Intelligent robot for transformer substation equipment inspection

Abstract

The invention relates to the technical field of transformer substation inspection intelligent robots, in particular to an intelligent robot for transformer substation equipment inspection, comprising: a robot body on which a mechanical arm is mounted; the infrared detector and the ultraviolet detector are both fixedly connected to the robot body; the electric turntable is fixedly connected with one end of the mechanical arm; the base is fixedly connected with the electric turntable; the repairing box is fixedly connected with the base through the other electric turntable; and the supporting plates are symmetrically and fixedly connected to the inner side walls of the repairing box. Through collaborative design of the driving mechanism and the transmission mechanism, the arc-shaped plate drives the hot air gun and the compression roller seat to do spiral composite motion along the cable, and the motion mode can continuously and directionally exhaust air between the pipe body and the cable outwards while heating and melting the heat shrink pipe, so that the heat shrink pipe is prevented from being damaged, and the service life of the heat shrink pipe is prolonged. And the common problem of bubble residue in the traditional linear pressing process is avoided.

Description

Technical Field

[0001] This invention relates to the field of intelligent robots for substation inspection, and specifically to an intelligent robot for inspecting substation equipment. Background Technology

[0002] As a critical node in the power system, the stable operation of substations and their internal equipment and cables is of paramount importance. Cables, constantly exposed to complex environments, are susceptible to damage from aging, electric shock, animal bites, and other factors, leading to sheath breakage, decreased insulation performance, and potentially serious faults such as localized overheating, discharge, or even short circuits. Traditional manual inspection methods are not only inefficient but also fail to detect hidden defects. Furthermore, minor cable damage discovered during inspections typically requires waiting for a power outage window for professional personnel to handle, resulting in poor timeliness and impacting the reliable operation of the power grid.

[0003] Currently, inspection robots that can replace manual labor have emerged on the market. Most of them are equipped with visible light and infrared cameras, enabling preliminary identification and location of defects. However, these robots have limited functionality and generally lack online repair capabilities, resulting in a situation where they only inspect but do not repair. Although a few studies have attempted to integrate repair functions into robots, they mostly employ simple heating and linear pressing techniques. During the repair process, air bubbles can easily remain between the heat shrink tubing and the cable body, leading to poor adhesion and consequently, inadequate insulation strength and sealing after repair, posing a risk of secondary failures.

[0004] To address this, we designed an intelligent robot for substation equipment inspection. Summary of the Invention

[0005] The purpose of this invention is to solve the problems existing in the prior art by proposing an intelligent robot for substation equipment inspection.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: An intelligent robot for substation equipment inspection includes: The robot body, on which a robotic arm is mounted; Infrared detector and ultraviolet detector, both of which are fixedly attached to the robot body; An electric turntable, which is fixedly connected to one end of a robotic arm; The base is fixedly connected to the electric turntable; A repair box, which is fixed to a base via another electric turntable; A support plate is symmetrically fixed to the inner side wall of the repair box, and a worm gear sleeve is rotatably connected through the side wall of the support plate; A splined shaft that is symmetrically bonded and sealed to slide on the inner wall of the worm sleeve, the splined shaft being connected to an arc-shaped plate via an acceleration mechanism; A transmission mechanism, which is connected to a splined shaft and is used to drive the arc-shaped plate to rotate; A drive mechanism is disposed in the repair box and is used to drive the arc plate to reciprocate along a straight line. Multiple hot air guns and multiple pressure roller seats are arranged in an array on the inner sidewall of each arc-shaped plate.

[0007] Preferably, the drive mechanism includes: The motor is fixed to the inner wall of the repair box; The main shaft has a worm gear and two eccentric blocks fixedly connected to its sidewall in sequence, and the two eccentric blocks are arranged symmetrically. Each of the eccentric circular blocks has a sliding ring fitted on its sidewall, and a push rod is installed on the sidewall of the ring. A vertical rod is symmetrically mounted on the inner wall of the bottom of the repair box via a rotating seat. A round shaft is fixed to the side wall of the vertical rod, and the push rod is rotatably connected to the adjacent round shaft. Two collars, each collar being embedded and sliding on the side wall of the spline shaft, and rectangular frames being symmetrically fixed to the collars; The vertical rod is symmetrically fixed with locating posts.

[0008] Preferably, the worm gear and the worm sleeve are meshed together, and the limiting post is slidably connected to the inner wall of the adjacent rectangular frame.

[0009] Preferably, the transmission mechanism includes: A V-shaped plate is embedded in the side wall of each spline shaft and rotates thereon. The V-shaped plate is slidably connected to the inner wall of the bottom of the repair box via an extension rod. A secondary gear symmetrically rotates and is connected to the V-shaped plate; The main gear is fixed to the side wall of each splined shaft; An arc-shaped toothed plate fixed to the outer wall of an arc-shaped plate.

[0010] Preferably, each of the secondary gears is meshed with the primary gear, and the secondary gear is meshed with the arc-shaped toothed plate.

[0011] Preferably, the acceleration mechanism includes: A support frame fixed to one end of each of the splined shafts; A transmission gear, which is rotatably mounted on the inner side wall of the support frame; A rack is symmetrically fixed to the inner wall of the repair box, a sliding frame is symmetrically fixed to the inner wall of the repair box, and a rack is slidably connected to the sliding frame and the inner wall of the repair box.

[0012] Preferably, the acceleration mechanism further includes an arc-shaped seat fixed to one end of each rack, and the arc-shaped seat and the adjacent arc-shaped plate are slidably connected.

[0013] Preferably, multiple hot air guns and arc-shaped plates are fixedly connected. Multiple sliding grooves are evenly distributed on the inner sidewall of the arc-shaped plate. A miniature electric push rod is fixedly connected to the inner wall of the sliding groove. An adjusting block is fixedly connected to the movable end of the miniature electric push rod. The pressure roller seat and the adjusting block are fixedly connected. An acceleration sensor is installed on the inner wall of the sliding groove. The acceleration sensor and the miniature electric push rod are electrically connected.

[0014] Preferably, the worm sleeve has a one-way tube and a two-way tube embedded in its side wall.

[0015] Preferably, the robotic arm is equipped with a material box, the base is equipped with an electric clamping device, and the repair box has a repair hole for the cable to pass through.

[0016] Compared with existing technologies, the advantages of this invention are: 1. Through the coordinated design of the drive mechanism and transmission mechanism, the arc plate drives the hot air gun and pressure roller seat to make a spiral compound motion along the cable. This motion mode can continuously and directionally expel the air between the tube and the cable while heating and melting the heat shrink tubing, avoiding the problem of air bubble residue commonly found in traditional linear pressing processes. At the same time, multiple circumferentially distributed pressure rollers can apply continuous and uniform radial pressure to the repair section in the spiral motion. Combined with the pressure adaptive adjustment achieved by the acceleration sensor and the miniature electric push rod, it ensures that the heat shrink tubing and the cable body, especially the damaged and dented areas, are tightly bonded in all directions, improving the insulation and sealing performance and mechanical bonding strength of the repair layer. 2. Infrared and ultraviolet detection, visual recognition, precise positioning of robotic arms and online repair functions are highly integrated into a single robot platform. It can not only detect anomalies, but also judge the degree of damage through the vision system and autonomously decide to execute repair operations. This eliminates the separation between detection and repair in traditional methods, greatly reduces the time required from defect detection to completion of treatment, and reduces reliance on human labor. It is particularly suitable for complex substation environments that require rapid response or where personnel cannot stay for long periods of time. 3. By utilizing an acceleration mechanism, the arc-shaped plate achieves a movement speed that is twice that of the spline shaft, thus enabling a long-stroke spiral repair action within the limited space of the repair box, resulting in a compact structure for the entire device. When the spline shaft moves inward, it compresses the gas and blows it into the repair box through a one-way tube, increasing the gas flow rate to accelerate the curing and shaping of the heat shrink tubing. This eliminates the need for additional cooling fans or air pumps, achieving functional reuse, improving space utilization and energy efficiency, and further shortening the operation cycle of a single repair. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an intelligent robot for substation equipment inspection proposed in this invention; Figure 2 This is a schematic diagram of the internal structure of the repair box in an intelligent robot for substation equipment inspection proposed in this invention. Figure 3 for Figure 2 Enlarged schematic diagram of section A of the structure; Figure 4 This is a schematic diagram of the internal structure of the chute in an intelligent robot for substation equipment inspection proposed in this invention. Figure 5 This is a schematic diagram showing the positional relationship between the motor, worm gear, and support plate in an intelligent robot for substation equipment inspection proposed in this invention. Figure 6 This is a schematic diagram showing the positional relationship of the eccentric circular blocks in an intelligent robot for substation equipment inspection proposed in this invention. Figure 7 This is a schematic diagram of the appearance of an intelligent robot for substation equipment inspection proposed in this invention.

[0018] In the diagram: 1. Robot body; 101. Robotic arm; 2. Electric gripping device; 3. Infrared detector; 4. Ultraviolet detector; 5. Drive mechanism; 51. Main shaft; 52. Eccentric block; 53. Vertical rod; 54. Limiting post; 55. Collar; 56. Rectangular frame; 57. Worm gear; 58. Circular ring; 59. Push rod; 510. Circular shaft; 6. Transmission mechanism; 61. V-shaped plate; 62. Main gear; 63. Secondary gear; 64. Arc-shaped gear plate; 65. Arc-shaped seat; 7. Acceleration mechanism; 71. Support frame; 72. Transmission gear; 73. Rack 1; 74. Rack 2; 75. Sliding frame; 8. Curved plate; 9. Material box; 10. Pressure roller seat; 11. Hot air gun; 12. Electric turntable; 13. Motor; 14. Support plate; 15. Worm sleeve; 16. Splined shaft; 17. Repair hole; 18. Slide groove; 19. Miniature electric push rod; 20. Adjusting block; 23. One-way tube one; 24. One-way tube two; 25. Base; 26. Repair box. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Reference Figures 1-7 An intelligent robot for substation equipment inspection includes: The robot body 1 adopts a tracked mobile chassis, which has good obstacle crossing and mobility capabilities; it is equipped with a multi-degree-of-freedom robotic arm 101, which is used to perform positioning and operation tasks. Infrared detector 3 and ultraviolet detector 4 are both fixed on the robot body 1 and are used to perform non-contact detection on cables in the substation to identify potential hazards such as abnormal temperature or partial discharge. Both infrared detector 3 and ultraviolet detector 4 are existing technologies. Electric turntable 12 is fixedly connected to one end of robotic arm 101. Electric turntable 12 is existing technology and will not be described in detail here. The base 25 is fixedly connected to the electric turntable 12. Through the electric turntable 12 and the base 25, the repair box 26 and the electric clamping device 2 can be rotated and switched. Repair box 26, repair box 26 is fixed to base 25 via another electric turntable 12; The support plate 14 is symmetrically fixed to the inner side wall of the repair box 26. The side wall of the support plate 14 is rotatably connected to the worm sleeve 15. The outer side of the worm sleeve 15 is a worm thread. The inner wall of the worm sleeve 15 is provided with a spline groove, and the spline shaft 16 and the spline groove are connected in a sealed sliding connection. The spline shaft 16 is connected to the arc plate 8 through the acceleration mechanism 7. Transmission mechanism 6 is connected to spline shaft 16 and is used to drive the arc plate 8 to rotate. Drive mechanism 5 is installed in repair box 26 and is used to drive arc plate 8 to reciprocate along a straight line; Multiple hot air guns 11 and multiple pressure roller seats 10 are arranged in an array on the inner sidewall of each arc plate 8.

[0021] Drive mechanism 5 includes: The motor 13 is fixed to the inner wall of the repair box 26; The main shaft 51 has a worm gear 57 and two eccentric blocks 52 fixedly connected to its side wall in sequence. The worm gear 57 and the two eccentric blocks 52 are staggered in sequence, and the two eccentric blocks 52 are symmetrically arranged. Each eccentric block 52 has a sliding ring 58 fitted on its side wall, and a push rod 59 is installed on the side wall of the ring 58. A vertical rod 53 is symmetrically mounted on the inner wall of the bottom of the repair box 26 via a rotating seat. The vertical rod 53 can reciprocate within a certain range on the rotating seat. A round shaft 510 is fixed to the side wall of the vertical rod 53. The push rod 59 is rotatably connected to the adjacent round shaft 510. Two collars 55, each collar 55 is embedded and slides on the side wall of the spline shaft 16. The collars 55 can rotate on the side wall of the spline shaft 16 and move synchronously with the spline shaft 16. Rectangular frames 56 are symmetrically fixed on the collars 55. A limiting post 54 is symmetrically fixed to the vertical rod 53.

[0022] The worm gear 57 and the worm sleeve 15 are meshed and connected. The limiting post 54 is slidably connected to the inner wall of the adjacent rectangular frame 56. The vertical rod 53 can drive the rectangular frame 56 and the spline shaft 16 to move in the horizontal direction through the limiting post 54.

[0023] Transmission mechanism 6 includes: A V-shaped plate 61 is embedded in the side wall of each spline shaft 16 and rotates. The V-shaped plate 61 is slidably connected to the bottom inner wall of the repair box 26 via an extension rod. The V-shaped plate 61 will not interfere with the rotation of the spline shaft 16. A secondary gear 63 is symmetrically rotated and connected to the V-shaped plate 61; a primary gear 62 is fixed to the side wall of each spline shaft 16; and an arc-shaped toothed plate 64 is fixed to the outer side wall of the arc-shaped plate 8. The distance between the two secondary gears 63 is greater than the distance between the through holes of the arc-shaped plate 8, so that at least one secondary gear 63 and the arc-shaped toothed plate 64 remain engaged.

[0024] Each secondary gear 63 is meshed with the primary gear 62, and the secondary gear 63 is meshed with the arc-shaped toothed plate 64.

[0025] Accelerator 7 includes: A support frame 71 is fixed to one end of each spline shaft 16; The transmission gear 72 is rotatably mounted on the inner side wall of the support frame 71; A rack 73 is symmetrically fixed to the inner wall of the repair box 26, and a sliding frame 75 is symmetrically fixed to the inner wall of the repair box 26. A rack 74 is slidably connected to the sliding frame 75 and the inner wall of the repair box 26.

[0026] The acceleration mechanism 7 also includes an arc-shaped seat 65 fixed to one end of each rack 74. The arc-shaped seat 65 and the adjacent arc-shaped plate 8 are embedded in a sliding connection. The arc-shaped plate 8 can rotate and slide on the arc-shaped seat 65. The arc-shaped seat 65 can also drive the arc-shaped plate 8 to move in the horizontal direction.

[0027] Multiple hot air guns 11 are fixedly connected to the arc plate 8. Multiple grooves 18 are evenly distributed on the inner side wall of the arc plate 8. A miniature electric push rod 19 is fixedly connected to the inner wall of the groove 18. An adjusting block 20 is fixedly connected to the movable end of the miniature electric push rod 19. The pressure roller seat 10 is fixedly connected to the adjusting block 20. An acceleration sensor is installed on the inner wall of the groove 18. The acceleration sensor and the miniature electric push rod 19 are electrically connected. When the two arc plates 8 move towards each other, the miniature electric push rod 19 will drive the adjusting block 20 to move a certain distance towards the groove 18 under the action of the acceleration sensor, so that the pressure roller seat 10 is away from the heat shrink tubing.

[0028] The worm sleeve 15 is fitted with a one-way tube 23 and a one-way tube 24 on its side wall. The one-way tube 23 only allows external gas to enter the worm sleeve 15, while the one-way tube 24 only allows the gas inside the worm sleeve 15 to be ejected outward.

[0029] The robotic arm 101 is equipped with a material box 9, in which heat shrink tubing and cleaning tools can be placed. The heat shrink tubing has a straight opening on its side wall, which facilitates the application of the cable to the side and is gripped by an electric clamping device 2. The electric clamping device 2 is installed on the base 25. The electric clamping device 2 is existing technology and a mechanical gripper can be selected. It will not be described in detail here. The repair box 26 has a repair hole 17 for the cable to pass through.

[0030] The pressure roller portion of the pressure roller seat 10 is heat-resistant (e.g., Teflon coating or metal coating), has a certain thermal conductivity to avoid absorbing too much heat locally from the surface of the heat shrink tubing, causing a heat sink effect, and is sufficiently smooth.

[0031] In this invention, the tracked part of the robot body 1 moves and inspects inside the substation. It monitors and inspects the cables inside the substation through infrared detector 3 and ultraviolet detector 4. When an abnormality is found, it is recorded and processed after power is cut off.

[0032] When an abnormal temperature is detected in a cable, the robot body 1 moves the electric clamping device 2 and the repair box 26 to the cable location via the robotic arm 101. The electric clamping device 2 is equipped with a monitoring camera and a built-in visual sensing module, which can visually inspect the cable sheath quality. When the monitoring camera determines that there is damage or cracks in the cable sheath, and that the damage or cracks can be repaired for continued use, the electric turntable 12 connected to the repair box 26 rotates the repair box 26, making the repair hole 17 of the repair box 26 parallel to the cable axis, facilitating the cable to enter the repair box 26. The cable then comes into contact with the pressure rollers of the three pressure roller seats 10 in each arc plate 8, ready for subsequent repair operations.

[0033] Next, the motor 13 is started. The output end of the motor 13 drives the main shaft 51, which is fixed to it, to rotate. The main shaft 51 drives the worm gear 57, which is fixed to it, to rotate. The worm gear 57 then drives the worm sleeve 15, which is meshed with it, to rotate. The worm sleeve 15 then drives the spline shaft 16, which is splined to rotate synchronously. The spline shaft 16 then drives the main gear 62, which is fixed to it, to rotate. The main gear 62 then drives the two auxiliary gears 63, which mesh with it, to rotate. This causes the auxiliary gears 63 to drive the arc-shaped toothed plate 64, which meshes with them, to rotate. The arc-shaped toothed plate 64 then drives the corresponding arc-shaped plate 8 to rotate on the arc-shaped seat 65. Since the distance between the two auxiliary gears 63 is greater than the distance between the through holes of the arc-shaped plate 8, at least one auxiliary gear 63 and the arc-shaped toothed plate 64 remain meshed. Therefore, the arc-shaped toothed plate 64 will drive the arc-shaped plate 8 to rotate continuously.

[0034] At the same time, the main shaft 51 drives the two eccentric blocks 52 fixed to it to rotate. Since the two eccentric blocks 52 are symmetrically arranged, each eccentric block 52 drives the corresponding vertical rod 53 to swing back and forth through the sliding ring 58 and push rod 59 on its side wall during the eccentric rotation. The two vertical rods 53 swing outward or inward synchronously.

[0035] When the two vertical rods 53 swing outward synchronously a certain distance, the top sidewall of each vertical rod 53 drives the corresponding spline shaft 16 to slide outward a certain distance through the limiting post 54 and the rectangular frame 56. The spline shaft 16 will drive the main gear 62 fixed to it to move, and drive the V-shaped plate 61 embedded in it to move synchronously. The V-shaped plate 61 will drive the two auxiliary gears 63 to move synchronously, maintaining the meshing of the two auxiliary gears 63 and the main gear 62. In addition, during the outward movement of each spline shaft 16, the spline shaft 16 will also drive the transmission gear 72 rotatably mounted to it through the support frame 71. Since the rack 73 is fixed to the... The inner wall of the repair box 26 is repaired, and the transmission gear 72 and rack 73 are meshed. The transmission gear 72 can also rotate during the movement, so that the transmission gear 72 drives the rack 74 meshing with it to move at a speed of multiple times. At the same time, the rack 74 moves a distance of multiple times. The rack 74 will drive the corresponding arc plate 8 to move synchronously through the arc seat 65 fixed to it. The arc plate 8 will move synchronously in the direction of the corresponding spline shaft 16 at a speed of multiple times, saving the space of movement and making the arc plate 8 rotate itself during the horizontal movement, forming a spiral forward trajectory of the arc plate 8.

[0036] When the arc-shaped plate 8 moves horizontally and rotates, multiple hot air guns 11 inside the arc-shaped plate 8 are activated in advance. The hot air sprayed by the hot air guns 11 is distributed in a fan shape, which can heat and melt the heat shrink tubing nearby. At the same time, the degree of extrusion between the pressure roller section of the pressure roller seat 10 and the surface of the heat shrink tubing is controlled by the acceleration sensor and the miniature electric push rod 19. So, as the arc-shaped plate 8 moves forward in a spiral, each arc-shaped plate 8 drives the corresponding multiple hot air guns 11 and the pressure roller section of the multiple pressure roller seats 10 to move synchronously. This allows it to move along the middle part of the heat shrink tubing to both sides, where it is heated and melted by the hot air guns 11 and then slightly extruded by the pressure roller section of the multiple pressure roller seats 10. Compared with the existing technology of extrusion by horizontally moving pressure rollers, this method is more efficient. The advantage of pressure is that the spiral extrusion motion, like a rolling pin, can continuously and directionally expel the air between the heat shrink tubing and the cable sidewall, which is difficult to achieve manually or with static pressure. This effectively avoids residual air bubbles inside the repair layer, ensuring insulation and sealing performance. Furthermore, under the heating of the hot air gun, the extrusion and spiral motion of the pressure rollers can provide shear force and pressure to these molten materials, allowing them to better fill the gaps and depressions in the cable damage area, achieving micro-shaping. The three pressure roller seats 10 on each arc plate 8 are arranged circumferentially, which can ensure uniform pressure on the circumference of the heat shrink tubing. The spiral motion can continuously apply this uniform pressure to the surface of the entire repair section, ensuring that the heat shrink tubing and the cable body are tightly bonded and improving the bonding strength.

[0037] Furthermore, when the two vertical rods 53 swing inward synchronously, the two splined shafts 16 will move synchronously in the same direction. The splined shafts 16 will then squeeze the gas inside the worm sleeve 15 into the one-way tube 24 for flow. The one-way tube 24 is a multi-pipe type tube, and eventually this part of the gas will be ejected from the one-way tube 24 to form a high-speed airflow, which will accelerate the cooling speed of the heat shrink tubing in the repair box 26 after heating, melting and extrusion bonding, thereby improving the repair efficiency and effect of the heat shrink tubing.

[0038] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent robot for substation equipment inspection, characterized in that, include: Robot body (1), on which a robotic arm (101) is mounted. Infrared detector (3) and ultraviolet detector (4) are both fixed to the robot body (1); An electric turntable (12) is fixedly connected to one end of a robotic arm (101); The base (25) and the electric turntable (12) are fixedly connected; Repair box (26), which is fixed to the base (25) by another electric turntable (12); A support plate (14) is symmetrically fixed to the inner side wall of the repair box (26), and a worm sleeve (15) is rotatably connected through the side wall of the support plate (14). A splined shaft (16) is symmetrically bonded and sealed to slide on the inner wall of the worm sleeve (15). The splined shaft (16) is connected to an arc plate (8) through an acceleration mechanism (7). A transmission mechanism (6) is connected to a spline shaft (16) and is used to drive the arc plate (8) to rotate. The drive mechanism (5) is disposed in the repair box (26) and is used to drive the arc plate (8) to reciprocate along a straight line; Multiple hot air guns (11) and multiple pressure roller seats (10) are arranged in an array on the inner sidewall of each arc plate (8).

2. The intelligent robot for substation equipment inspection according to claim 1, characterized in that, The drive mechanism (5) includes: The motor (13) is fixed to the inner wall of the repair box (26); The main shaft (51) has a worm gear (57) and two eccentric blocks (52) fixedly connected to its side wall in sequence. The two eccentric blocks (52) are arranged symmetrically. Each of the eccentric blocks (52) has a sliding ring (58) fitted on its sidewall, and a push rod (59) is installed on the sidewall of the ring (58). A vertical rod (53) is symmetrically mounted on the inner wall of the bottom of the repair box (26) via a rotating seat. A round shaft (510) is fixed to the side wall of the vertical rod (53). The push rod (59) is rotatably connected to the adjacent round shaft (510). Two collars (55), each collar (55) is embedded and slides on the side wall of the spline shaft (16), and a rectangular frame (56) is symmetrically fixed on the collar (55). Limiting posts (54) are symmetrically fixed to the vertical rod (53).

3. The intelligent robot for substation equipment inspection according to claim 2, characterized in that, The worm gear (57) and the worm sleeve (15) are meshed and connected, and the limiting post (54) is slidably connected to the inner wall of the adjacent rectangular frame (56).

4. The intelligent robot for substation equipment inspection according to claim 1, characterized in that, The transmission mechanism (6) includes: A V-shaped plate (61) is embedded in the side wall of each spline shaft (16), the V-shaped plate (61) being slidably connected to the bottom inner wall of the repair box (26) via an extension rod; A secondary gear (63) is symmetrically rotated and connected to a V-shaped plate (61). Main gears (62) are fixed to the sidewalls of each spline shaft (16); Arc-shaped toothed plate (64) fixed to the outer wall of arc-shaped plate (8).

5. The intelligent robot for substation equipment inspection according to claim 4, characterized in that, Each of the auxiliary gears (63) is meshed with the main gear (62), and the auxiliary gears (63) are meshed with the arc-shaped toothed plate (64).

6. The intelligent robot for substation equipment inspection according to claim 1, characterized in that, The acceleration mechanism (7) includes: A support frame (71) is fixed to one end of each of the splined shafts (16). A transmission gear (72) is rotatably mounted on the inner side wall of the support frame (71); The inner wall of the repair box (26) is symmetrically fixed with a rack one (73), the inner wall of the repair box (26) is symmetrically fixed with a sliding frame (75), and the sliding frame (75) and the inner wall of the repair box (26) are slidably connected with a rack two (74).

7. The intelligent robot for substation equipment inspection according to claim 1, characterized in that, The acceleration mechanism (7) further includes an arc-shaped seat (65) fixed to one end of each rack (74), and the arc-shaped seat (65) and the adjacent arc-shaped plate (8) are embedded in a sliding connection.

8. The intelligent robot for substation equipment inspection according to claim 1, characterized in that, Multiple hot air guns (11) and arc plate (8) are fixedly connected. Multiple grooves (18) are evenly distributed on the inner side wall of the arc plate (8). A miniature electric push rod (19) is fixedly connected to the inner wall of the groove (18). An adjustment block (20) is fixedly connected to the movable end of the miniature electric push rod (19). The pressure roller seat (10) and the adjustment block (20) are fixedly connected. An acceleration sensor is installed on the inner wall of the groove (18). The acceleration sensor and the miniature electric push rod (19) are electrically connected.

9. The intelligent robot for substation equipment inspection according to claim 1, characterized in that, The inner wall of the worm sleeve (15) is fitted with a one-way tube one (23) and a one-way tube two (24).

10. The intelligent robot for substation equipment inspection according to claim 1, characterized in that, The robotic arm (101) is equipped with a material box (9), the base (25) is equipped with an electric clamping device (2), and the repair box (26) is provided with a repair hole (17) for the cable to pass through.

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