Railway power transformation and distribution equipment inspection robot

Abstract

The invention discloses a railway power transformation and distribution equipment inspection robot, and relates to the technical field of power equipment inspection, the railway power transformation and distribution equipment inspection robot comprises a carrying platform and an inspection device located right above the carrying platform, the two sides of the carrying platform are fixedly connected with two sets of wheels through a driving system, and the middle position of the top of the carrying platform is fixedly connected with a circular base; a fixed-point monitoring control mechanism is fixedly connected to the top end of the base, the output end of the fixed-point monitoring control mechanism is fixedly connected to the center of the bottom of an inspection device, an alarm lamp is fixedly connected to the top end of the inspection device, and a plurality of protection frames are arranged on the outer side of the fixed-point monitoring control mechanism. Through multi-point supporting and precise locking, stable lifting is ensured, the detection precision is remarkably improved, the high-speed anti-overturning capacity is enhanced through extension of the auxiliary wheels, control logic is simplified through mechanical linkage, rainwater and dust are blocked in cooperation with a folding protective cover, the service life of equipment is prolonged, and therefore the inspection efficiency and safety are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of power equipment inspection technology, specifically a railway power distribution equipment inspection robot. Background Technology

[0002] With the rapid development of my country's railway transportation network and the continuous improvement of electrification, the stability and safety of the operation of power distribution equipment, as a core component of the railway power supply system, directly affect the overall efficiency and safety of railway transportation. In order to ensure the normal operation of these devices, reduce the labor intensity of manual inspections, and improve detection efficiency, the railway department has widely adopted intelligent inspection robots to automatically monitor the equipment in substations. These inspection robots are usually equipped with mobile carriers, high-definition visible light cameras, infrared thermal imagers, and other sensor units. They can autonomously travel along preset paths and use image recognition and temperature analysis technology to perform non-contact detection of equipment, promptly identifying potential faults such as overheating, damage, or foreign object adhesion.

[0003] Chinese invention patent, publication number CN114833842A, entitled "An Inspection Robot for a Substation," belongs to the field of inspection robot technology. It mainly includes a housing and an air inlet duct, with the air inlet duct located on the side wall of the housing. It also includes an inspection probe, which is vertically and retractably connected to the top of the housing; an air pump and a dehumidification box, both located inside the housing. An air inlet is located at the end of the air inlet duct away from the side wall of the housing. The air inlet and the input end of the air pump are connected via a first pipe, and the output end of the air pump and the dehumidification box are connected via a seventh pipe. During inspection, this substation inspection robot, through the cooperation of the air inlet duct and the dehumidification box, can effectively reduce the humidity of the surrounding air, preventing short circuits and other malfunctions in the components inside the substation due to high humidity.

[0004] However, some problems still exist in actual use: The existing lifting and adjusting mechanisms of railway power distribution equipment inspection robots are relatively simple, often lacking reliable auxiliary support and high-precision locking functions. When performing detailed inspections on equipment of different heights and specifications, the camera position is prone to drift due to robot vibration or external interference, affecting image quality and the accuracy of inspection data. Secondly, when the robot performs large-area, long-distance, and rapid transfers, it mainly relies on conventional wheel drive and lacks auxiliary stabilization mechanisms for high-speed travel. This results in insufficient anti-tipping ability and grip during high-speed turns or sudden stops, posing a safety hazard of sideslip or even tipping over. In addition, the mechanical transmission components of existing robots are mostly directly exposed to the outside without effective sealing and protection design. Long-term exposure to outdoor rain and dust environments can easily cause corrosion and wear of parts, increasing the equipment failure rate and maintenance costs. Furthermore, the switching control logic between different inspection modes is relatively cumbersome, limiting the overall inspection efficiency of the robot. Summary of the Invention

[0005] Technical problems to be solved The purpose of this invention is to overcome the shortcomings of existing inspection robot lifting mechanisms, such as lack of effective support and stable locking when dealing with equipment of different heights, resulting in the impact of vibration on detection accuracy, weak anti-tipping ability at high speeds, exposed mechanical transmission components that are susceptible to environmental corrosion, and complex mode switching control. Technical solution

[0006] To achieve the above objectives, the present invention provides the following technical solution: a railway power distribution equipment inspection robot, comprising a mounting platform and an inspection device located directly above it, two sets of wheels fixedly connected to both sides of the mounting platform via a drive system, a circular base fixedly connected to the top center of the mounting platform, a fixed-point monitoring and control mechanism fixedly connected to the top of the base, and the output end of the fixed-point monitoring and control mechanism fixedly connected to the bottom center of the inspection device, and an alarm light fixedly connected to the top of the inspection device; The fixed-point monitoring and control mechanism is provided with several protective frames on its outer side, and the protective frames are arranged in a linear array. Waterproof barrier cloth is fixedly connected at the interval between two protective frames. The uppermost and lowermost protective frames are fixedly connected to the bottom of the inspector and the surface of the mounting platform, respectively. The protective frames and waterproof barrier cloth cover the fixed-point monitoring and control mechanism on the inside. The output end of the fixed-point monitoring and control mechanism is fixedly connected to a transmission mechanism. The surface of the mounting platform has a set of symmetrical placement holes, and the placement holes are rectangular. The bottom of the mounting platform has a rectangular equipment slot, and a high-speed inspection auxiliary mechanism is movably connected inside the equipment slot. The output end of the transmission mechanism passes through the placement holes and the mounting platform in sequence and is fixedly connected to the high-speed inspection auxiliary mechanism.

[0007] Furthermore, the fixed-point monitoring and control mechanism includes a hydraulic cylinder fixedly connected to the center of the base surface, and the telescopic end of the hydraulic cylinder is fixedly connected to the bottom of the inspector. A control ring is fixedly connected to the outer side of the output end of the hydraulic cylinder. Four auxiliary support bars are movably connected to the outer side of the control ring via a rotating shaft. The surface of the mounting platform has four connecting slots, which are evenly distributed around the base at an incline. A connecting rod is fixedly connected to each connecting slot. A sliding ring is slidably connected to the surface of each connecting rod. The end of the auxiliary support bar away from the control ring is connected to the surface of the sliding ring via a rotating shaft.

[0008] Furthermore, rectangular grooves are formed on the surfaces of the four connecting rods, and limiting teeth are formed inside the rectangular grooves. The surface of the sliding ring is movably connected to the limiting block through a torque spring and a rotating shaft. The bottom of the limiting block is provided with locking teeth. The limiting block engages with the rectangular groove through the locking groove and the limiting teeth.

[0009] Furthermore, a pull rope is fixedly connected to the surface of the limiting block away from the sliding ring, and the other end of the pull rope extends along the auxiliary support bar to its surface. An electric telescopic rod is fixedly connected to the surface of the auxiliary support bar, and the telescopic end of the electric telescopic rod is fixedly connected to one end of the pull rope. Several limiting rings are sleeved on the outside of the pull rope, and the limiting rings are respectively fixedly connected to the surface of the auxiliary support bar.

[0010] Furthermore, the high-speed inspection auxiliary mechanism includes a stabilizing seat located inside the equipment slot. A mounting frame is fixedly connected to the surface of the stabilizing seat, and a set of symmetrical auxiliary wheels are movably connected to both ends of the mounting frame. Grooves are provided at both ends of the mounting frame, and a transmission bar is movably connected to the inside of the groove through a rotating shaft. A sliding seat is movably connected to the end of the transmission bar away from the groove through a rotating shaft.

[0011] Furthermore, a T-shaped slide bar is fixedly connected to the top of the sliding seat, and a slide groove is opened at the top of the inner side of the equipment slot, with the cross-section of the slide groove being T-shaped. The sliding seat is slidably connected to the inside of the slide groove through the slide bar.

[0012] Furthermore, two hydraulic rods are fixedly connected inside the equipment slot with the slide groove as the axis of symmetry, and the output ends of the hydraulic rods are fixedly connected to the surface of the stabilizing seat. A return spring is sleeved on the outside of each hydraulic rod, and the two ends of the return spring are fixedly connected to the top of the equipment slot and the surface of the stabilizing seat, respectively.

[0013] Furthermore, the transmission mechanism includes two pulleys, which are located directly above the placement hole and are movably connected to the bottom of the inspector via a rotating shaft. Control ropes are slidably connected inside the hubs of the two pulleys, and one end of each control rope is fixedly connected to the outside of the control ring.

[0014] Furthermore, two symmetrical track grooves are fixedly connected to the top of the inner interior of the equipment slot, and the two track grooves are located in the middle position between the two ends of the slide. The end of the control rope away from the control ring passes through the placement hole mounting platform and extends into the interior of the equipment slot. The control rope continues to slide through the interior of the track groove and is fixedly connected to one side of the slide seat. Compared with existing technologies, this railway power distribution equipment inspection robot has the following advantages: I. This invention utilizes a fixed-point monitoring and control mechanism, employing a hydraulic cylinder to drive the inspection device for lifting and lowering operations. This allows for flexible adjustment of the distance between the inspection device and the inspected railway power distribution equipment, adapting to the refined inspection needs of equipment of varying heights and specifications. During this process, the auxiliary support bar and connecting rod slide together, providing reliable auxiliary support and guidance for the lifting and lowering of the inspection device, effectively dispersing radial forces and ensuring the stability of the lifting process. Simultaneously, combined with the locking design of the bottom teeth of the limit block and the limit teeth in the rectangular groove of the connecting rod, the inspection device can be stably fixed at any adjusted extreme position with the cooperation of the electric telescopic rod and the pull rope. This effectively prevents automatic height drift or swaying of the inspection device caused by equipment vibration or ground bumps, ensuring that the optical or sensor probe is always at the optimal imaging and detection focal length, significantly improving the accuracy and reliability of the fixed-point monitoring data.

[0015] Second, this invention utilizes a high-speed inspection auxiliary mechanism. By employing the elastic force of a hydraulic rod and a return spring, along with the guiding sliding of the transmission bar and sliding seat within the groove, the auxiliary wheel can be automatically extended downwards from the equipment groove until it contacts the ground. This provides additional support points and contact area for the platform during high-speed movement, thereby enhancing the robot's anti-tipping ability and grip when traveling at high speeds on flat ground. It effectively suppresses the risk of sideslip during high-speed turns or sudden stops, and solves the problem of insufficient support stability of a single wheel at high speeds. This significantly improves the efficiency and operational safety of the robot in large-area, long-distance, rapid inspections.

[0016] Third, this invention, through the design of a transmission mechanism, utilizes the coordinated design of pulleys, control ropes, and track grooves to transform the vertical lifting motion of the inspection device into the traction and release of the high-speed inspection auxiliary mechanism. This achieves mechanical linkage between two modes: fixed-point monitoring and high-speed inspection. It ensures that the auxiliary wheel lands synchronously when the inspection device is pressed down and automatically retracts when the inspection device is lifted up. The extension and retraction of the auxiliary mechanism can be precisely controlled without the need for an additional power source, simplifying the control logic. At the same time, the sliding cooperation of the control rope in the track groove effectively disperses the tension, reduces wear on the transmission components, and ensures the stability and durability of the mechanism during frequent switching processes.

[0017] Fourth, this invention utilizes a linear array of protective frames and waterproof barrier fabric. By leveraging the folding and telescopic properties of the protective frames in conjunction with the flexible connection of the waterproof barrier fabric, the protective structure can synchronously extend and retract when the inspection device is raised or lowered. This ensures that the exposed transmission components and connecting joints are always tightly covered on the inside, forming an effective physical barrier. This effectively prevents rainwater, humid air, and dust impurities from entering the precision mechanical structure in complex outdoor environments, avoiding corrosion and wear of parts. It also avoids the risk of foreign objects jamming the transmission mechanism, greatly extending the service life of the equipment and reducing the frequency and cost of subsequent maintenance.

[0018] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a bottom-view three-dimensional structural diagram of the present invention; Figure 3 This is a schematic diagram of the surface connection structure of the mounting platform of the present invention; Figure 4 This is a schematic diagram of the fixed-point monitoring and control mechanism of the present invention; Figure 5 This is a schematic diagram of the hydraulic cylinder connection structure of the present invention; Figure 6 This is a partial cross-sectional view of the connecting rod connection structure of the present invention; Figure 7 This is a schematic diagram of the transmission mechanism structure of the present invention; Figure 8 This is a schematic diagram of the high-speed inspection auxiliary mechanism of the present invention; Figure 9 For the present invention Figure 7 Enlarged connection structure diagram at point A; Figure 10 For the present invention Figure 8 Enlarged schematic diagram of the connection structure at point B.

[0020] In the diagram: 1. Mounting platform; 2. Inspector; 3. Wheels; 4. Base; 5. Fixed-point monitoring and control mechanism; 501. Hydraulic cylinder; 502. Control ring; 503. Auxiliary support bar; 504. Connecting rod; 505. Sliding ring; 506. Rectangular groove; 507. Limiting tooth; 508. Limiting block; 509. Clamping tooth; 510. Pull rope; 511. Electric telescopic rod; 512. Limiting ring; 6. Transmission mechanism; 601. Sliding... 602. Wheel; 603. Control rope; 604. Track groove; 7. Equipment groove; 8. High-speed inspection auxiliary mechanism; 805. Stabilizer; 806. Mounting bracket; 807. Auxiliary wheel; 808. Groove; 809. Transmission bar; 8000. Sliding seat; 801. Sliding bar; 802. Sliding groove; 803. Hydraulic rod; 810. Return spring; 9. Protective frame; 10. Waterproof barrier cloth; 11. Placement hole; 12. Connecting groove; 13. Alarm light. Detailed Implementation

[0021] 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.

[0022] like Figure 1-10 As shown, the present invention provides a technical solution: a railway power distribution equipment inspection robot, including a mounting platform 1 and an inspection device 2 located directly above it. Two sets of wheels 3 are fixedly connected to both sides of the mounting platform 1 through a drive system. A circular base 4 is fixedly connected to the middle of the top of the mounting platform 1. A fixed-point monitoring and control mechanism 5 is fixedly connected to the top of the base 4, and the output end of the fixed-point monitoring and control mechanism 5 is fixedly connected to the bottom center of the inspection device 2. An alarm light 13 is fixedly connected to the top of the inspection device 2. The inspection device 2 is composed of detection sensors (including high-definition visible light cameras, infrared thermal imagers, etc.) and a simple gimbal rotation mechanism. The inspection device 2 travels with the mounting platform 1 along a preset path to the set inspection point and then stops. The gimbal mechanism is used to adjust the angle of the sensor from multiple angles so that it is aimed at the power distribution equipment to take pictures or scan. Then, the collected images, temperature and other data are sent to the background system for analysis through a wireless transmission module to determine whether the equipment has defects such as overheating, appearance damage or foreign object adhesion. Several protective frames 9 are provided on the outside of the fixed-point monitoring and control mechanism 5. The protective frames 9 are arranged in a linear array and are uniformly arranged. A waterproof barrier cloth 10 is fixedly connected at the interval between two protective frames 9. The uppermost and lowermost protective frames 9 are fixedly connected to the bottom of the inspector 2 and the surface of the mounting platform 1, respectively. The protective frames 9 and the waterproof barrier cloth 10 cover the fixed-point monitoring and control mechanism 5 inside. The waterproof barrier cloth 10 is fixedly connected between adjacent protective frames 9, forming a foldable cover that can freely extend and retract with the raising and lowering of the inspector 2. The precision mechanical transmission components are tightly covered inside. By using the rigid support of the protective frames 9 and the flexible sealing of the waterproof barrier cloth 10, outdoor rainwater, dust and debris are effectively prevented from entering the interior of the mechanism while cooperating with the raising and lowering of the inspector 2. This prevents the corrosion and jamming of parts caused by moisture or pollution. Thus, while ensuring the flexible movement of the mechanism, the service life of the equipment is greatly extended and the maintenance cost is reduced. The output end of the fixed-point monitoring and control mechanism 5 is fixedly connected to the transmission mechanism 6. A set of symmetrical placement holes 11 are opened on the surface of the mounting platform 1, and the placement holes 11 are rectangular. A rectangular equipment slot 7 is opened at the bottom of the mounting platform 1, and a high-speed inspection auxiliary mechanism 8 is movably connected inside the equipment slot 7. The output end of the transmission mechanism 6 passes through the placement holes 11 and the mounting platform 1 in sequence and is fixedly connected to the high-speed inspection auxiliary mechanism 8.

[0023] like Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the fixed-point monitoring and control mechanism 5 includes a hydraulic cylinder 501 fixedly connected to the center of the surface of the base 4, and the telescopic end of the hydraulic cylinder 501 is fixedly connected to the bottom of the inspector 2. A control ring 502 is fixedly connected to the outer side of the output end of the hydraulic cylinder 501. Four auxiliary support bars 503 are movably connected to the outer side of the control ring 502 through a rotating shaft. Four connecting slots 12 are opened on the surface of the mounting platform 1, and the connecting slots 12 are evenly distributed around the base 4 at an incline. A connecting rod 504 is fixedly connected in each connecting slot 12. A sliding ring 505 is slidably connected to the surface of each connecting rod 504. The end of the auxiliary support bar 503 away from the control ring 502 is connected to the surface of the sliding ring 505 through a rotating shaft. The surfaces of the four connecting rods 504 are provided with rectangular grooves 506, and the interior of the rectangular grooves 506 is provided with limiting teeth 507. The surface of the sliding ring 505 is movably connected to the limiting block 508 through a torque spring and a rotating shaft. The bottom of the limiting block 508 is provided with a locking tooth 509. The limiting block 508 engages with the rectangular groove 506 through the locking groove and the limiting tooth 507. A pull rope 510 is fixedly connected to the surface of the limiting block 508 away from the sliding ring 505, and the other end of the pull rope 510 extends along the auxiliary support bar 503 to its surface. An electric telescopic rod 511 is fixedly connected to the surface of the auxiliary support bar 503, and the telescopic end of the electric telescopic rod 511 is fixedly connected to one end of the pull rope 510. Several limiting rings 512 are sleeved on the outside of the pull rope 510, and the limiting rings 512 are fixedly connected to the surface of the auxiliary support bar 503.

[0024] The inspection device 2 is driven to lift and lower by a hydraulic cylinder 501. A control ring 502 moves four auxiliary support bars 503, which in turn pushes a sliding ring 505 onto a connecting rod 504. This provides stable auxiliary support and guidance for the lifting and lowering process of the inspection device 2, effectively distributing radial force and preventing the inspection device 2 from shifting or swaying during movement. When height adjustment is needed, the electric telescopic rod 511 retracts, pulling the rope 510, causing the limit block 508 to overcome the torque spring and lift upwards, releasing its bottom locking tooth 509 from the upper locking tooth 507 of the connecting rod 504. The sliding ring 505 is allowed to move freely by engaging and locking. When the inspector 2 reaches the predetermined detection position, the electric telescopic rod 511 resets, and under the action of the torque spring, the limit block 508 re-engages tightly with the limit tooth 507, firmly locking the position of the sliding ring 505. This not only allows the height of the inspector 2 to be flexibly adjusted according to actual detection needs to adapt to different specifications of equipment, but also achieves reliable fixation of the inspector 2 after adjustment by combining mechanical engagement and electric unlocking, avoiding height drift caused by long-term vibration of the equipment, thereby ensuring the accuracy of the detection data.

[0025] like Figure 2 , Figure 7 , Figure 8 , Figure 9 and Figure 10 As shown, the high-speed inspection auxiliary mechanism 8 includes a stabilizing seat 801 located inside the equipment slot 7. A mounting bracket 802 is fixedly connected to the surface of the stabilizing seat 801, and a set of symmetrical auxiliary wheels 803 are movably connected to both ends of the mounting bracket 802. Grooves 804 are formed at both ends of the mounting bracket 802. A transmission bar 805 is movably connected to the inside of the groove 804 through a rotating shaft. A sliding seat 806 is movably connected to the end of the transmission bar 805 away from the groove 804 through a rotating shaft. A T-shaped slide bar 8 is fixedly connected to the top of the sliding seat 806. 07. A sliding groove 808 is provided at the top of the inside of the equipment slot 7, and the cross section of the sliding groove 808 is T-shaped. The sliding seat 806 is slidably connected to the inside of the sliding groove 808 through the sliding strip 807. Two hydraulic rods 809 are fixedly connected inside the equipment slot 7 with the sliding groove 808 as the axis of symmetry. The output ends of the hydraulic rods 809 are fixedly connected to the surface of the stabilizer 801. A return spring 810 is sleeved on the outside of the hydraulic rods 809, and the two ends of the return spring 810 are fixedly connected to the top of the equipment slot 7 and the surface of the stabilizer 801, respectively.

[0026] The hydraulic rod 809 and the return spring 810 provide driving force, pushing the stabilizer 801 to rise and fall vertically. This, in turn, causes the mounting bracket 802 and its auxiliary wheels 803 at both ends to extend or retract from the equipment slot 7. During this process, the transmission bar 805 swings as the stabilizer 801 moves, causing the sliding seat 806 to slide horizontally in the groove 808 via the T-shaped slide bar 807 at the top, thus flexibly adapting to the extension and retraction of the auxiliary wheels 803. The linkage structure of the transmission bar 805 and the sliding seat 806 can... The vertical driving force is effectively converted into the stable support action of the auxiliary wheel 803, ensuring that the auxiliary wheel 803 is stable and lands reliably when it is extended. This significantly enhances the robot's grip and anti-tipping ability when moving at high speed. At the same time, the sliding cooperation between the T-shaped slider 807 and the slide groove 808 ensures the guiding accuracy of the movement. When not in use, the auxiliary wheel 803 can be completely retracted into the equipment slot 7, restoring the flatness of the bottom of the mounting platform 1, avoiding obstacles in complex road conditions, and improving the robot's environmental adaptability.

[0027] like Figure 3 , Figure 4 , Figure 5 , Figure 7 and Figure 8As shown, the transmission mechanism 6 includes two pulleys 601, which are located directly above the placement hole 11. The pulleys 601 are movably connected to the bottom of the inspector 2 via a rotating shaft. Control ropes 602 are slidably connected inside the hubs of the two pulleys 601. One end of each control rope 602 is fixedly connected to the outside of the control ring 502. Two symmetrical track grooves 603 are fixedly connected to the top of the inside of the equipment slot 7. The two track grooves 603 are located in the middle between the two ends of the slide 808. The end of the control rope 602 away from the control ring 502 passes through the placement hole 11 and the mounting platform 1 in sequence, extending into the inside of the equipment slot 7. The control rope 602 continues to slide through the inside of the track groove 603 and is fixedly connected to one side of the sliding seat 806.

[0028] Through the cooperation of pulley 601, control rope 602, and track groove 603, the vertical lifting motion of the inspector 2 is converted into a traction force on the high-speed inspection auxiliary mechanism 8. When the inspector 2 moves down, the control rope 602 connected to the control ring 502 relaxes, releasing the tension on the sliding seat 806, thus allowing the auxiliary wheel 803 to extend under the action of elasticity to support high-speed movement. Conversely, when the inspector 2 moves up, the control rope 602 is tensioned, forcibly pulling the high-speed inspection auxiliary mechanism 8 back into place. This realizes the mechanical linkage between the two configurations of fixed-point monitoring and high-speed inspection. In this process, pulley 601 effectively reduces the frictional resistance of control rope 602, ensuring smooth lifting and lowering movements. Track groove 603 precisely guides the sliding path of control rope 602, adapting to the horizontal displacement and force angle changes of sliding seat 806, avoiding rope entanglement or jamming. The automatic extension and retraction of auxiliary wheel 803 can be precisely controlled without an additional power source, simplifying the control logic and ensuring the stability and reliability of the mechanism during frequent switching.

[0029] Working principle: When a large-area inspection needs to be carried out by rapid movement, the robot first switches to high-speed inspection mode and starts the electric telescopic rod 511, which retracts its telescopic end. The electric telescopic rod 511 pulls the front end of the limit block 508 through the pull rope 510 to overcome the torque of the torque spring and tilt upward, so that the locking teeth 509 at the bottom of the limit block 508 disengage from the limit teeth 507 in the rectangular groove 506 of the connecting rod 504, thereby releasing the lock on the sliding ring 505. Subsequently, the telescopic end of the control hydraulic cylinder 501 retracts, and the hydraulic cylinder 501 drives the inspector 2 and the control ring 502 fixed at its bottom to move downwards synchronously. The downward movement of the inspector 2 compresses the folded protective structure composed of the protective frame 9 and the waterproof barrier cloth 10 located between it and the mounting platform 1, making it compact and shrink. At the same time, the downward movement of the control ring 502 pushes the sliding ring 505 down the surface of the connecting rod 504 through the four auxiliary support bars 503, providing auxiliary support and guidance for the descent of the inspector 2. The downward movement of the inspection device 2 synchronously lowers the pulley 601 at its bottom, causing the control rope 602 wrapped around the pulley 601 to loosen. This reduces the tension at the bottom, and the hydraulic rod 809 and return spring 810, located in the equipment slot 7, under their own preload and hydraulic pressure, push the stabilizing seat 801 downwards, causing the entire high-speed inspection auxiliary mechanism 8 to extend from the equipment slot 7. The downward movement of the stabilizing seat 801 synchronously positions the mounting bracket 802, simultaneously pulling the transmission bars 805 at both ends, causing the sliding seats 806 on both sides to slide towards the center along the T-shaped groove 808. The control rope 602 slides within the track groove 603 to adapt to... As the position of the sliding seat 806 changes, the transmission bar 805 eventually swings to a near-vertical state, and the auxiliary wheel 803 at the bottom of the stabilizing seat 801 contacts the ground, providing additional support for the mounting platform 1 and forming a stable high-speed movement configuration. At this time, the control electric telescopic rod 511 is reset, the pull rope 510 is relaxed, the torque spring drives the limit block 508 to reset, and its locking teeth 509 re-engage with the limit teeth 507 in the rectangular groove 506, locking the position of the sliding ring 505, thereby fixing the lower limit position of the inspector 2. In this state, the mounting platform 1 can travel at high speed on a flat ground by driving the wheels 3 to perform rapid inspections. When low-speed, close-range, or fixed-point detailed inspection of specific equipment locations is required, the robot switches to fixed-point monitoring mode, controls the extension end of the hydraulic cylinder 501 to extend, pushes the inspector 2 upward, reduces the height difference between its optical or sensor probe and the railway power distribution equipment being inspected, and obtains clearer and more accurate monitoring data. The rise of the inspector 2 transmits tension through the control rope 602, overcomes the force of the hydraulic rod 809 and the return spring 810, pulls back the stabilizing seat 801 and auxiliary wheel 803 and retracts them into the equipment slot 7, restores the flatness of the bottom of the mounting platform 1, and avoids obstruction when operating in complex or narrow ground environments. At this time, the robot can move slowly and smoothly or remain stationary, and use the raised inspector 2 to perform detailed inspection of the target.

[0030] It should be noted that in this document, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "fixed," "installed," "connected," and "linked" should be interpreted broadly. For example, "installed" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "linked" can be a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A railway power distribution equipment inspection robot, comprising a mounting platform (1) and an inspection device (2) located directly above it, characterized in that: Two sets of wheels (3) are fixedly connected to both sides of the mounting platform (1) via a drive system. A circular base (4) is fixedly connected to the top center of the mounting platform (1). A fixed-point monitoring and control mechanism (5) is fixedly connected to the top of the base (4). The output end of the fixed-point monitoring and control mechanism (5) is fixedly connected to the bottom center of the inspector (2). An alarm light (13) is fixedly connected to the top of the inspector (2). The fixed-point monitoring and control mechanism (5) is provided with several protective frames (9) on its outer side, and the protective frames (9) are arranged in a linear array. Waterproof barrier cloth (10) is fixedly connected at the interval between two protective frames (9). The uppermost and lowermost protective frames (9) are fixedly connected to the bottom of the inspector (2) and the surface of the mounting platform (1), respectively. The protective frames (9) and the waterproof barrier cloth (10) cover the fixed-point monitoring and control mechanism (5) on the inside. The output end of the fixed-point monitoring and control mechanism (5) is fixedly connected to the transmission mechanism (6). The surface of the mounting platform (1) is provided with a set of symmetrical placement holes (11), and the placement holes (11) are rectangular. The bottom of the mounting platform (1) is provided with a rectangular equipment slot (7), and the inside of the equipment slot (7) is movably connected to the high-speed inspection auxiliary mechanism (8). The output end of the transmission mechanism (6) passes through the placement holes (11) and the mounting platform (1) in sequence and is fixedly connected to the high-speed inspection auxiliary mechanism (8).

2. The railway power distribution equipment inspection robot according to claim 1, characterized in that: The fixed-point monitoring and control mechanism (5) includes a hydraulic cylinder (501) fixedly connected to the center of the surface of the base (4), and the telescopic end of the hydraulic cylinder (501) is fixedly connected to the bottom of the inspector (2). A control ring (502) is fixedly connected to the outer side of the output end of the hydraulic cylinder (501). Four auxiliary support bars (503) are movably connected to the outer side of the control ring (502) through a rotating shaft. Four connecting grooves (12) are opened on the surface of the mounting platform (1), and the connecting grooves (12) are evenly distributed around the base (4) at an incline. A connecting rod (504) is fixedly connected in each of the connecting grooves (12). A sliding ring (505) is slidably connected to the surface of each connecting rod (504). The end of the auxiliary support bar (503) away from the control ring (502) is connected to the surface of the sliding ring (505) through a rotating shaft.

3. The railway power distribution equipment inspection robot according to claim 2, characterized in that: The surfaces of the four connecting rods (504) are provided with rectangular grooves (506), and the interior of the rectangular grooves (506) is provided with limiting teeth (507). The surface of the sliding ring (505) is movably connected to the limiting block (508) through a torque spring and a rotating shaft. The bottom of the limiting block (508) is provided with locking teeth (509). The limiting block (508) meshes with the rectangular grooves (506) through the locking grooves and limiting teeth (507).

4. The railway power distribution equipment inspection robot according to claim 3, characterized in that: The limiting block (508) has a pull rope (510) fixedly connected to one end of the surface away from the sliding ring (505), and the other end of the pull rope (510) extends along the auxiliary support bar (503) to its surface. An electric telescopic rod (511) is fixedly connected to the surface of the auxiliary support bar (503), and the telescopic end of the electric telescopic rod (511) is fixedly connected to one end of the pull rope (510). Several limiting rings (512) are sleeved on the outside of the pull rope (510), and the limiting rings (512) are fixedly connected to the surface of the auxiliary support bar (503) respectively.

5. The railway power distribution equipment inspection robot according to claim 1, characterized in that: The high-speed inspection auxiliary mechanism (8) includes a stabilizing seat (801) located inside the equipment slot (7). A mounting frame (802) is fixedly connected to the surface of the stabilizing seat (801), and a set of symmetrical auxiliary wheels (803) are movably connected to both ends of the mounting frame (802). Grooves (804) are provided at both ends of the mounting frame (802). A transmission bar (805) is movably connected to the inside of the groove (804) through a rotating shaft, and a sliding seat (806) is movably connected to the end of the transmission bar (805) away from the groove (804) through a rotating shaft.

6. The railway power distribution equipment inspection robot according to claim 5, characterized in that: The top of the sliding seat (806) is fixedly connected to a T-shaped slide bar (807), and the top of the inside of the equipment slot (7) is provided with a slide groove (808), and the cross section of the slide groove (808) is T-shaped. The sliding seat (806) is slidably connected to the inside of the slide groove (808) through the slide bar (807).

7. The railway power distribution equipment inspection robot according to claim 6, characterized in that: Inside the equipment slot (7), two hydraulic rods (809) are fixedly connected with the slide (808) as the axis of symmetry. The output ends of the hydraulic rods (809) are fixedly connected to the surface of the stabilizer (801). The outer sides of the hydraulic rods (809) are fitted with return springs (810), and the two ends of the return springs (810) are fixedly connected to the top of the equipment slot (7) and the surface of the stabilizer (801) respectively.

8. The railway power distribution equipment inspection robot according to claim 1, characterized in that: The transmission mechanism (6) includes two pulleys (601), which are located directly above the placement hole (11). The pulleys (601) are movably connected to the bottom of the inspector (2) via a rotating shaft. Control ropes (602) are slidably connected inside the hubs of the two pulleys (601), and one end of each of the two control ropes (602) is fixedly connected to the outside of the control ring (502).

9. A railway power distribution equipment inspection robot according to claim 8, characterized in that: The top of the inside of the equipment slot (7) is fixedly connected to two symmetrical track slots (603) at the front end, and the two track slots (603) are located in the middle position between the two ends of the slide (808). The end of the control rope (602) away from the control ring (502) passes through the placement hole (11) and the mounting platform (1) in sequence and extends into the inside of the equipment slot (7). The control rope (602) continues to slide through the inside of the track slot (603) and is fixedly connected to one side of the slide seat (806).

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