Electric power inspection robot dog with inspection mechanical arm

Abstract

The invention belongs to the technical field of inspection robots, and particularly relates to an electric inspection robot dog with an inspection mechanical arm, the electric inspection robot dog comprises a robot dog body, the mechanical arm is mounted on the rear side of the top of the robot dog body, and an electromagnetic sensor probe assembly is mounted at the free end of the mechanical arm. The electromagnetic sensor probe assembly comprises a detection head, a detection contact piece, a fixing plate, a carrier roller, a telescopic rod, a supporting spring, a U-shaped frame and a cleaning assembly. Through the arrangement of the cleaning assembly, when accumulated snow on the surface of the cable needs to be cleaned and a mechanical arm drives cleaning plates to make contact with the surface of the cable, a driving motor can drive a driving screw to rotate through a transmission belt, so that the two cleaning plates move in the direction away from each other along the surface of the cable; therefore, accumulated snow attached to the surface of the cable is scraped, and the detection operation of the detection head is prevented from being blocked by the accumulated snow.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and in particular relates to an electric power inspection robot dog with an inspection mechanical arm. Background Art

[0002] As one of the nation's most critical infrastructure, the stable operation of substations and power grids is paramount to economic and livelihood development. To ensure stable operation, power personnel must conduct regular inspections. However, due to the large size of substations and power grids and the numerous inspection tasks, manual inspections are inefficient. Therefore, many substation and power grid projects have introduced inspection robots to assist with inspections, improving inspection efficiency.

[0003] When existing patrol dogs inspect distribution cabinets and cables using electromagnetic sensors on their robotic arms, the flat-surface probes of these sensors don't align well with the curved surface of the cables, affecting the sensors' accuracy in detecting abnormal discharges. Furthermore, when inspecting outdoor cables on snowy days, the accumulated snow prevents the sensors from properly contacting the cable surface, further impacting their ability to detect abnormal discharges.

[0004] Therefore, it is necessary to invent an electric power inspection robot dog with an inspection mechanical arm to solve the above problems. Summary of the Invention

[0005] In response to the above problems, the present invention provides an electric power inspection robot dog with an inspection mechanical arm to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A power inspection robot dog with an inspection mechanical arm comprises a robot dog body, a mechanical arm mounted on the top rear side of the robot dog body, an electromagnetic sensor probe assembly mounted on the free end of the mechanical arm, the electromagnetic sensor probe assembly comprising a detection head, a detection contact piece, a fixing plate, a roller, a telescopic rod, a support spring, a U-shaped frame, and two cleaning assemblies;

[0008] A rectangular groove is provided on the top of the detection head, the two fixing plates are vertically fixed to the front and rear sides of the bottom of the groove, and the two detection contact pieces are hinged to the top edge of the fixing plate through a torsion spring;

[0009] The U-shaped frame is located at the bottom of the detection contact piece and is perpendicular to the front side of the detection head. The roller is horizontally supported on the inner side of the U-shaped frame and abuts against the bottom of the two detection contact pieces.

[0010] The telescopic rod is vertically connected to the U-shaped frame and the bottom of the groove, and the support spring is sleeved on the telescopic rod and fixed at both ends to the U-shaped frame and the bottom of the groove;

[0011] Each cleaning component corresponds to a detection contact piece, and each cleaning component includes a cleaning rod, a cleaning strip, a cleaning plate and a driving component. The cleaning strip is fixed to the bottom of the cleaning rod and fits the top surface of the detection contact piece. The cleaning plate is vertically fixed to the top of the cleaning rod. The driving component drives the cleaning rod to drive the cleaning plate to move along the cable surface to scrape off snow.

[0012] Furthermore, each cleaning assembly also includes a limit block, a limit rod and a reset spring. The two ends of the cleaning rod are slidably connected to the vertical limit groove of the detection head through the limit block. The limit rod is vertically fixed to the bottom of the limit block and passes through the strip hole at the bottom of the limit groove. The reset spring is sleeved on the limit rod and its two ends are fixed to the limit block and the bottom of the limit groove.

[0013] Furthermore, the drive assembly includes a drive motor, a transmission belt, a drive screw and two threaded sleeves. The drive screw is connected to the drive motor through the transmission belt. The threaded sleeve slides through the fixed plate and is fixedly connected to the U-shaped rod. Reverse threads are provided at both ends of the drive screw and are respectively engaged with the two threaded sleeves.

[0014] Furthermore, the two ends of the cleaning rod are connected to the U-shaped rod through vertical rods, the vertical rods are vertically fixed to the two ends of the cleaning rod and slidably inserted in the front and rear sides of the detection head, and the U-shaped rod is horizontally slidably connected to the bottom of the detection head.

[0015] Furthermore, the cleaning strip is made of soft silicone and its length matches the cleaning rod. The top of the detection contact piece is flush with the detection head and fits with the top of the roller under the action of the torsion spring.

[0016] Furthermore, the height of the cleaning plate is less than the maximum compression amount of the reset spring, and when the reset spring is fully compressed, the top of the cleaning plate is flush with the top of the detection head.

[0017] Furthermore, the thickness of the cleaning plate is smaller than the distance between the fixing plate and the front or rear side of the groove, and arc-shaped notches are provided at the middle position of the top edge of the cleaning plate and at the top edges on both sides of the detection head.

[0018] Furthermore, a roller is rotatably installed on one side of the limit block close to the driving screw, the roller is kept in contact with the bottom surface of the detection contact piece, and the length of the roller is less than the distance between the two fixed plates and the front or rear inner wall of the groove.

[0019] Furthermore, triangular reinforcement plates are provided at both ends of the separated sides of the cleaning plate, the bottom of the reinforcement plate is close to the top surface of the detection contact piece, and vertical slots matching the reinforcement plates are opened on the front and rear sides of the detection head.

[0020] Furthermore, the surface of the roller is coated with an anti-skid rubber layer, and both ends of the roller are rotatably connected to the U-shaped frame through ball bearings;

[0021] The robot dog body also includes a thigh servo, one side of the thigh servo is transmission-connected to the thigh arm, one side of one end of the thigh arm is transmission-connected to the calf servo, the outside of the calf servo is fixedly connected to the calf arm, and a walking wheel is provided on one side of the calf wall.

[0022] Technical effects and advantages of the present invention:

[0023] The present invention provides a cleaning component. When it is necessary to clean the snow on the surface of the cable, the detection head is first adjusted by the robotic arm so that the length direction of the two cleaning plates is kept perpendicular to the length direction of the cable. Then, when the robotic arm drives the cleaning plates to contact the cable surface, the driving motor can drive the driving screw to rotate through the transmission belt, so that the two cleaning plates move in separate directions along the surface of the cable, and then scrape off the snow attached to the cable surface, so as to avoid the snow blocking the detection operation of the detection head. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a three-dimensional schematic diagram of the detection head of the present invention;

[0026] Figure 3 This is a schematic diagram of the bottom three-dimensional structure of the detection head in the present invention;

[0027] Figure 4 It is a three-dimensional schematic diagram of the structures of the present invention, including the fixing plate, the detection contact piece, the limit rod, the return spring and the drive screw;

[0028] Figure 5 It is a three-dimensional schematic diagram of the structures of the cleaning rod, cleaning strip, cleaning plate, limiting rod and return spring in the present invention;

[0029] Figure 6 It is a three-dimensional schematic diagram of the detection head and its internal structure in the present invention;

[0030] Figure 7 It is a three-dimensional schematic diagram of the structures of the detection contact piece, cleaning rod, cleaning plate and roller shaft in the present invention;

[0031] Figure 8 It is a three-dimensional schematic diagram of the roller, telescopic rod, support spring and U-shaped frame in the present invention;

[0032] Figure 9 This is a schematic diagram of the walking mechanism in the published application Figure 1 ;

[0033] Figure 10 This is a schematic diagram of the walking mechanism in the published application Figure 2 ;

[0034] Figure 11 This is a schematic diagram of the walking mechanism in the published application Figure 3 .

[0035] In the figure: 1. Robot dog body; 2. Robotic arm; 3. Detection head; 4. Detection contact piece; 5. Fixed plate; 6. Roller; 7. Telescopic rod; 8. Support spring; 9. U-shaped frame; 10. Cleaning rod; 11. Cleaning strip; 12. Cleaning plate; 13. Limit block; 14. Limit rod; 15. Return spring; 16. Vertical pole; 17. U-shaped rod; 18. Threaded sleeve; 19. Drive screw; 20. Transmission belt; 21. Drive motor; 22. Roller; 23. Reinforcement plate; 24. Travel wheel. DETAILED DESCRIPTION

[0036] 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.

[0037] The present invention provides Figures 1 to 8 The power inspection robot dog with an inspection robot arm shown in the figure includes a robot dog body 1, a robot arm 2 is installed at the top rear side of the robot dog body 1, and an electromagnetic sensor probe assembly is installed at the free end of the robot arm 2. The electromagnetic sensor probe assembly includes a detection head 3, a detection contact piece 4, a fixing plate 5, a roller 6, a telescopic rod 7, a support spring 8, a U-shaped frame 9 and a cleaning assembly. A rectangular groove is opened on the top of the detection head 3, and the number of the fixing plate 5 and the detection contact piece 4 is two. The two fixing plates 5 are vertically fixedly connected to the front and rear sides of the inner wall of the bottom of the groove, and the two detection contact pieces 4 are respectively connected by torsion springs. The spring is hinged at the top edge of the two fixed plates 5, the U-shaped frame 9 is located at the bottom of the detection contact piece 4, and the length direction of the U-shaped frame 9 is perpendicular to the front side of the detection head 3, the roller 6 is installed on the inner side of the U-shaped frame 9, and the roller 6 is horizontally supported at the bottom of the two detection contact pieces 4, the telescopic rod 7 is vertically fixedly connected between the bottom of the U-shaped frame 9 and the inner wall of the bottom of the groove, the support spring 8 is sleeved on the telescopic rod 7, and the two ends of the support spring 8 are respectively fixedly connected to the U-shaped frame 9 and the inner wall of the bottom of the groove, the top of the detection contact piece 4 is flush with the top of the detection head 3, and the detection contact piece 4 can maintain contact with the top of the roller 6 under the action of the torsion spring.

[0038] The length of the cleaning strip 11 matches the length of the cleaning rod 10. The cleaning strip 11 is made of soft silicone, and the bottom of the cleaning strip 11 fits the top surface of the detection contact piece 4. The height of the cleaning plate 12 is less than the maximum compression amount of the reset spring 15, and when the reset spring 15 is fully compressed, the top of the cleaning plate 12 can be kept flush with the top of the detection head 3. The thickness of the cleaning plate 12 is less than the distance between the fixed plate 5 and the front or rear side of the groove, and arc-shaped notches are provided in the middle position of the top edge of the cleaning plate 12 and the top edges on both sides of the detection head 3.

[0039] When inspecting the cable surface, the robotic arm 2 can first adjust the direction of the inspection head 3 so that the length direction of the two inspection contacts 4 on the inspection head 3 remains parallel to the length direction of the cable. Then, as the robotic arm 2 drives the inspection head 3 closer to the cable surface, when the two inspection contacts 4 contact the cable surface, the two inspection contacts 4 can deflect into the groove under the pressure of the cable. During this process, the two inspection contacts 4 can squeeze the roller 6, thereby compressing the telescopic rod 7 and the support spring 8. As the two inspection contacts 4 deflect, the two inspection contacts 4 can better fit the cable surface, thereby increasing the contact area between the inspection contacts 4 and the cable. Compared with the existing electromagnetic sensor inspection head 3, the accuracy of the inspection head 3 in detecting abnormal discharge of the cable is improved by increasing the contact area between the inspection contacts 4 and the cable.

[0040] like Figures 1 to 7As shown, the number of the cleaning components is two, and the two cleaning components are respectively opposite to the two detection contacts 4. The cleaning component includes a cleaning rod 10, a cleaning strip 11, a cleaning plate 12, a limit block 13, a limit rod 14, a return spring 15, a vertical rod 16, a U-shaped rod 17 and a driving assembly. The cleaning rod 10 is horizontally arranged at the top of the detection contact piece 4, and the length of the cleaning rod 10 matches the length of the detection contact piece 4. The cleaning strip 11 is fixedly connected to the bottom of the cleaning rod 10, and the cleaning plate 12 is vertically fixedly connected to the top of the cleaning rod 10. The number of the vertical rods 16 is two, and the two vertical rods 16 are respectively located vertically at the two end positions of the cleaning rod 10, and a vertical limit groove is provided on the side opposite to the two vertical rods 16. The top of the limit groove is an open design, and the limit block 13 is slidably installed in the limit groove. The limit block 13 is fixedly connected to the end of the cleaning rod 10, and the limit rod 14 is vertically fixedly connected to the bottom end of the limit block 13, and the bottom end of the limit rod 14 slides vertically and is inserted into the bottom inner wall of the limit groove. A strip hole is provided at the bottom of the groove opposite to the limit rod 14, and the length direction of the strip hole is perpendicular to the front side of the detection head 3, and the bottom end of the limit rod 14 is inserted into the strip hole, and the return spring 15 is sleeved on the limit rod 14, and the two ends of the return spring 15 are respectively fixedly connected to the bottom of the limit block 13 and the bottom inner wall of the limit groove, and the two U-shaped rods 17 in the two cleaning assemblies are respectively horizontally slidably inserted into the front and rear sides of the detection head 3 near the bottom, and the two ends of the U-shaped rod 17 are respectively located on the front and rear sides of the fixed plate 5, and the two ends of the U-shaped rod 17 are respectively fixedly connected to the bottom ends of the two vertical rods 16.

[0041] The driving assembly includes two threaded sleeves 18, a driving screw 19, a transmission belt 20 and a driving motor 21. The two threaded sleeves 18 are respectively slid vertically through and inserted into the two fixed plates 5 and the front or rear side of the detection head 3, and the separated ends of the two threaded sleeves 18 are respectively fixedly connected to the two U-shaped rods 17. The driving screw 19 thread is inserted between the two threaded sleeves 18, and the threads of the driving screw 19 and the facing parts of the two threaded sleeves 18 are oppositely set. Two fixed blocks are rotatably sleeved on the driving screw 19, and the fixed blocks are fixedly connected to the bottom of the groove. The driving motor 21 is installed on the bottom inner wall of the groove, and the transmission belt 20 is transmission-connected between the output shaft of the driving motor 21 and the driving screw 19.

[0042] When the snow on the surface of the cable needs to be cleaned, the direction of the detection head 3 is first adjusted by the mechanical arm 2, so that the length direction of the two cleaning plates 12 is perpendicular to the length direction of the cable, then as the mechanical arm 2 drives the detection head 3 to approach the surface of the cable, when the cleaning plate 12 contacts the surface of the cable, the drive motor 21 can be started, thereby driving the drive screw 19 to rotate through the transmission belt 20, and as the drive screw 19 rotates, the two threaded sleeves 18 can drive the two U-shaped rods 17 to move away from each other under the action of the drive screw 19, in the process, the two U-shaped rods 17 can pull the two cleaning plates 12 on the two cleaning rods 10 through the corresponding two vertical rods 16 to move away from each other along the surface of the cable, in the process, the arc-shaped notch on the cleaning plate 12 can well fit the surface of the cable, and as the cleaning plate 12 scrapes along the surface of the cable, the two cleaning plates 12 can scrape off the snow attached to the surface of the cable, thereby avoiding the snow from blocking the detection operation of the detection head 3.

[0043] When the snow is scraped off by the two cleaning plates 12, the mechanical arm 2 can first separate the cleaning plate 12 from the surface of the cable, then the mechanical arm 2 can drive the detection head 3 to rotate by ninety degrees, so that the length direction of the two detection contacts 4 is parallel to the length direction of the cable, then as the mechanical arm 2 drives the two detection contacts 4 on the detection head 3 to contact the cable again, the two detection contacts 4 can deflect into the groove under the action of the pressure and better fit together with the surface of the cable, thereby improving the accuracy of the detection head 3 in detecting abnormal discharge of the cable.

[0044] In addition, by providing the cleaning strip 11, in the process of moving the cleaning rod 10 along the surface of the detection contact 4, the cleaning strip 11 can clean the surface of the detection contact 4, thereby avoiding the dust and debris in the external environment from adhering to the detection head 3 during outdoor detection, ensuring the cleanliness of the detection contact 4 and the detection effect of the detection head 3.

[0045] When inspecting the distribution cabinet, as the driving motor 21 drives the two cleaning plates 12 to move in the direction of separation to the maximum position, the robotic arm 2 can drive the detection head 3 to adjust, so that the top surface of the detection head 3 can remain parallel to the cabinet door of the distribution cabinet. Then, as the robotic arm 2 drives the detection head 3 to move toward the cabinet door, when the cleaning plate 12 contacts the distribution cabinet, as the robotic arm 2 squeezes the detection head 3, the cleaning plate 12 can drive the cleaning rod 10 and the two limit blocks 13 along the limit groove into the groove under the action of pressure. During this process, the reset spring 15 can be gradually compressed, and the two cleaning plates 12 can be gradually retracted into the gap between the two fixed plates 5 and the front or rear inner wall of the groove. When the two cleaning plates 12 are completely retracted into the groove, the two detection contacts 4 can remain in contact with the distribution cabinet, thereby realizing the abnormal discharge detection operation of the distribution cabinet.

[0046] After the inspection is completed, as the inspection head 3 is separated from the distribution cabinet, the cleaning plate 12 can be moved out of the groove under the action of the reset spring 15. Then, as the drive motor 21 drives the drive screw 19 to rotate, the two cleaning plates 12 can be re-attached together under the drive of the cleaning rod 10.

[0047] like Figures 4 to 7 As shown, a roller 22 is rotatably installed on one side of the limit block 13 close to the driving screw 19, and the roller 22 is kept in contact with the bottom surface of the detection contact piece 4, and the length of the roller 22 is less than the distance between the two fixed plates 5 and the front or rear inner wall of the groove.

[0048] By providing the roller 22, when the cleaning rod 10 moves along the top of the detection contact piece 4, the roller 22 can be supported on the bottom of the detection contact piece 4, so that the top surface of the detection contact piece 4 can be kept in close contact with the cleaning strip 11 at the bottom of the cleaning rod 10 under the support of the roller 22, thereby ensuring the cleaning effect of the cleaning strip 11 on the top surface of the detection contact piece 4.

[0049] like Figures 2 to 7 As shown, the two ends of the two cleaning plates 12 are fixedly connected with triangular reinforcement plates 23, and the bottom of the reinforcement plate 23 is close to the top surface of the detection contact piece 4. The front and rear sides of the detection head 3 facing the reinforcement plate 23 are penetrated by vertical slots, and the width of the slots matches the thickness of the reinforcement plate 23.

[0050] By providing the reinforcing plate 23 and the card slot, when the two cleaning plates 12 move in the direction of separation, when the cleaning plate 12 moves to the maximum displacement, the bottom of the reinforcing plate 23 also moves to the top opening position of the card slot. At this time, as the cleaning plate 12 is squeezed and moves into the groove, the reinforcing plate 23 can also be stuck in the card slot, thereby restricting the cleaning plate 12 and preventing the cleaning plate 12 from shaking or tilting when squeezed.

[0051] like Figures 9 to 11 As shown, the robot dog body 1 also includes a thigh servo 101, one side of the thigh servo 101 is transmission-connected to the thigh arm, one side of one end of the thigh arm is transmission-connected to the calf servo, the outside of the calf servo is fixedly connected to the calf arm, and one side of the calf wall is provided with a walking wheel 24. This technology refers to the walking technology of the four-legged robot dog for railway inspection in the published application CN116062057A. Its specific solution is as follows: it includes a first base 6, both sides of the two ends of the first base 6 are fixedly connected to the thigh servo 101, one side of the thigh servo 101 is transmission-connected to the thigh arm 201, one side of one end of the thigh arm 201 is transmission-connected to the calf servo 501, and the outside of the calf servo 501 is fixedly connected to the calf arm 301; wherein, the thigh servo 101 controls the thigh arm 201 to rotate a certain angle on one side of the first base 6, and the calf servo 501 controls the calf arm 301 to rotate at one end of the thigh arm 201 By moving a certain angle, the thigh arm 201 and the calf arm 301 can move like a biological dog; the tops of the four corners of the first base 6 are provided with support sleeves 701, and the tops of the four support sleeves 701 are provided with a second base 801, and the interior of the support sleeves 701 is provided with connecting bolts, and a processor is provided between the second base 801 and the first base 6; wherein, the input ends of the four thigh servos 101 and the four calf servos 501 are connected to the output end of the processor, so as to control the calf arm 301 and the thigh arm 201 to walk on the ground, and the output end of the processor is connected to the input end of the drive motor 403, so as to utilize the gear box 404 to control the transmission shaft and the first prism 407 to drive the drive shaft 406 to rotate, and utilize the second prism 408 fixed at one end of the drive shaft 406 to control the rotation of the walking wheel 24, so as to utilize the rolling mechanism 4 to replace the thigh arm 201 and the calf arm 301 to work, thereby improving the moving speed of this application.

[0052] Technical effects and advantages of the present invention:

[0053] 1. The present invention is provided with a cleaning assembly. When it is necessary to clean snow accumulated on the cable surface, the detection head 3 is first adjusted by the robotic arm 2 so that the length direction of the two cleaning plates 12 is perpendicular to the length direction of the cable. Then, when the robotic arm 2 drives the cleaning plates 12 to contact the cable surface, the drive motor 21 can drive the drive screw 19 to rotate via the transmission belt 20, so that the two cleaning plates 12 move away from each other along the cable surface, thereby scraping off the snow attached to the cable surface, thereby preventing the snow from obstructing the detection operation of the detection head 3.

[0054] 2. The present invention is provided with two deflectable detection contacts 4. When the two detection contacts 4 contact the cable surface, the two detection contacts 4 can deflect into the groove under the pressure of the cable. As the two detection contacts 4 deflect, the two detection contacts 4 can better fit the cable surface, thereby increasing the contact area between the detection contacts 4 and the cable. Compared with the existing electromagnetic sensor detection head 3, the detection head 3 improves the accuracy of abnormal cable discharge detection.

[0055] 3. The present invention is provided with a cleaning strip 11. When the cleaning rod 10 moves along the surface of the detection contact piece 4, the cleaning strip 11 can clean the surface of the detection contact piece 4, thereby preventing dust and debris in the external environment from adhering to the detection head 3 during outdoor detection, thereby ensuring the cleanliness of the detection contact piece 4. In addition, when the cleaning rod 10 moves along the top of the detection contact piece 4, the roller 22 can be supported on the bottom of the detection contact piece 4, so that the top surface of the detection contact piece 4 can be kept in close contact with the cleaning strip 11 at the bottom of the cleaning rod 10 under the support of the roller 22, thereby ensuring the cleaning effect of the cleaning strip 11 on the top surface of the detection contact piece 4.

[0056] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same.

Claims

1. An electric power inspection robot dog with an inspection robot arm, comprising a robot dog body (1), characterized in that: A mechanical arm (2) is installed at the top rear side of the robot dog body (1), and an electromagnetic sensor probe assembly is installed at the free end of the mechanical arm (2), and the electromagnetic sensor probe assembly includes a detection head (3), a detection contact piece (4), a fixing plate (5), a roller (6), a telescopic rod (7), a support spring (8), a U-shaped frame (9) and two cleaning assemblies; A rectangular groove is provided on the top of the detection head (3); the two fixing plates (5) are vertically fixed to the front and rear sides of the bottom of the groove; and the two detection contact pieces (4) are hinged to the top edge of the fixing plate (5) via a torsion spring; The U-shaped frame (9) is located at the bottom of the detection contact piece (4) and is perpendicular to the front side of the detection head (3); the roller (6) is horizontally supported on the inner side of the U-shaped frame (9) and abuts against the bottoms of the two detection contact pieces (4); The telescopic rod (7) is vertically connected to the U-shaped frame (9) and the bottom of the groove, and the support spring (8) is sleeved on the telescopic rod (7) and fixed at both ends to the U-shaped frame (9) and the bottom of the groove; Each cleaning assembly corresponds to a detection contact piece (4), and each cleaning assembly includes a cleaning rod (10), a cleaning strip (11), a cleaning plate (12) and a driving assembly, wherein the cleaning strip (11) is fixed to the bottom of the cleaning rod (10) and is in contact with the top surface of the detection contact piece (4), and the cleaning plate (12) is vertically fixed to the top of the cleaning rod (10). The driving assembly drives the cleaning rod (10) to drive the cleaning plate (12) to move along the cable surface to scrape off snow.

2. The power inspection robot dog with an inspection mechanical arm according to claim 1, characterized in that: Each cleaning assembly further comprises a limit block (13), a limit rod (14) and a return spring (15), wherein both ends of the cleaning rod (10) are slidably connected to the vertical limit groove of the detection head (3) through the limit block (13), the limit rod (14) is vertically fixed to the bottom of the limit block (13) and passes through the strip hole at the bottom of the limit groove, and the return spring (15) is sleeved on the limit rod (14) and its two ends are fixed to the limit block (13) and the bottom of the limit groove.

3. The power inspection robot dog with an inspection robot arm according to claim 2, characterized in that: The driving assembly comprises a driving motor (21), a transmission belt (20), a driving screw (19) and two threaded sleeves (18), wherein the driving screw (19) is connected to the driving motor (21) via the transmission belt (20), the threaded sleeve (18) slides through the fixed plate (5) and is fixedly connected to the U-shaped rod (17), and opposite threads are provided at both ends of the driving screw (19) and respectively engage with the two threaded sleeves (18).

4. The power inspection robot dog with an inspection robot arm according to claim 2, characterized in that: The two ends of the cleaning rod (10) are connected to the U-shaped rod (17) through the vertical rod (16). The vertical rod (16) is vertically fixed to the two ends of the cleaning rod (10) and is slidably plugged into the front and rear sides of the detection head (3). The U-shaped rod (17) is horizontally slidably connected to the bottom of the detection head (3).

5. The power inspection robot dog with an inspection robot arm according to claim 4, characterized in that: The cleaning strip (11) is made of soft silicone and has a length matching that of the cleaning rod (10). The top of the detection contact piece (4) is flush with the detection head (3) and fits with the top of the roller (6) under the action of the torsion spring.

6. The power inspection robot dog with an inspection robot arm according to claim 5, characterized in that: The height of the cleaning plate (12) is less than the maximum compression amount of the reset spring (15), and when the reset spring (15) is fully compressed, the top of the cleaning plate (12) is flush with the top of the detection head (3).

7. The power inspection robot dog with an inspection robot arm according to claim 5, characterized in that: The thickness of the cleaning plate (12) is smaller than the distance between the fixing plate (5) and the front or rear side of the groove, and arc-shaped notches are provided at the middle position of the top edge of the cleaning plate (12) and at the top edges on both sides of the detection head (3).

8. The power inspection robot dog with an inspection robot arm according to claim 7, characterized in that: A roller (22) is rotatably mounted on one side of the limit block (13) close to the driving screw (19), the roller (22) being in contact with the bottom surface of the detection contact piece (4), and the length of the roller (22) being less than the distance between the two fixed plates (5) on one side and the inner wall of the front or rear side of the groove.

9. The power inspection robot dog with an inspection robot arm according to claim 8, characterized in that: Triangular reinforcement plates (23) are provided at both ends of the separated sides of the cleaning plate (12), the bottom of the reinforcement plate (23) is close to the top surface of the detection contact piece (4), and vertical slots matching the reinforcement plates (23) are provided on the front and rear sides of the detection head (3).

10. The power inspection robot dog with an inspection robot arm according to claim 9, characterized in that: The surface of the roller (6) is coated with an anti-skid rubber layer, and both ends of the roller (6) are rotatably connected to the U-shaped frame (9) through ball bearings; The robot dog body (1) further comprises a thigh servo, one side of the thigh servo is connected in a transmission manner to a thigh arm, one side of one end of the thigh arm is connected in a transmission manner to a calf servo, the outside of the calf servo is fixedly connected to the calf arm, and a walking wheel (24) is provided on one side of the calf wall.

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