Swing arm; 4. Grabbing plate; 5. Clamping plate; 6. Front plate; 7. Rear plate; 8. Inner rod; 9. Spring; 10. Side plate; 11. Side plate; 12. Horizontal plate; 13. Arc plate; 14. Cross bar; 15. Shrapnel; 16. Motor; 17. Pull bar; 18. Push plate; 19. Limiting plate; 20. Arc surface; 21. Insertion rod; 22. Elastic member; 23. Adhesive plate; 24. Plug; 25. Socket. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0030] The present invention provides a multi-task fault detection device for a substation based on a hexapod robot. Figure 1 and Figure 2 As shown, the robot comprises a main body 1 and a manipulator 2 mounted on the top surface of the robot body 1. The manipulator 2 comprises a swing arm 3 and a gripping component. The rear end of the swing arm 3 is connected to the output end of a power unit. Operation of the power unit causes the swing arm 3 to swing, and the swinging of the swing arm 3 moves the gripping component. The front and side cameras capture the ground and substation conditions, allowing the robot body 1 to quickly move on the ground using its six legs. The moving robot body 1 then uses the gripping component at the front end of the swing arm 3 to grab cables, facilitating their movement.

[0031] The grabbing component includes a grabbing plate 4, a clamping plate 5 and a movable frame; the front end of the swing arm 3 is connected to the center of the rear side of the grabbing plate 4, and the two clamping plates 5 are both on the front side of the grabbing plate 4. The two clamping plates 5 are arranged opposite to each other, and the clamping plates 5 are installed on the movable frame using elastic components. The movable frame is slidably installed on the grabbing plate 4, and the power components are used to make the two movable frames approach each other. When the two clamping plates 5 cooperate to grab the cable, the rear end of the clamping plate 5 is deflected by the elastic component. When the moving robot body 1 drives the swinging swing arm 3 to approach the cable, the grabbing component at the front end of the swing arm 3 approaches the cable until the cable is between the two clamps 5. The power generated by the power component makes the two moving frames approach each other, and the moving frame drives the clamp 5 to approach the cable until the inner side of the clamp 5 fits the surface of the cable. The power generated by the power component makes the two moving frames continue to approach. The pressure of the cable on the back side of the clamp 5 makes the back side of the clamp 5 rotate using the elastic component, and the distance between the back ends of the two clamps 5 gradually increases. The two relatively inclined clamps 5 cooperate to ensure the grabbing effect of the cable between the two clamps 5, and avoid the cable from detaching from the two clamps 5 during the grabbing process.

[0032] exist Figure 2 and Figure 3In the figure, the movable frame includes a front plate 6 and a rear plate 7, which are connected by a connecting rod. The rear side of the front plate 6 is in contact with the front side of the grabbing plate 4, and the front side of the rear plate 7 is in contact with the rear side of the grabbing plate 4. The surface of the grabbing plate 4 is provided with a sliding groove corresponding to the connecting rod, and an inner rod 8 and a spring 9 sleeved on the surface of the inner rod 8 are embedded in the sliding groove. The top end of the spring 9 is connected to the top movable frame, and the bottom end of the spring 9 is connected to the bottom movable frame. The spring 9 is in a compressed state, and the connecting rod is sleeved on the surface of the inner rod 8. When the power generated by the power component causes the movable frame to move, the rear side of the front plate 6 is in contact with the front side of the grab plate 4, and the front side of the rear plate 7 is in contact with the rear side of the grab plate 4. The moving movable plate slides on the surface of the inner rod 8 of the slide groove by the connecting rod, and the two movable frames approaching each other cooperate to squeeze the spring 9 on the surface of the inner rod 8. At this time, the movable frame drives the clamping plate 5 close to the cable; when the power component stops pulling the movable frame, the elastic force of the spring 9 causes the two connecting rods to separate from each other, and the movement of the connecting rod is used to move the movable frame, and the movable frame drives the clamping plate 5 away from the cable. At this time, the elastic component causes the clamping plate 5 to gradually tend to a horizontal state.

[0033] exist Figures 2 to 4 In the embodiment, the movable frame further includes brackets and side panels 10; the two brackets correspond one-to-one with the two clamping plates 5, the brackets are located on the outer sides of the clamping plates 5, the brackets include two side panels 11, the front sides of the two side panels 11 are fixedly connected by a transverse plate 12, and the rear sides of the side panels 11 are connected to the front side of the front plate 6, and the two side panels 10 are installed on the inner side of the transverse plate 12. The clamping plates 5 are located between the two side panels 10, and the side sides of the clamping plates 5 pass through the side panels 10 by a support rod, and the front sides of the clamping plates 5 rotate between the two side panels 10 by the support rod. The elastic component limits the rear side of the clamping plates 5, and the front side of the clamping plates 5 is inserted into the inside of the side panels 10 by a support rod. The movable frame drives the clamping plates 5 to move synchronously through the elastic component and the side panels 10.

[0034] When the two clamps 5 close to each other grab the cable, the pressure of the cable on the back side of the clamp 5 causes the clamp 5 to shift, and the front side of the clamp 5 rotates between the two side plates 10 using the support rod, and the back side of the clamp 5 gradually approaches the side plate 11 using the elastic component. At this time, the clamp 5 tilts during the process of grabbing the cable, and the cable grabbing effect is guaranteed by the two tilted clamps 5.

[0035] The elastic component includes an arc-shaped plate 13, a cross bar 14 and a spring piece 15; the two arc-shaped plates 13 are respectively installed on both sides of the splint 5, and the two arc-shaped plates 13 correspond to the two side plates 11 one by one. The outer end of the arc-shaped plate 13 passes through the side plate 11, and the surface of the side plate 11 is provided with an arc groove corresponding to the arc-shaped plate 13. The outer ends of the two arc-shaped plates 13 are connected by a cross bar 14, and the cross bar 14 is connected to the front side of the front plate 6 by multiple spring pieces 15. The elastic force of the multiple spring pieces 15 makes the outer side surface of the circumference of the cross bar 14 fit the outer side surface of the side plate 11. The pressure of the cable on the splint 5 causes the splint 5 to rotate, and the rear side of the splint 5 slides inside the arc groove of the side plate 11 using the arc plate 13. The outer side of the sliding arc plate 13 drives the cross bar 14 away from the front plate 6. The cross bar 14 pulls multiple spring pieces 15 in the process of moving away from the front plate 6 until the outer side surface of the splint 5 fits with the inner side surface of the side plate 11. At this time, the splint 5 is in an inclined state, and the two relatively inclined splints 5 cooperate to grab the cable.

[0036] When the movable frame drives the splint 5 away from the cable, the elastic force of the multiple spring pieces 15 pulls the cross bar 14 close to the side plate 11, and the movable cross bar 14 uses the arc plate 13 to push the splint 5 to rotate in the opposite direction until the splint 5 is in a horizontal state. At this time, the elastic force of the multiple spring pieces 15 makes the outer side surface of the circumference of the cross bar 14 fit into the outer side surface of the side plate 11.

[0037] exist Figure 3 In the embodiment, the power component includes a motor 16 and a pull rod 17; a groove for accommodating the motor 16 is provided at the center of the front end of the swing arm 3, the output end of the motor 16 is connected to the center of the pull rod 17, the end of the pull rod 17 is connected to the rear plate 7, and the output end of the motor 16 reels the pull rod 17, and the reeled pull rod 17 brings the two rear plates 7 closer to each other. When the motor 16 is started, the motor 16 causes the output end to rotate, and the rotating output end gradually reels the pull rod 17. The reeled pull rod 17 uses the rear plate 7 to pull the movable frame to move, and at this time the two movable frames approach each other, and the movable frames approaching each other cooperate with the spring 9 on the surface of the inner rod 8 to squeeze; the motor 16 causes the output end to rotate in the opposite direction, and the elastic force of the spring 9 is applied to the pull rod 17 through the rear plate 7 of the movable frame. The elastic force of the spring 9 keeps the pull rod 17 in a straight state at all times, and at this time the two movable frames are separated from each other.

[0038] exist Figure 2 and Figure 5In the embodiment, a push plate 18 is provided at the center of the front side of the grab plate 4. A limiting plate 19 is provided at the top and bottom of the push plate 18. The overall shape of the push plate 18 is set to be semi-cylindrical. The front side of the push plate 18 is flush with the front side of the limiting plate 19. The rear side of the limiting plate 19 is connected to the front side of the grab plate 4. The rear side of the push plate 18 is set as an arc surface 20, and the arc surface 20 is in contact with the inner side of the limiting plate 19. A rod 21 is inserted at the center of the push plate 18. The rear end of the rod 21 is connected to the front side of the grab plate 4. The front end of the rod 21 is connected to the circular plate. The front side of the push plate 18 is provided with a movable groove corresponding to the circular plate. An elastic member 22 is provided inside the movable groove and is sleeved on the surface of the rod 21. The front end of the elastic member 22 is connected to the rear side of the circular plate, and the rear end of the elastic member 22 is connected to the front side of the movable groove. A contact plate 23 is fixed to the top and bottom of the arc surface 20. The rear side of the contact plate 23 is in contact with the front side of the grab plate 4. When the swing arm 3 drives the grabbing plate 4 to grab the cable, the outer side surface of the cable circumference is attached to the front side surface of the push plate 18. Due to the cooperation between the sticking plate 23 and the insertion rod 21, the front side surface of the sticking plate 23 is in a vertical state. When the two clamping plates 5 close to each other grab the cable, the two inclined clamping plates 5 cooperate with the push plate 18 to grab the cable.

[0039] A plug 24 is fixed to the inner side of the front plate 6, and a socket 25 corresponding to the plug 24 is provided on the surface of the limiting plate 19. The front side of the inner end of the plug 24 is provided with a chamfered surface, and the chamfered surface of the plug 24 corresponds to the curved surface 20 of the push plate 18. As the two movable frames approach each other, the front plate 6 drives the plug 24 toward the limiting plate 19 until the inner side of the clamping plate 5 is in contact with the cable. The inner end of the plug 24 is inserted into the socket 25. The continued movement of the movable frame causes the clamping plate 5 to deflect. At this time, the front plate 6 causes the chamfered surface of the inner end of the plug 24 to be in contact with the curved surface 20. The chamfered surface slides on the curved surface 20. The pressure of the plug 24 causes the push plate 18 to move away from the grab plate 4. The multiple plugs 24 enable the push plate 18 to move forward smoothly. The forward-moving push plate 18 and the two inclined clamping plates 5 clamp the cable, ensuring the stability of the cable on the grabbing component.

[0040] When the push plate 18 moves forward, the forward pushing plate 18 slides on the surface of the insertion rod 21, and the push plate 18 moves on the surface of the circular plate using the movable groove. The moving push plate 18 cooperates with the circular plate to squeeze the elastic part 22 inside the movable groove. The squeezing of multiple plugs 24 prevents the push plate 18 from deviating or rotating during the forward movement, thereby ensuring the stability of the cable.

[0041] When the width of the grabbed square cable exceeds the width of the clamping plate 5, the side surface of the square cable is attached to the push plate 18 and the front side of the limiting plate 19, and the inner side surface of the movable clamping plate 5 is attached to the surface of the square cable. The movable frame uses the side plate 10 and the support rod to make the horizontal clamping plate 5 squeeze the square cable, and the stability of the square cable between the two clamping plates 5 is ensured by the clamping of the two clamping frames.

[0042] Working principle of the present invention:

[0043] Reference Figures 1 to 5 As shown, the front side camera is used to shoot the conditions of the ground and the substation, which facilitates the robot body 1 to move quickly on the ground through six feet, and the moving robot body 1 uses the grabbing component at the front end of the swing arm 3 to grab the cable, making it convenient to move the cable.

[0044] When the moving robot body 1 drives the swinging swing arm 3 to approach the cable, the grabbing part at the front end of the swing arm 3 approaches the cable until the cable is between the two clamps 5 and the cable is in contact with the front side of the push plate 18. The motor 16 is started and the motor 16 works to rotate the output end. The rotating output end gradually reels the pull strip 17. The reeled pull strip 17 uses the rear plate 7 to pull the moving frame to move. At this time, the two moving frames approach each other. The moving frames that approach each other cooperate to squeeze the spring 9 on the surface of the inner rod 8. At this time, the moving frame drives the clamp plate 5 to approach the cable.

[0045] When the inner side of the moving clamping plate 5 is in contact with the surface of the cable, the pressure of the cable on the clamping plate 5 causes the clamping plate 5 to rotate, and the rear side of the clamping plate 5 slides inside the arc groove of the side plate 11 using the curved plate 13. The outer side of the sliding curved plate 13 drives the cross bar 14 away from the front plate 6. The cross bar 14 pulls multiple spring pieces 15 in the process of moving away from the front plate 6 until the outer side of the clamping plate 5 is in contact with the inner side of the side plate 11. At this time, the clamping plate 5 is in an inclined state, and the two relatively inclined clamping plates 5 cooperate to grab the cable. When the two clamping plates 5 approaching each other grab the cable, the pressure of the cable on the rear side of the clamping plate 5 causes the clamping plate 5 to deviate. The front side of the clamping plate 5 rotates between the two side plates 10 using the support rod, and the rear side of the clamping plate 5 gradually approaches the side plate 11 using the elastic component. At this time, the clamping plate 5 tilts in the process of grabbing the cable, and the cable grabbing effect is guaranteed by the two inclined clamping plates 5.

[0046] As the two movable frames approach each other, the front plate 6 drives the plug 24 to approach the limiting plate 19 until the inner side surface of the splint 5 fits with the cable, and the inner end of the plug 24 is inserted into the inside of the socket 25. The moving frame continues to move, causing the splint 5 to deflect. At this time, the front plate 6 makes the chamfered surface of the inner end of the plug 24 fit against the surface of the curved surface 20, and the chamfered surface slides on the surface of the curved surface 20. The push plate 18 is squeezed away from the grabbing plate 4 by the plug 24. Multiple plugs 24 make the push plate 18 move forward smoothly. The forward-moving push plate 18 and the two inclined splints 5 clamp the cable to ensure the stability of the cable on the grabbing component.

[0047] After the manipulator 2 uses the grabbing component at the front end of the swing arm 3 to pull the cable back into the device, the motor 16 starts to work and causes the output end to rotate in the opposite direction. The elastic force of the spring 9 is applied to the pull bar 17 through the rear plate 7 of the mobile frame. The elastic force of the spring 9 keeps the pull bar 17 in a straight state. At this time, the two mobile frames separate from each other. When the mobile frame drives the clamp 5 away from the cable, the elastic force of the multiple springs 15 pulls the cross bar 14 close to the side plate 11. The moving cross bar 14 uses the curved plate 13 to push the clamp 5 to rotate in the opposite direction until the clamp 5 is in a horizontal state. At this time, the elastic force of the multiple springs 15 makes the outer side surface of the cross bar 14 fit with the outer side surface of the side plate 11, making it easier for the grabbing device to cooperate in grabbing the next dropped cable.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same.

Claims

1. A multi-task fault detection device for a substation based on a hexapod robot, comprising a robot body (1) and a manipulator (2) mounted on the top surface of the robot body (1), characterized in that: The manipulator (2) comprises a swing arm (3) and a grasping component, and the grasping component is moved by the swing of the swing arm (3); The grabbing component comprises a grabbing plate (4), a clamping plate (5) and a movable frame; The front end of the swing arm (3) is connected to the center of the rear side of the grabbing plate (4), and the two clamping plates (5) are both located at the front side of the grabbing plate (4). The two clamping plates (5) are arranged opposite to each other, and the clamping plates (5) are mounted on the movable frame by means of elastic components. The movable frame is slidably mounted on the grabbing plate (4). The two movable frames are brought closer to each other by means of a power component. When the two clamping plates (5) cooperate to grab the cable, the rear end of the clamping plate (5) is deflected by means of the elastic component.

2. The multi-task fault detection device for substations based on a hexapod robot according to claim 1, characterized in that: The movable frame comprises a front plate (6) and a rear plate (7), the front plate (6) and the rear plate (7) are connected by a connecting rod, the rear side surface of the front plate (6) is in contact with the front side surface of the grabbing plate (4), the front side surface of the rear plate (7) is in contact with the rear side surface of the grabbing plate (4), the surface of the grabbing plate (4) is provided with a sliding groove corresponding to the connecting rod, an inner rod (8) is embedded in the sliding groove, and a spring (9) is sleeved on the surface of the inner rod (8), the top end of the spring (9) is connected to the top movable frame, the bottom end of the spring (9) is connected to the bottom movable frame, the spring (9) is in a compressed state, and the connecting rod is sleeved on the surface of the inner rod (8).

3. The multi-task fault detection device for substations based on a hexapod robot according to claim 2, characterized in that: The mobile frame further includes a bracket and a side plate (10); The two brackets correspond to the two splints (5) one by one, the brackets are located on the outer side of the splint (5), the brackets include two side plates (11), the front sides of the two side plates (11) are fixedly connected by a transverse plate (12), and the rear sides of the side plates (11) are connected to the front side of the front plate (6), and the inner side of the transverse plate (12) is installed with two side plates (10), the splint (5) is located between the two side plates (10), the side of the splint (5) is penetrated by a support rod through the side plate (10), and the front side of the splint (5) is rotated between the two side plates (10) by the support rod.

4. The multi-task fault detection device for substations based on a hexapod robot according to claim 3, characterized in that: The elastic component comprises an arc-shaped plate (13), a crossbar (14) and a spring (15); Two arc-shaped plates (13) are respectively installed on both sides of the clamping plate (5), and the two arc-shaped plates (13) correspond to the two side plates (11) one by one. The outer ends of the arc-shaped plates (13) pass through the side plates (11), and the surface of the side plates (11) is provided with arc-shaped grooves corresponding to the arc-shaped plates (13). The outer ends of the two arc-shaped plates (13) are connected by a cross bar (14), and the cross bar (14) is connected to the front side of the front plate (6) by a plurality of spring pieces (15). The elastic force of the plurality of spring pieces (15) makes the outer side of the circumference of the cross bar (14) fit with the outer side of the side plates (11).

5. The multi-task fault detection device for substations based on a hexapod robot according to claim 2, characterized in that: The power component includes a motor (16) and a pull rod (17); A groove for accommodating the motor (16) is provided at the center of the front end of the swing arm (3); the output end of the motor (16) is connected to the center of the pull bar (17); the end of the pull bar (17) is connected to the rear plate (7); the output end of the motor (16) reels the pull bar (17); the retracted pull bar (17) brings the two rear plates (7) closer to each other.

6. The multi-task fault detection device for substations based on a hexapod robot according to claim 2, characterized in that: A push plate (18) is provided at the center of the front side of the grab plate (4), and a limiting plate (19) is provided at the top and bottom of the push plate (18). The overall shape of the push plate (18) is set to be semi-cylindrical, and the front side of the push plate (18) is flush with the front side of the limiting plate (19). The rear side of the limiting plate (19) is connected to the front side of the grab plate (4). The rear side of the push plate (18) is set to be an arc surface (20), and the arc surface (20) is in contact with the inner side of the limiting plate (19). A plug rod (21) is inserted at the center of the push plate (18), the rear side end of the plug rod (21) is connected to the front side of the grab plate (4), and the front side end of the plug rod (21) is connected to the circular plate. The front side of the push plate (18) is provided with a movable groove corresponding to the circular plate, and an elastic member (22) is provided inside the movable groove and is sleeved on the surface of the plug rod (21). The front side end of the elastic member (22) is connected to the rear side of the circular plate, and the rear side end of the elastic member (22) is connected to the front side of the movable groove.

7. The multi-task fault detection device for substations based on a hexapod robot according to claim 6, characterized in that: The top and bottom of the arc-shaped surface (20) are both fixed with a pasting plate (23), and the rear side of the pasting plate (23) is in contact with the front side of the grabbing plate (4).

8. The multi-task fault detection device for substations based on a hexapod robot according to claim 6, characterized in that: A plug (24) is fixed to the inner side of the front plate (6), a socket (25) corresponding to the plug (24) is provided on the surface of the limiting plate (19), the front side of the inner end of the plug (24) is provided as a chamfered surface, and the plug (24) corresponds to the arcuate surface (20) of the push plate (18) by utilizing the chamfered surface.

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