Deformable mechanical arm type railway power line repair robot dog

Abstract

The invention discloses a deformable mechanical arm type railway power line repair robot dog which comprises a robot dog body, a supporting arm and a swing arm mechanism, the lower end of the supporting arm is fixed to the surface of the robot dog body, and the swing arm mechanism is installed on the surface of the supporting arm and used for assisting in supporting a cable; the swing arm mechanism comprises a main arm, an auxiliary arm and a cable fixing part, the main arm is hinged to the top of the supporting arm, the swing arm mechanism is arranged at the top of the robot dog, complex space movement can be achieved, the multi-degree-of-freedom swing arm mechanism is arranged at the top of the robot dog, flexible position adjustment of a cable in a three-dimensional space is achieved, and the cable can be flexibly fixed. The cable grabbing and height adjusting device can assist in completing cable grabbing and height adjusting in a complex cable arrangement environment, manual climbing operation is reduced, the operation risk is reduced, and the first-aid repair operation time can be shortened.

Description

Technical Field

[0001] This invention belongs to the field of robot dog equipment technology, specifically relating to a deformable robotic arm type railway power emergency repair robot dog. Background Technology

[0002] In railway power supply systems, the overhead contact line and its related cables bear critical functions such as traction power supply and signal transmission. Faults such as wire breakage, sagging, or tripping directly impact train operation and safety. Especially in mountainous railways, viaducts, and tunnel entrances—sections with complex alignment conditions and narrow working areas—cables and conductors are often laid along bridge sides, slopes, or the outer edges of structures, resulting in varying heights and significant spatial bends, severely limiting the environment for maintenance and repair work. Current on-site repairs typically rely on personnel carrying ladders and scaffolding to the site, manually climbing to the appropriate height to lift, adjust, and temporarily secure the faulty cable. This method is not only labor-intensive and inefficient but also poses safety hazards such as falls from heights and secondary damage due to unstable cable load-bearing capacity.

[0003] In recent years, biomimetic mobile platforms such as quadrupedal "robot dogs" have been gradually introduced into rail transit inspection and emergency repair scenarios. For example, the parallel quadrupedal robot dog with application number CN202011236071.3 includes two-degree-of-freedom five-link mechanical legs, a power transmission system, and a control system. It can adapt to uneven ground such as track bed gravel to a certain extent, realizing intelligent inspection and basic handling. However, these existing quadrupedal robots are mostly for movement and observation, lacking robotic arms and cable fixing mechanisms that are deeply matched with the procedures of railway power emergency repair. They cannot perform fine adjustment and stable support of the attitude of high-altitude cables in complex spaces. Repair personnel still need to set up simple supports near the robot or manually lift the cables, resulting in limited improvement in repair efficiency and safety.

[0004] On the other hand, existing cable lifting and temporary jacking devices are mostly independent pole or support structures, requiring separate deployment near the track or roadbed, occupying limited on-site working space, and placing high demands on train intervals, closure conditions, and construction organization. Their height and spatial attitude adjustment freedom is limited, making it difficult to adjust cables to a safe position and maintain stability in a timely and accurate manner in scenarios with significant elevation changes and complex conductor routes, such as bridges and tunnel entrances. In summary, current technology lacks a robotic equipment that can organically combine a quadrupedal mobile platform with a deformable robotic arm and dedicated cable fixing components, adapting to the complex spatial conditions of railway power emergency repairs, and thus cannot adequately meet the needs of rapid, flexible, and safe emergency repairs of railway power faults. Summary of the Invention

[0005] The purpose of this invention is to provide a deformable robotic arm-type railway power repair robot. The robot has a swing arm mechanism on its top, which can achieve complex spatial movements. It can easily extend and move freely in space. Through this multi-axis linkage, the swing arm can quickly and accurately adjust the position of the cable, without being limited by the complex spatial distribution of the cable. This solves the problem mentioned in the background art that the prior art lacks a robotic arm to adjust the movement of the cable, cannot flexibly adjust the working posture according to the actual height of the cable, prolongs the repair time, and makes it difficult to meet the core requirement of railway power restoration quickly.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a deformable robotic arm-type railway power repair robot dog, comprising: The robot dog body, support arm, and swing arm mechanism are provided. The lower end of the support arm is fixed to the surface of the robot dog body, and the swing arm mechanism is installed on the surface of the support arm and is used to provide auxiliary support for the cable. The swing arm mechanism includes a main arm, a secondary arm, and a cable fixing component. The main arm is hinged to the top of the support arm. The secondary arm is slidably installed inside the main arm, with one end extending through one side of the main arm. The cable fixing component is installed at one end of the secondary arm and is used to fix railway power cables.

[0007] Preferably, a base is fixedly installed on one side of the support arm, and a first cylinder is hinged inside the base. The upper end of the first cylinder is hinged to the bottom of the main arm, and a second cylinder is fixedly installed on one side of the main arm. One end of the second cylinder is installed on the surface of the auxiliary arm.

[0008] Preferably, the cable fixing component includes a bracket, a placement tube, and a protective cover. The bracket is installed at one end of the auxiliary arm, and the placement tube is fixedly installed at the bottom. The protective cover is hinged to the surface of the placement tube.

[0009] Preferably, the protective cover and the placement cylinder are detachably connected by bolts.

[0010] Preferably, the top of the bracket is hinged to one end of the auxiliary arm, and the bracket is welded to the placement cylinder and is triangular in shape.

[0011] Preferably, it also includes an abutting component, which includes an adjusting rod, a sleeve, and an arc-shaped clamp. The sleeve is embedded in one side of the placement cylinder and has an adjusting rod threaded inside. One end of the adjusting rod is rotatably mounted with an arc-shaped clamp, and the surface of the arc-shaped clamp has an adhesive layer at its concave part.

[0012] Preferably, the robot dog body includes a frame, legs, and a camera. The lower end of the support arm is fixed to the top of the frame, the bottom of the frame has four legs, and the camera is installed on both sides of the frame.

[0013] Preferably, the support leg includes a pivot hinged to the bottom of the frame, a thigh is rotatably mounted on the surface of the pivot, and a lower leg is rotatably mounted on the bottom of the thigh.

[0014] Preferably, the auxiliary arm is configured as a hollow tube arm.

[0015] Preferably, the rack is equipped with a battery, a main control board, a wireless connection module, an ultrasonic radar, and a lidar, and the wireless connection module, the ultrasonic radar, and the lidar are electrically connected to the main control board.

[0016] Technical effects and advantages of the present invention: The deformable robotic arm type railway power emergency repair robot dog proposed in this invention has the following advantages compared with the prior art: This invention proposes a deformable robotic arm-type railway power repair robot. A swing arm mechanism, consisting of a support arm, main arm, secondary arm, and cable fixing components, is installed on the top of the robot body. The main arm's rotation and the secondary arm's extension and retraction are coordinated by a first and second cylinder, enabling the cable fixing components to achieve a wide range of controllable movements with multiple degrees of freedom in three-dimensional space. Compared to existing quadrupedal robot dogs that only have mobility and lack a dedicated operating mechanism, this invention can not only move stably on complex terrains such as gravel tracks and bridge decks, but also, upon reaching the fault point, use the deformable robotic arm to lift, adjust the position of, and temporarily fix railway power cables, enhancing the robot's ability to actively control the cable's posture.

[0017] This invention, by arranging the base, first cylinder, and second cylinder in combination between the support arm and the main and auxiliary arms, achieves decoupled adjustment of the main arm height and the auxiliary arm extension radius, improving the robotic arm's coverage of the working space and adapting to cable conditions with different heights and lateral offsets. Furthermore, through cylinder linkage and joint structure optimization, the robotic arm's movements are smooth and its posture stable during deployment and retraction, reducing impact and swaying on the cables. The cable fixing component consists of a triangularly stable support, a placement cylinder with a buffer layer, and a flip-up protective cover. It is combined with an arc-shaped clamp with an adhesive layer and an abutment component with adjustable clamping force via an adjusting rod and sleeve. This allows for comprehensive clamping of cables of different diameters, ensuring axial and radial stability during lifting, while the elastic adhesive layer reduces the risk of localized indentation and damage to the cable insulation.

[0018] Meanwhile, the robot dog of this invention adopts a multi-degree-of-freedom outrigger, a frame-built power supply and sensor combination structure, combined with cameras and a main control board deployed on both sides of the frame, enabling it to perform actions such as moving forward, turning, and crossing obstacles under remote control or automatic planning, and to observe the working environment in real time, providing visual and perceptual support for the positioning of the swing arm mechanism and safe operation. Compared with existing emergency repair methods that require a large number of scaffolding facilities and rely on manual climbing and lifting, this invention, by integrating the deformable robotic arm with a quadrupedal mobile platform, shortens the time personnel spend in high-risk areas while ensuring cable lifting and position adjustment functions, reducing work intensity and personal risks, and improving the automation level and overall efficiency of railway power failure emergency repair operations.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 2 This is a three-dimensional schematic diagram of the support leg according to an embodiment of the present invention; Figure 3 This is a partial front view schematic diagram of an embodiment of the present invention; Figure 4 This is a three-dimensional schematic diagram of the cable fixing component according to an embodiment of the present invention; Figure 5 This is a three-dimensional schematic diagram of the contact component according to an embodiment of the present invention.

[0021] In the diagram: 1. Robot dog body; 11. Frame; 12. Support leg; 121. Rotating shaft; 122. Thigh; 123. Lower leg; 13. Camera; 2. Support arm; 3. Swing arm mechanism; 31. Main arm; 32. Secondary arm; 33. Cable fixing component; 331. Bracket; 332. Placement cylinder; 333. Protective cover; 4. Base; 5. First cylinder; 6. Second cylinder; 7. Contact component; 71. Adjusting rod; 72. Sleeve; 73. Arc clamp. Detailed Implementation

[0022] 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. The specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention. 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.

[0023] This invention provides, for example Figure 1-5 The deformable robotic arm type railway power repair robot dog shown includes: The robot dog body 1, support arm 2, and swing arm mechanism 3 are provided. The lower end of the support arm 2 is fixed to the surface of the robot dog body 1, and the swing arm mechanism 3 is installed on the surface of the support arm 2 and is used to provide auxiliary support for the cable. The swing arm mechanism 3 includes a main arm 31, a secondary arm 32 and a cable fixing member 33. The main arm 31 is hinged to the top of the support arm 2. The secondary arm 32 is slidably installed inside the main arm 31, and one end extends through one side of the main arm 31. The cable fixing member 33 is installed at one end of the secondary arm 32 for fixing railway power cables. Specifically, a swing arm mechanism 3 is provided on the top of the robot dog, which can realize complex spatial movements. By setting a multi-degree-of-freedom swing arm mechanism on the top of the robot dog, the flexible position adjustment of the cable in three-dimensional space can be realized. It can assist in the grabbing and height adjustment of the cable in complex cable arrangement environments, reduce manual climbing operations, reduce operational risks, and help shorten the repair operation time. When a robot dog equipped with a swing arm mechanism participates in operations, it can grasp the cable and adjust its height by swinging its arm after arriving at the fault site. Compared with the method of relying entirely on manual climbing, it can reduce the manual operation time in the cable position adjustment stage.

[0024] A base 4 is fixedly installed on one side of the support arm 2. A first cylinder 5 is hinged inside the base 4. The upper end of the first cylinder 5 is hinged to the bottom of the main arm 31. A second cylinder 6 is fixedly installed on one side of the main arm 31. One end of the second cylinder 6 is installed on the surface of the auxiliary arm 32. Furthermore, a base 4 extending outward is integrally formed on one side of the support arm 2. The base 4 is hinged to the bottom of the first cylinder 5 through a high-strength alloy pin. The surface of the pin is nitrided to enhance wear resistance. The piston rod end of the first cylinder 5 is connected to the ear plate at the bottom of the main arm 31 through a ball joint structure. The gap of the ball joint is filled with a self-lubricating bearing to compensate for the angular deviation when the main arm 31 rotates. A mounting seat for the second cylinder 6 is welded to the side of the main arm 31 away from the support arm 2. The cylinder body of the second cylinder 6 is fixed on the mounting seat. The piston rod end of the second cylinder 6 is rigidly welded to the connecting block on the outer wall of the auxiliary arm 32. The contact part between the connecting block and the auxiliary arm 32 is reinforced with reinforcing ribs. Through the coordinated drive of the two cylinders, the first cylinder 5 controls the rotation angle of the main arm 31 around the support arm 2 to adjust the working height. The second cylinder 6 drives the auxiliary arm 32 to extend and retract along the axis of the main arm 31 to adjust the working radius. The two work together to realize the flexible displacement of the cable in three-dimensional space, solving the problem of limited working range of traditional single-drive robotic arms. At the same time, the design of the ball joint and the self-lubricating bearing reduces mechanical wear and improves the smoothness of the mechanism's movement.

[0025] The cable fixing component 33 includes a bracket 331, a placement tube 332 and a protective cover 333. The bracket 331 is installed at one end of the auxiliary arm 32 and the placement tube 332 is fixedly installed at the bottom. The protective cover 333 is hinged to the surface of the placement tube 332. It is worth noting that the bracket 331 is forged from high-strength aluminum alloy. Its top is connected to the end of the auxiliary arm 32 via a damped hinge, allowing it to rotate relative to the auxiliary arm 32 to adapt to the cable's tilt angle. The bottom of the bracket 331 and the outer wall of the placement cylinder 332 are laser-welded to form a triangular stable structure. The inner wall of the placement cylinder 332 is covered with a 5mm thick silicone rubber buffer layer to prevent damage to the cable insulation layer during clamping. The protective cover 333 is made of lightweight polycarbonate material. One side is hinged to the placement cylinder 332 via a hinge, and the other side has a locking boss corresponding to the placement cylinder 332. When closed, it can form a complete annular cavity with the placement cylinder 332 to wrap the cable. The triangular structure of the bracket 331 improves the overall load-bearing capacity, and the damped hinge allows the fixing component to maintain a stable posture after gripping the cable. The combination of the buffer layer and the polycarbonate protective cover 333 not only achieves cable safety protection but also allows observation of the internal clamping status through the transparent protective cover 333.

[0026] The protective cover 333 and the placement cylinder 332 are detachably connected by bolts. It should be noted that the locking boss of the cover 333 has a through sliding hole, and a bolt with a handle is slidably fitted in the sliding hole; the boss at the corresponding position of the placement cylinder 332 has an internal threaded hole, which is compatible with the screw of the bolt, and the hole opening is provided with a guide chamfer. Through the detachable connection between the bolt and the threaded hole, the locking force after the cover 333 is closed can be guaranteed to prevent the cable from falling off, and it is also convenient to quickly disassemble and assemble to adapt to the placement needs of cables of different diameters, thus improving the efficiency of cable fixing.

[0027] The top of the bracket 331 is hinged to one end of the auxiliary arm 32. The bracket 331 is welded to the placement tube 332 and is triangular in shape. Furthermore, the weld joint between the bracket 331 and the placement cylinder 332 adopts an X-shaped bevel design. After welding, stress relief treatment is performed, the weld surface is polished and coated with anti-rust paint. The X-shaped bevel welding and stress relief treatment enhance the connection strength between the bracket 331 and the placement cylinder 332, and adapt to the impact of heavy loads during emergency repair operations.

[0028] It also includes a contact component 7, which includes an adjusting rod 71, a sleeve 72 and an arc-shaped clamp 73. The sleeve 72 is embedded in one side of the placement cylinder 332 and the adjusting rod 71 is installed inside the sleeve. The arc-shaped clamp 73 is rotatably installed at one end of the adjusting rod 71. The surface of the arc-shaped clamp 73 has a concave part with an adhesive layer. The sleeve 72 of the contact component 7 is made of brass, with its outer wall interference-fitted into the pre-drilled mounting hole of the placement cylinder 332. The inner wall of the sleeve 72 is machined with a trapezoidal internal thread. One end of the adjusting rod 71 is equipped with a hexagonal adjusting head, and the other end is connected to the back of the arc-shaped clamp 73 via a deep groove ball bearing. The outer ring of the bearing is interference-fitted with the arc-shaped clamp 73, and the inner ring is fixed to the shoulder of the adjusting rod 71. The arc-shaped clamp 73 is injection molded from nylon, and the inner concave surface is made of nitrile rubber. It is integrally molded with the arc-shaped clamp 73 through a molding process. The combination of the brass sleeve 72 and the trapezoidal thread provides both wear resistance and transmission stability. The deep groove ball bearing keeps the arc-shaped clamp 73 stationary when the adjusting rod 71 rotates, avoiding torsional damage to the cable. The combination of the nylon arc-shaped clamp 73 and the nitrile rubber layer can both tightly clamp cables of different diameters by rotating the adjusting rod 71 and buffer the clamping force to protect the cable insulation layer.

[0029] The robot dog body 1 includes a frame 11, legs 12 and camera 13. The lower end of the support arm 2 is fixed to the top of the frame 11. Four legs 12 are provided at the bottom of the frame 11. The camera 13 is installed on both sides of the frame 11. It is worth noting that the frame 11 of the robot dog body 1 is made of carbon fiber composite material and aluminum alloy frame splicing. The top is equipped with a flange that matches the bottom of the support arm 2. The support arm 2 is rigidly connected to the flange by high-strength bolts, and anti-loosening gaskets are installed at the bolt connection. The camera 13 is mounted on the front of both sides of the frame 11 by a rotatable bracket. The lens is covered with scratch-resistant tempered glass, and the camera 13 is connected to the main control board inside the frame 11 by a shielded cable. The composite frame 11 of carbon fiber and aluminum alloy reduces the overall weight while ensuring structural strength and improving the robot dog's movement flexibility. The anti-loosening gaskets ensure that the support arm 2 does not loosen during operation vibration, and the scratch-resistant tempered glass protects the imaging clarity of the camera 13 in complex environments, providing reliable visual feedback for remote control.

[0030] The support leg 12 includes a pivot 121 hinged to the bottom of the frame 11, a thigh 122 rotatably mounted on the surface of the pivot 121, and a calf 123 rotatably mounted on the bottom of the thigh 122. Furthermore, the pivot 121 of the outrigger 12 is driven by a servo motor. The motor output shaft and the pivot 121 are connected by a key, and the motor housing is fixed to the bottom of the frame 11 by shock-absorbing pads. The thigh 122 and the lower leg 123 are both hollow steel tube structures, connected by a spherical bearing. Long-lasting grease is injected into the spherical bearing, and a dust cover is provided on the outside of the connection. A rubber seat is installed at the bottom of the lower leg 123, and the surface of the rubber seat has anti-slip texture. The pivot 121 driven by the servo motor can precisely control the swing angle of the outrigger 12. The shock-absorbing pads reduce the impact of motor vibration on the frame 11. The cooperation of the spherical bearing and the grease ensures the flexible rotation of the thigh 122 and the lower leg 123. The dust cover prevents dust from entering and affecting the motion accuracy. The rubber seat and anti-slip texture improve the robot dog's grip and stability on complex terrains such as railway tracks and gravel.

[0031] The auxiliary boom 32 is configured as a hollow tube boom; Specifically, the hollow tube arm of the auxiliary boom 32 is rolled from titanium alloy material, with a smooth inner wall and guide grooves distributed along the axial direction; the main boom 31 has a corresponding guide block inside, which matches the guide groove. The guide block is made of polytetrafluoroethylene material and slides in conjunction with the guide groove; the outer wall of the extended end of the auxiliary boom 32 has scale lines to visually display the extension length. The titanium alloy tube arm has both high strength and lightweight characteristics. The cooperation between the guide groove and the polytetrafluoroethylene guide block reduces the frictional resistance of the auxiliary boom 32 during extension and retraction, and at the same time prevents the auxiliary boom 32 from rotating relative to the main boom 31, ensuring the stability of the cable fixing component 33; the scale lines make it easy for operators to grasp the extension amount of the auxiliary boom 32 during debugging or emergency operation, improving the controllability of the operation.

[0032] The rack 11 contains a battery, a main control board, a wireless connection module, an ultrasonic radar, and a lidar, and the wireless connection module, ultrasonic radar, and lidar are electrically connected to the main control board. The rack 11 features a partitioned installation compartment. The battery is installed in a sealed compartment at the bottom of the rack 11, with a heat dissipation grille and a waterproof sealing ring. The main control board is fixed to the central compartment by an insulating bracket, and its surface is covered with a dust cover. The signal lines of the wireless connection module, ultrasonic radar, and lidar are all connected to the main control board via aviation connectors, and the cables are neatly secured inside the rack 11 using cable ties. The partitioned installation compartment allows for independent installation and protection of each electronic component. The sealed compartment and waterproof sealing ring ensure the safe operation of the battery in humid environments. The insulating bracket and dust cover enhance the main control board's anti-interference capability and lifespan. The aviation connectors and orderly wiring facilitate equipment inspection and maintenance, reducing the difficulty of troubleshooting.

[0033] The battery, main control board, wireless connection module, ultrasonic radar, lidar, first cylinder 5 and second cylinder 6 involved in this application are all implemented using existing mature technologies and are connected to an external PLC controller and power supply. This is a conventional technical means in this field, so their specific circuit connections, control logic and working process will not be described in detail.

[0034] All threaded mounting surfaces in this application utilize a modified triangular thread with a self-locking function. The thread helix angle is designed to be 1.5°-2.5° to enhance the anti-loosening effect. After phosphating, the thread surface is coated with an 8-12μm Dacromet coating and impregnated with silicone sealant to form a sealing layer, resulting in excellent corrosion resistance. In addition, the thread can effectively expel dust, and it can still be used normally even if a small amount of dust adheres to it.

[0035] Working Principle: Cameras 13 are installed on both sides of the frame 11 for observation. Four support legs 12 are located at the bottom of the frame 11. The drive control of the support legs 12 adopts existing robot dog walking control technology, which is implemented by the main control board inside the frame 11, and will not be described in detail here. When it is necessary to adjust the position of the cable by means of the robotic arm, first open the protective cover 333, place the cable in the placement cylinder 332, and close the protective cover 333. The protective cover 333 and the placement cylinder 332 are fixed by bolts. Specifically, a bolt is slidably installed in the protrusion on one side of the protective cover 333 and threadedly installed in the inner hole of the protrusion on one side of the placement cylinder 332, so that the protective cover 333 is fixed on the placement cylinder 332, which seals the cable. At the same time, rotate the adjusting rod 71. The surface of the adjusting rod 71 is threadedly installed in the sleeve 72, and the end of the adjusting rod 71 is rotatably installed in the arc-shaped clamp 73, so as to move the arc-shaped clamp 73 for adjustment. The section has an adhesive layer on the concave surface of the arc-shaped clamp 73, which protects the cable when it is attached to the cable. The inner wall of the placement cylinder 332 is also covered with an adhesive layer. The movable arc-shaped clamp can clamp and fix cables of different inner diameters. By starting the first cylinder 5, the main arm 31 is rotated. One end of the main arm 31 is hinged to the top of the support arm 2, and the height of the auxiliary arm 32 and the second cylinder 6 is adjusted. The second cylinder 6 is started to move the auxiliary arm 32 inside the main arm 31, and the cable fixing part 33 is moved again. The fixed cable can be moved in multiple directions. The camera 13 located on the rear side of the frame 11 can monitor the cable through.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A deformable robotic arm-type railway power emergency repair robot dog, characterized in that, include: The robot dog body (1), support arm (2) and swing arm mechanism (3) are provided. The lower end of the support arm (2) is fixed to the surface of the robot dog body (1). The swing arm mechanism (3) is installed on the surface of the support arm (2) and is used to provide auxiliary support for the cable. The swing arm mechanism (3) includes a main arm (31), a secondary arm (32) and a cable fixing member (33). The main arm (31) is hinged to the top of the support arm (2). The secondary arm (32) is slidably installed inside the main arm (31) and one end extends through one side of the main arm (31). The cable fixing member (33) is installed at one end of the secondary arm (32) for fixing railway power cables.

2. The deformable robotic arm type railway power emergency repair robot dog according to claim 1, characterized in that: A base (4) is fixedly installed on one side of the support arm (2). A first cylinder (5) is hinged inside the base (4). The upper end of the first cylinder (5) is hinged to the bottom of the main arm (31). A second cylinder (6) is fixedly installed on one side of the main arm (31). One end of the second cylinder (6) is installed on the surface of the auxiliary arm (32).

3. The deformable robotic arm type railway power emergency repair robot dog according to claim 1, characterized in that: The cable fixing component (33) includes a bracket (331), a placement tube (332) and a protective cover (333). The bracket (331) is installed at one end of the auxiliary arm (32) and the placement tube (332) is fixedly installed at the bottom. The protective cover (333) is hinged to the surface of the placement tube (332).

4. The deformable robotic arm type railway power emergency repair robot dog according to claim 3, characterized in that: The protective cover (333) and the placement tube (332) are detachably connected by bolts.

5. The deformable robotic arm type railway power emergency repair robot dog according to claim 3, characterized in that: The top of the bracket (331) is hinged to one end of the auxiliary arm (32). The bracket (331) is welded to the placement tube (332) and is triangular in shape.

6. The deformable robotic arm type railway power emergency repair robot dog according to claim 3, characterized in that: It also includes a contact component (7), which includes an adjusting rod (71), a sleeve (72) and an arc-shaped clamp (73). The sleeve (72) is embedded in one side of the placement cylinder (332) and the adjusting rod (71) is installed inside the sleeve. The arc-shaped clamp (73) is rotatably installed at one end of the adjusting rod (71). The surface of the arc-shaped clamp (73) is provided with an adhesive layer.

7. The deformable robotic arm type railway power emergency repair robot dog according to claim 1, characterized in that: The robot dog body (1) includes a frame (11), legs (12) and a camera (13). The lower end of the support arm (2) is fixed to the top of the frame (11). The frame (11) has four legs (12) at the bottom. The camera (13) is installed on both sides of the frame (11).

8. The deformable robotic arm type railway power emergency repair robot dog according to claim 7, characterized in that: The outrigger (12) includes a pivot (121) hinged to the bottom of the frame (11), a thigh (122) is rotatably mounted on the surface of the pivot (121), and a calf (123) is rotatably mounted on the bottom of the thigh (122).

9. The deformable robotic arm type railway power emergency repair robot dog according to claim 1, characterized in that: The auxiliary arm (32) is configured as a hollow tube arm.

10. A deformable robotic arm-type railway power repair robot dog according to claim 7, characterized in that: The rack (11) contains a battery, a main control board, a wireless connection module, an ultrasonic radar, and a laser radar, and the wireless connection module, ultrasonic radar, and laser radar are electrically connected to the main control board.

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