A multi-task fault detection device for substations based on a hexapod robot

Abstract

This invention belongs to the field of robotic arm technology, and specifically discloses a multi-task fault detection device for substations based on a hexapod robot. The device includes a robot body and a robotic arm mounted on the top surface of the robot body. The robotic arm includes a swing arm and a gripping component. The gripping component moves by swinging the swing arm. The gripping component includes a gripping plate, clamping plates, and a moving frame. The front end of the swing arm is connected to the center of the rear side of the gripping plate. Both clamping plates are located on the front side of the gripping plate and are arranged opposite each other. When the invention grips a cable using the two clamping plates that are close to each other, the pressure of the cable on the rear side of the clamping plate causes the clamping plate to shift. The front side of the clamping plate rotates between the two side plates using a support rod, while the rear side of the clamping plate gradually approaches the side plates using an elastic component. At this time, the clamping plate tilts during the cable gripping process. The two tilted clamping plates ensure the effective gripping of the cable and prevent the cable from falling off the gripping component.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, and specifically relates to a substation multi-task fault detection device based on a hexapod robot. Background Technology

[0002] A substation is a place that transforms voltage and current, receives electrical energy, and distributes electrical energy. The inspection of a substation can be carried out regularly by humans or robots.

[0003] When a six-legged robot inspects ground-level equipment in a substation, if a cable falls out of the equipment, the robot uses its robotic arm to pull the cable back into the equipment. However, since most cables have a cylindrical surface, they are prone to detaching from the robotic arm during the gripping process, making it difficult 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] To address the aforementioned problems, this invention provides a substation multi-task fault detection device based on a hexapod robot, thereby resolving the issues raised in the background section.

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

[0007] The gripping component includes a gripping plate, a clamping plate, and a moving frame;

[0008] The front end of the swing arm is connected to the center of the rear side of the gripping plate. Both clamps are located on the front side of the gripping plate and are set opposite to each other. The clamps are mounted on the moving frame using elastic components. The moving frame is slidably mounted on the gripping plate. The power component makes the two moving frames move closer to each other. When the two clamps cooperate to grip the cable, the rear end of the clamps is deflected by 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 gripping plate, and the front side of the rear plate is in contact with the rear side of the gripping plate. The surface of the gripping plate is provided with a groove corresponding to the connecting rod. An inner rod is embedded in the groove, and a spring is sleeved on the surface of the inner rod. 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 movable frame also includes a support frame and side plates;

[0011] Two brackets correspond one-to-one with two clamping plates. The brackets are located on the outer side of the clamping plates. The brackets include two side plates. The front sides of the two side plates are fixedly connected by a horizontal plate, and the rear side of the side plates is connected to the front side of the front plate. Two side plates are installed on the inner side of the horizontal plate. The clamping plate is located between the two side plates. The side of the clamping plate is supported by a support rod that passes through the side plate. The front side of the clamping plate rotates between the two side plates using the support rod.

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

[0013] Two curved plates are installed on both sides of the clamping plate, and the two curved plates correspond one-to-one with the two side plates. The outer ends of the curved plates penetrate the side plates, and the surface of the side plates is provided with curved grooves corresponding to the curved plates. The outer ends of the two curved plates are connected by a crossbar. The crossbar is connected to the front side of the front plate by multiple spring pieces. The elasticity of the multiple spring pieces makes the outer circumference of the crossbar fit against the outer side of the side plate.

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

[0015] A groove for installing a motor is provided at the center of the front end of the swing arm. The motor output end is connected to the center of the pull bar, and the end of the pull bar is connected to the rear plate. The motor output end retracts the pull bar, and the retracted pull bar brings the two rear plates closer together.

[0016] Furthermore, a push plate is provided at the center of the front side of the gripping plate, and limiting plates are provided at the top and bottom of the push plate. The overall shape of the push plate is semi-cylindrical. The front side of the push plate is flush with the front side of the limiting plate, and the rear side of the limiting plate is connected to the front side of the gripping plate. The rear side of the push plate is set as an arc surface, and the arc surface fits the inner side of the limiting plate. A plug rod is inserted at the center of the push plate. The rear end of the plug rod is connected to the front side of the gripping plate, and the front end of the plug rod is connected to a circular plate. The front side of the push plate is provided with a movable groove corresponding to the circular plate. An elastic element is provided inside the movable groove and sleeved on the surface of the plug rod. The front end of the elastic element is connected to the rear side of the circular plate, and the rear end of the elastic element is connected to the front side of the movable groove.

[0017] Furthermore, the top and bottom of the arc-shaped surface are both fixed with a plate, and the rear side of the plate is attached to the front side of the gripping plate.

[0018] Furthermore, a plug is fixed to the inner side of the front plate, and 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] The technical effects and advantages of this invention are as follows:

[0020] 1. When the present invention grips the cable with two clamps that are close to each other, the pressure of the cable on the rear side of the clamps causes the clamps to shift. The front side of the clamps rotates between the two side plates using a support rod, and the rear side of the clamps gradually approaches the side plate using an elastic component. At this time, the clamps tilt during the process of gripping the cable. The two tilted clamps ensure the cable gripping effect and prevent the cable from falling off the gripping component.

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

[0022] 3. When the present invention grips a square cable that exceeds the width of the clamping plate by the gripping component, the side of the square cable is attached to the front side of the push plate and the limiting plate, the inner side of the moving clamping plate is attached to the surface of the square cable, and the moving frame uses the side plate and the support rod to make the horizontal clamping plate squeeze the square cable. The clamping of the two clamping frames ensures the stability of the square cable between the two clamping plates. Attached Figure Description

[0023] Figure 1 This 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 This is a schematic diagram of the front side of the gripping component according to an embodiment of the present invention;

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

[0026] Figure 4 This is a schematic diagram showing the correspondence between the bracket and the clamping plate in an embodiment of the present invention;

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

[0028] In the diagram: 1. Robot body; 2. Manipulator arm; 3. Swing arm; 4. Gripping 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. Curved plate; 14. Crossbar; 15. Spring; 16. Motor; 17. Pull bar; 18. Push plate; 19. Limiting plate; 20. Curved surface; 21. Insert rod; 22. Elastic element; 23. Adhesive plate; 24. Plug; 25. Socket. Detailed Implementation

[0029] To make the objectives, 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] This invention provides a substation multi-task fault detection device based on a hexapod robot, such as... Figure 1 and Figure 2 As shown, the robot includes a robot body 1 and a robotic arm 2 mounted on the top surface of the robot body 1. The robotic arm 2 includes 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. The power unit operates to cause the swing arm 3 to swing, which in turn moves the gripping component. A camera on the front side captures images of the ground and the substation, facilitating rapid movement of the robot body 1 on its six legs. The moving robot body 1 uses the gripping component at the front end of the swing arm 3 to grasp cables, facilitating cable movement.

[0031] The gripping component includes a gripping plate 4, a clamping plate 5, and a moving frame; the front end of the swing arm 3 is connected to the center of the rear side of the gripping plate 4, and the two clamping plates 5 are both located on the front side of the gripping plate 4. The two clamping plates 5 are arranged opposite to each other, and the clamping plates 5 are mounted on the moving frame using elastic components. The moving frame is slidably mounted on the gripping plate 4. The two moving frames are brought closer to each other using a power component. When the two clamping plates 5 cooperate to grip the cable, the rear end of the clamping plate 5 is deflected by the elastic component. When the moving robot body 1 moves the swinging arm 3 close to the cable, the gripping component at the front end of the swing arm 3 approaches the cable until the cable is between the two clamping plates 5. The power generated by the power component causes the two moving frames to move closer to each other. The moving frames drive the clamping plates 5 closer to the cable until the inner side of the clamping plates 5 is in contact with the surface of the cable. The power generated by the power component causes the two moving frames to continue to move closer. The pressure of the cable on the rear side of the clamping plates 5 causes the rear side of the clamping plates 5 to rotate using the elastic component. The distance between the rear ends of the two clamping plates 5 gradually increases. The two relatively inclined clamping plates 5 cooperate to ensure the gripping effect of the cable between the two clamping plates 5 and prevent the cable from detaching from the two clamping plates 5 during the gripping process.

[0032] exist Figure 2 and Figure 3In the process, 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 gripping plate 4, and the front side of the rear plate 7 is in contact with the rear side of the gripping plate 4. The surface of the gripping plate 4 is provided with a groove corresponding to the connecting rod. An inner rod 8 is embedded in the 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, 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 unit generates power to move the moving frame, the rear side of the front plate 6 is in contact with the front side of the gripping plate 4, and the front side of the rear plate 7 is in contact with the rear side of the gripping plate 4. The moving plate slides on the surface of the inner rod 8 of the slide groove using the connecting rod. The two moving frames that are close to each other cooperate to squeeze the spring 9 on the surface of the inner rod 8. At this time, the moving frame drives the clamping plate 5 to approach the cable. When the power unit stops pulling the moving frame, the elastic force of the spring 9 causes the two connecting rods to separate from each other. The movement of the connecting rods causes the moving frame to move. The moving 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 The movable frame further includes supports and side plates 10; two supports correspond one-to-one with two clamping plates 5, the supports are located on the outer side of the clamping plates 5, the supports include two side plates 11, the front sides of the two side plates 11 are fixedly connected by a horizontal plate 12, and the rear side of the side plates 11 is connected to the front side of the front plate 6, two side plates 10 are installed on the inner side of the horizontal plate 12, the clamping plates 5 are located between the two side plates 10, the side of the clamping plates 5 is supported by a support rod passing through the side plates 10, and the front side of the clamping plates 5 rotates between the two side plates 10 by the support rod. An elastic member limits the rear side of the clamping plates 5, and the front side of the clamping plates 5 is inserted into the side plates 10 by the support rod. The movable frame drives the clamping plates 5 to move synchronously through the elastic member and the side plates 10.

[0034] When the two clamping plates 5 approach each other to grip the cable, the pressure of the cable on the rear side of the clamping plate 5 causes the clamping plate 5 to shift. The front side of the clamping plate 5 rotates between the two side plates 10 using a support rod. The rear side of the clamping plate 5 gradually approaches the side plate 11 using an elastic component. At this time, the clamping plate 5 tilts during the process of gripping the cable. The two tilted clamping plates 5 ensure the cable gripping effect.

[0035] The elastic component includes an arc plate 13, a crossbar 14, and spring pieces 15. Two arc plates 13 are respectively installed on both sides of the clamping plate 5. The two arc plates 13 correspond one-to-one with the two side plates 11. The outer ends of the arc plates 13 penetrate through the side plates 11. The surface of the side plates 11 is provided with arc grooves corresponding to the arc plates 13. The outer ends of the two arc plates 13 are connected by the crossbar 14. The crossbar 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 circumference of the crossbar 14 fit against the outer side of the side plate 11. The pressure of the cable on the clamp 5 causes the clamp 5 to rotate. The rear side of the clamp 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 crossbar 14 away from the front plate 6. As the crossbar 14 moves away from the front plate 6, it pulls multiple spring pieces 15 until the outer side of the clamp 5 is in contact with the inner side of the side plate 11. At this time, the clamp 5 is in an inclined state, and the two relatively inclined clamps 5 cooperate to grip the cable.

[0036] When the moving frame moves the clamping plate 5 away from the cable, the elastic force of multiple springs 15 pulls the crossbar 14 closer to the side plate 11. The moving crossbar 14 uses the arc plate 13 to push the clamping plate 5 to rotate in the opposite direction until the clamping plate 5 is in a horizontal state. At this time, the elastic force of multiple springs 15 makes the outer circumference of the crossbar 14 fit against the outer side of the side plate 11.

[0037] exist Figure 3 In this configuration, the power components include a motor 16 and a pull rod 17. A groove for 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, and the end of the pull rod 17 is connected to the rear plate 7. The output end of the motor 16 winds up the pull rod 17, causing the two rear plates 7 to move closer together. When the motor 16 is started, its output end rotates, gradually winding up the pull rod 17. The wound pull rod 17 uses the rear plate 7 to pull the moving frame, causing the two moving frames to move closer together. These moving frames, in turn, press against the spring 9 on the surface of the inner rod 8. When the motor 16 operates, its output end rotates in the opposite direction. The spring force of the spring 9 is applied to the pull rod 17 through the rear plate 7 of the moving frame, keeping the pull rod 17 taut. At this point, the two moving frames separate.

[0038] exist Figure 2 and Figure 5In this gripping plate 4, a push plate 18 is provided at the center of the front side. A limiting plate 19 is provided at both the top and bottom of the push plate 18. The overall shape of the push plate 18 is 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 gripping plate 4. The rear side of the push plate 18 is an arc-shaped surface 20, which fits against the inner side of the limiting plate 19. A rod 21 is inserted into the center of the push plate 18. The rear end of the rod 21 is connected to the front side of the gripping plate 4, and the front end of the rod 21 is connected to a circular plate. A movable groove corresponding to the circular plate is provided on the front side of the push plate 18. An elastic element 22, sleeved on the surface of the rod 21, is provided inside the movable groove. The front end of the elastic element 22 is connected to the rear side of the circular plate, and the rear end of the elastic element 22 is connected to the front side of the movable groove. A mounting plate 23 is fixed at the top and bottom of the arc-shaped surface 20, and the rear side of the mounting plate 23 fits against the front side of the gripping plate 4. During the process of the swing arm 3 driving the gripping plate 4 to grip the cable, the outer side of the cable circumference is attached to the front side of the push plate 18. Due to the cooperation of the plate 23 and the plug rod 21, the front side of the plate 23 is in a vertical state. When the two clamping plates 5 that are close to each other grip the cable, the two inclined clamping plates 5 cooperate with the push plate 18 to grip the cable.

[0039] 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 chamfered, and the chamfered surface of the plug 24 corresponds to the arc surface 20 of the push plate 18. As the two moving frames approach each other, the front plate 6 moves the plug 24 closer to the limiting plate 19 until the inner side of the clamping plate 5 is in contact with the cable. At this time, the inner end of the plug 24 is inserted into the socket 25. The moving frame continues to move, causing 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 surface of the arc surface 20. The chamfered surface slides on the surface of the arc surface 20. The pressure of the plug 24 causes the push plate 18 to move away from the gripping plate 4. The multiple plugs 24 make the push plate 18 move forward smoothly. The forward-moving push plate 18 and the two inclined clamping plates 5 clamp the cable to ensure the stability of the cable on the gripping component.

[0040] When the push plate 18 moves forward, it slides on the surface of the plug 21 and moves on the surface of the circular plate using the movable groove. The moving push plate 18 and the circular plate cooperate to press the elastic element 22 inside the movable groove. The pressing of multiple plugs 24 prevents the push plate 18 from shifting or rotating during the forward movement, thus ensuring the stability of the cable.

[0041] When the width of the square cable being gripped exceeds the width of the clamping plate 5, the side of the square cable is attached to the front side of the push plate 18 and the limiting plate 19, and the inner side of the moving clamping plate 5 is attached to the surface of the square cable. The moving frame uses the side plate 10 and the support rod to make the horizontal clamping plate 5 squeeze the square cable. 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 this invention:

[0043] Reference Figures 1 to 5 As shown, the robot body 1 uses a front-side camera to capture images of the ground and substation, allowing it to move quickly on the ground using its six legs. The robot body 1 also uses the gripping component at the front end of the swing arm 3 to grasp cables, facilitating the movement of the cables.

[0044] When the moving robot body 1 moves the swinging arm 3 close to the cable, the gripping part at the front end of the swing arm 3 approaches the cable until the cable is between the two clamping plates 5 and the cable is in contact with the front side of the push plate 18. Then the motor 16 is started. The motor 16 works to make the output end rotate. The rotating output end gradually winds up the pull bar 17. The wind-up pull bar 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 clamping plate 5 to approach the cable.

[0045] When the inner side of the movable clamping plate 5 is in contact with the cable surface, the pressure of the cable on the clamping plate 5 causes it to rotate. The rear side of the clamping plate 5 slides within the arc-shaped groove of the side plate 11 using the arc-shaped plate 13. The outer side of the sliding arc-shaped plate 13 drives the crossbar 14 away from the front plate 6. As the crossbar 14 moves away from the front plate 6, it pulls multiple spring clips 15 until the outer side of the clamping plate 5 is in contact with the inner side of the side plate 11. At this point, the clamping plate 5 is in an inclined state, and the two relatively inclined clamping plates 5 work together to grip the cable. When the two clamping plates 5 approach each other to grip the cable, the pressure of the cable on the rear side of the clamping plate 5 causes it to deflect. The front side of the clamping plate 5 rotates between the two side plates 10 using a support rod, and the rear side of the clamping plate 5 gradually approaches the side plate 11 using an elastic component. At this time, the clamping plate 5 tilts during the cable gripping process, and the two inclined clamping plates 5 ensure the effective gripping of the cable.

[0046] As the two moving frames approach each other, the front plate 6 moves the plug 24 closer to the limiting plate 19 until the inner side of the clamp 5 is in contact with the cable. The inner end of the plug 24 is inserted into the socket 25. The moving frame continues to move, causing the clamp 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 surface of the arc surface 20. The chamfered surface slides on the surface of the arc surface 20. The pressure of the plug 24 causes the push plate 18 to move away from the gripping plate 4. The multiple plugs 24 cause the push plate 18 to move forward smoothly. The forward-moving push plate 18 and the two inclined clamps 5 clamp the cable, ensuring the stability of the cable on the gripping component.

[0047] After the robotic arm 2 uses the gripping component at the front end of the swing arm 3 to pull the cable back into the equipment, the motor 16 operates, causing 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 moving frame. The elastic force of the spring 9 keeps the pull bar 17 in a taut state. At this time, the two moving frames are separated from each other. When the moving frame moves the clamping plate 5 away from the cable, the elastic force of multiple spring pieces 15 pulls the crossbar 14 closer to the side plate 11. The moving crossbar 14 uses the arc plate 13 to push the clamping plate 5 to rotate in the opposite direction until the clamping plate 5 is in a horizontal state. At this time, the elastic force of multiple spring pieces 15 makes the outer circumference of the crossbar 14 fit against the outer surface of the side plate 11, which facilitates the gripping equipment to grab the next fallen cable.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it.

Claims

1. A substation multi-task fault detection device 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 robotic arm (2) includes a swing arm (3) and a gripping component, and the gripping component moves by swinging the swing arm (3); The gripping component includes a gripping plate (4), a clamping plate (5), and a moving frame; The front end of the swing arm (3) is connected to the center of the rear side of the gripping plate (4). Both clamps (5) are located on the front side of the gripping plate (4). The two clamps (5) are set opposite to each other. The clamps (5) are mounted on the moving frame using elastic components. The moving frame is slidably mounted on the gripping plate (4). The two moving frames are brought closer to each other using a power component. When the two clamps (5) cooperate to grip the cable, the rear end of the clamps (5) is deflected using elastic components. The movable frame includes 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 of the front plate (6) is attached to the front side of the gripping plate (4), and the front side of the rear plate (7) is attached to the rear side of the gripping plate (4). The surface of the gripping plate (4) is provided with a groove corresponding to the connecting rod. An inner rod (8) is embedded in the 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, 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). The mobile frame also includes a support and a side plate (10). Two brackets correspond one-to-one with two clamping plates (5). The brackets are located on the outer side of the clamping plates (5). The brackets include two side plates (11). The front sides of the two side plates (11) are fixedly connected by a horizontal plate (12). The rear side of the side plates (11) is connected to the front side of the front plate (6). Two side plates (10) are installed on the inner side of the horizontal plate (12). The clamping plate (5) is located between the two side plates (10). The side of the clamping plate (5) is penetrated by a support rod. The front side of the clamping plate (5) rotates between the two side plates (10) by the support rod. The elastic component includes an arc plate (13), a crossbar (14), and a spring sheet (15). Two arc-shaped plates (13) are installed on both sides of the clamping plate (5). The two arc-shaped plates (13) correspond one-to-one with the two side plates (11). The outer end of the arc-shaped plate (13) passes through the side plate (11). The surface of the side plate (11) is provided with an arc-shaped groove corresponding to the arc-shaped plate (13). The outer ends of the two arc-shaped plates (13) are connected by a crossbar (14). The crossbar (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 of the crossbar (14) fit against the outer side of the side plate (11). A push plate (18) is provided at the center of the front side of the gripping 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 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 gripping plate (4). The rear side of the push plate (18) is set as an arc surface (20), and the arc surface (20) fits against the inner side of the limiting plate (19). A plug rod (21) is inserted at the center of the push plate (18). The rear end of the plug rod (21) is connected to the front side of the gripping plate (4). The front end of the plug rod (21) is connected to a circular plate. The front side of the push plate (18) is provided with a movable groove corresponding to the circular plate. An elastic element (22) is sleeved on the surface of the plug rod (21) inside the movable groove. The front end of the elastic element (22) is connected to the rear side of the circular plate. The rear end of the elastic element (22) is connected to the front side of the movable groove.

2. The substation multi-task fault detection device based on a hexapod robot according to claim 1, characterized in that: The power components include a motor (16) and a pull bar (17). The center of the front end of the swing arm (3) is provided with a groove for the motor (16). 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 back plate (7). The output end of the motor (16) winds up the pull bar (17). The winding pull bar (17) makes the two back plates (7) move closer to each other.

3. The substation multi-task fault detection device based on a hexapod robot according to claim 1, characterized in that: The top and bottom of the arc-shaped surface (20) are fixed with a plate (23), and the rear side of the plate (23) is attached to the front side of the gripping plate (4).

4. The substation multi-task fault detection device based on a hexapod robot according to claim 1, characterized in that: The front plate (6) has a plug (24) fixed on its inner side. The surface of the limiting plate (19) is provided with a socket (25) corresponding to the plug (24). The front side of the inner end of the plug (24) is set as a chamfered surface, and the plug (24) corresponds to the arc surface (20) of the push plate (18) by utilizing the chamfered surface.

Images