Intelligent inspection control robot for power equipment and inspection control method

Abstract

The invention relates to the technical field of inspection robots, in particular to a power equipment intelligent inspection control robot and an inspection control method.The power equipment intelligent inspection control robot comprises a driving shaft, a stabilizing disc, transverse expansion feet located in the side wall of a machine body and synchronously moving with the stabilizing disc to support the machine body, and a negative pressure adsorption column located below the stabilizing disc and used for adsorbing negative pressure on the side wall of the machine body; the telescopic rotating shaft is located in the stabilizing disc and upwards penetrates into the machine body, the movable column is located between the telescopic rotating shaft and the driving shaft, and when the stabilizing disc moves to the terminal of the driving shaft, the connecting block of the stabilizing disc and the driving shaft makes contact with the movable column in a pressing mode and moves upwards to be loosened; and through cooperation of a stabilizing disc, a transverse expansion foot, a negative pressure adsorption column and an auxiliary supporting foot, the problem that an existing inspection robot is prone to sliding and shaking when executing mechanical arm operation on the smooth ground such as an epoxy floor or a ceramic tile is effectively solved.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to an intelligent inspection and control robot for power equipment and an inspection and control method. Background Technology

[0002] The normal operation of electrical equipment is of utmost importance. Regular inspections can promptly detect defects such as abnormal heating, discharge, oil leakage, and mechanical loosening, preventing them from developing into major accidents such as short circuits, explosions, and fires.

[0003] The China Patent Network has published a patent with publication number CN115338889A entitled "A 5G Intelligent Inspection and Control Robot for Power Equipment". This robot can be remotely controlled by a human to move along a customized path on the road surface, and to move in space along gaps between power equipment or between walls, such as moving up and down, or moving laterally at a certain height. It can also be adjusted according to the size of the gap, making it widely applicable. It does not need to move along a fixed path, thus increasing the detection range and improving efficiency.

[0004] Existing inspection robots often slip or shake when their robotic arms operate electrical equipment. Indoor areas where electrical equipment is located often have smooth floors such as epoxy flooring or ceramic tiles (for easy maintenance and cleaning). However, inspection robots are small and lack sufficient chassis support area, making it difficult to avoid defects such as shaking. This shaking affects the safety of the inspection robot during operation and reduces its reliability. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] In view of the aforementioned problems of wobbling and slipping during robotic arm operation, this invention is proposed.

[0007] Therefore, the purpose of this invention is to provide an intelligent inspection and control robot for power equipment and an inspection and control method.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an intelligent inspection and control robot for power equipment, comprising a body, a robotic arm, and a probe component, and further comprising...

[0009] The drive shaft, located inside the machine body, is connected to an external drive motor and can rotate in both forward and reverse directions.

[0010] A stabilizing plate, installed on one side of the bottom of the machine body, is used to lower it into contact with the ground;

[0011] Lateral expansion feet are located inside the side wall of the fuselage and can move synchronously with the stabilizing plate to support the fuselage;

[0012] A negative pressure adsorption column is located below the stabilizing disk;

[0013] The telescopic rotating shaft is located inside the stabilizing disc and extends upwards into the interior of the machine body, connecting with the negative pressure generating component of the negative pressure adsorption column;

[0014] The movable column is located between the telescopic rotating shaft and the drive shaft. When the stabilizing plate moves to the end of the drive shaft, the connecting block between the stabilizing plate and the drive shaft makes contact with the movable column and moves upward to loosen it, causing the movable column to move downward and then upward to return to its original position.

[0015] When the movable column moves downward, its telescopic rotation shaft is connected to the drive shaft for rotational transmission, so as to perform negative pressure adsorption between the negative pressure adsorption column and the ground. When it moves upward, the transmission between the telescopic rotation shaft and the drive shaft is disconnected.

[0016] As a preferred embodiment of the intelligent inspection and control robot for power equipment described in this invention, the outer wall of the stabilizing plate is equipped with a bent connecting rod, and the outer wall of the bent connecting rod is equipped with an auxiliary support foot.

[0017] The auxiliary support feet are evenly distributed at the four corners of the bottom of the machine body through bent connecting rods to ensure the stability of the machine body when supported.

[0018] As a preferred embodiment of the intelligent inspection and control robot for power equipment described in this invention, the lateral expansion foot is connected to the body by an arc-shaped support bar, the outer arc surface of the arc-shaped support bar is connected to a transmission gear set, and a transmission tooth plate is installed on the outer wall of the stabilizing plate, the transmission tooth plate meshing with the transmission gear set.

[0019] The pinion of the transmission gear set meshes with the transmission gear plate, and the large gear of the transmission gear set meshes with the arc-shaped support bar. According to the set transmission ratio, it is ensured that the lateral expansion foot and the stabilizing plate can synchronously contact the ground and provide support.

[0020] As a preferred embodiment of the intelligent inspection and control robot for power equipment described in this invention, the lateral expansion feet are located on both sides of the narrow side of the body, ensuring greater stability of the narrow side of the body.

[0021] As a preferred embodiment of the intelligent inspection and control robot for power equipment described in this invention, the bottom of the stabilizing plate is equipped with a negative pressure adsorption column, the bottom of the negative pressure adsorption column is provided with a sealing gasket, the inside of the stabilizing plate is provided with a connecting frame, the bottom of the connecting frame is equipped with a piston component, and the piston component is embedded in the negative pressure adsorption column.

[0022] As the piston moves upward, the negative pressure adsorption column comes into contact with the ground. The movement of the piston causes the negative pressure inside the negative pressure adsorption column to adhere stably to the ground.

[0023] As a preferred embodiment of the intelligent inspection and control robot for power equipment described in this invention, the bottom end of the telescopic rotating shaft is provided with a threaded groove, through which the transmission connection between the bottom end of the telescopic rotating shaft and the connecting frame is realized. The top end of the telescopic rotating shaft is a pentagonal telescopic rod, which ensures that the downward movement of the stabilizing plate does not affect the subsequent rotational transmission action of the telescopic rotating shaft.

[0024] As a preferred embodiment of the intelligent inspection and control robot for power equipment described in this invention, the following features: a driven tooth is installed at the top of the pentagonal telescopic rod, the driven tooth has a vertical movement gap within the body, and a compression spring above it keeps the driven tooth in the lowest position; an active tooth is installed on the outer wall of the drive shaft, and the active tooth is located on one side of the driven tooth.

[0025] As a preferred embodiment of the intelligent inspection and control robot for power equipment described in this invention, the movable column is located on one side of the drive shaft and is semi-embedded in the connecting block. When the stabilizing plate moves downward and contacts the ground, the inner top wall of the connecting block will eventually press against the movable column and cause it to move downward. A restoring spring is installed at the bottom of the movable column, and a rocker movable link is connected to the top of the movable column. A top plate is installed at one end of the rocker movable link, and the top plate is located on the bottom side of the driven tooth.

[0026] As a preferred embodiment of the intelligent inspection and control robot for power equipment described in this invention, the drive shaft drives the connecting block through a thread. When the connecting block moves to the bottommost unthreaded area, its stabilizing plate moves to the bottommost side, at which point the negative pressure adsorption column of the stabilizing plate contacts and supports the ground.

[0027] A method for intelligent inspection and control of power equipment includes the following steps:

[0028] S1. Inspection and navigation steps: Control the drive wheels to move the machine body along the planned path according to the preset inspection task, and collect the machine body position and attitude information in real time. When the preset observation point of the target power equipment is reached, the positioning and parking are performed.

[0029] S2, Multimodal Information Acquisition Steps: Control the probe to adjust its spatial attitude, acquire the operating status parameters of the target power equipment through the sensors integrated on the probe, and simultaneously acquire multi-angle visible light images and infrared thermal imaging images of the target power equipment through the camera;

[0030] S3. Emergency Decision-Making Steps: When it is determined that there is an abnormal state requiring manual intervention, an emergency operation command containing the target spatial coordinates is generated, and the corresponding robotic arm end effector control strategy is matched according to the type of abnormality.

[0031] S4. Precise emergency operation steps: Control the movement of the robotic arm according to the emergency operation instructions, so that the end effector reaches the abnormal point of the target power equipment and performs the predetermined emergency operation action.

[0032] The technical solution provided by this invention has the following advantages compared with the known prior art:

[0033] 1. By setting lateral expansion feet on both sides of the narrow side of the robot body and forming a mechanical linkage with the stabilizing plate, the robot's support stability on smooth ground is significantly improved. When the stabilizing plate moves down to touch the ground, the lateral expansion feet expand outward synchronously through the transmission ratio design of the transmission gear set, effectively increasing the support area at the bottom of the robot body and especially enhancing the anti-tipping ability in the narrow side direction. This structure uses arc-shaped support bars and gear meshing transmission to ensure the synchronization and reliability of the expansion action, so that the robot can obtain lateral auxiliary support when performing robotic arm operations. Together with the four corner auxiliary support feet, a multi-point support network is formed, which effectively avoids the shaking of the robot body caused by the center of gravity shift or external force.

[0034] Second, by adopting a negative pressure adsorption column and a single drive linkage mechanism, the robot can actively adsorb and fix itself on smooth surfaces. When the stabilizing plate moves down to contact the ground, the connecting block presses against the moving column, causing the telescopic rotating shaft to mesh with the drive shaft. Through threaded transmission, the piston moves upward, forming a stable negative pressure in the negative pressure adsorption column. Combined with the bottom sealing gasket, it fits tightly against the epoxy flooring or ceramic tile surface, generating a strong adsorption force. This design uses the same drive source to complete the automatic switching between support and adsorption without the need for an additional power device. While ensuring airtightness, it achieves firm adsorption on smooth surfaces, effectively preventing the robot body from slipping due to reaction forces during operation. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of an intelligent inspection and control robot for power equipment.

[0037] Figure 2 This is a bottom schematic diagram of an intelligent inspection and control robot for power equipment.

[0038] Figure 3 This is a cross-sectional schematic diagram of an intelligent inspection and control robot for power equipment.

[0039] Figure 4 for Figure 3 Enlarged view of point B in the image.

[0040] Figure 5 This is a schematic diagram of the driven gear of an intelligent inspection and control robot for power equipment.

[0041] Figure 6 This is a schematic diagram of the stabilizing plate of an intelligent inspection and control robot for power equipment.

[0042] Figure 7 for Figure 6 Enlarged view of point A in the image.

[0043] Reference numerals: 1. Body; 11. Robotic arm; 12. Probe component; 13. Drive wheel; 2. Drive shaft; 21. Drive motor; 22. Connecting block; 3. Stabilizing plate; 31. Bending connecting rod; 32. Auxiliary support foot; 4. Lateral expansion foot; 41. Arc-shaped support bar; 42. Transmission gear set; 43. Transmission gear plate; 5. Negative pressure adsorption column; 51. Connecting frame; 52. Piston component; 6. Telescopic rotating shaft; 61. Threaded groove; 62. Pentagonal telescopic rod; 63. Driven gear; 64. Compression spring; 65. Driving gear; 7. Moving column; 71. Restoring spring; 72. Rocker movable connecting rod; 73. Top plate. Detailed Implementation

[0044] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0045] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0046] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0047] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0048] Reference Figures 1-7 This is one embodiment of the present invention, which provides an intelligent inspection and control robot for power equipment, including a body 1, a robotic arm 11, and a probe component 12. It also includes a drive shaft 2, located inside the body 1 and connected to an external drive motor 21, capable of rotating in both forward and reverse directions. One side of the bottom end of the drive shaft 2 is unthreaded, allowing the stabilizing disc 3 to stop moving when it reaches the bottom end. Due to the elasticity of the restoring spring 71, it is also ensured that when the drive shaft 2 reverses direction, the stabilizing disc 3 can re-engage with the threaded drive shaft 2 for transmission. The stabilizing disc 3 is installed on the bottom side of the body 1 for lowering to contact the ground. A limiting support shaft is provided between the stabilizing disc 3 and the body 1. The drive shaft 2 can drive the connecting block 22 to move, and the movement of the connecting block 22 drives the stabilizing disc 3 to move. Laterally expanding feet 4 are located on the bottom side of the body. The negative pressure adsorption column 5 is located inside the side wall of the body 1 and can move synchronously with the stabilizing plate 3 to support the body 1; the negative pressure adsorption column 5 is located below the stabilizing plate 3; the telescopic rotating shaft 6 is located inside the stabilizing plate 3 and extends upward into the interior of the body 1, and is connected to the negative pressure generating component of the negative pressure adsorption column 5; the moving column 7 is located between the telescopic rotating shaft 6 and the drive shaft 2, and when the stabilizing plate 3 moves to the end of the drive shaft 2, the connecting block 22 of the stabilizing plate 3 and the drive shaft 2 presses against the moving column 7 and moves upward to loosen it, so that the moving column 7 moves downward and then moves upward to recover its original position; when the moving column 7 moves downward, its telescopic rotating shaft 6 is connected to the drive shaft 2 for rotational transmission to perform negative pressure adsorption on the negative pressure adsorption column 5 and the ground; when it moves upward, the transmission between the telescopic rotating shaft 6 and the drive shaft 2 is disconnected.

[0049] Specifically, the outer wall of the stabilizing plate 3 is equipped with a bent connecting rod 31, and the outer wall of the bent connecting rod 31 is equipped with auxiliary support feet 32; the auxiliary support feet 32 ​​are evenly distributed in the four corner areas of the bottom of the body 1 through the bent connecting rod 31 to ensure the stability of the body 1 when supported.

[0050] Furthermore, the lateral expansion foot 4 is connected to the body 1 by an arc-shaped support bar 41. The outer arc surface of the arc-shaped support bar 41 is connected to the transmission gear set 42. The outer wall of the stabilizing plate 3 is equipped with a transmission gear plate 43, which meshes with the transmission gear set 42. The small gear of the transmission gear set 42 meshes with the transmission gear plate 43, and the large gear of the transmission gear set 42 meshes with the arc-shaped support bar 41. According to the set transmission ratio, it is ensured that the lateral expansion foot 4 and the stabilizing plate 3 can simultaneously contact and support the ground. The lateral expansion foot 4 is located on both sides of the narrow side of the body 1, ensuring that the narrow side of the body 1 has greater stability.

[0051] Furthermore, a negative pressure adsorption column 5 is installed at the bottom of the stabilizing plate 3. A sealing gasket is provided at the bottom of the negative pressure adsorption column 5. A connecting frame 51 is provided inside the stabilizing plate 3. A piston 52 is installed at the bottom of the connecting frame 51. The piston 52 is embedded in the negative pressure adsorption column 5. When the piston 52 moves upward, the negative pressure adsorption column 5 comes into contact with the ground. The movement of the piston 52 makes the negative pressure inside the negative pressure adsorption column 5 firmly adsorbed with the ground.

[0052] The sealing gasket at the bottom of the negative pressure adsorption column 5 ensures airtightness between the negative pressure adsorption column 5 and the smooth ground.

[0053] Furthermore, the bottom end of the telescopic rotating shaft 6 is provided with a threaded groove 61, through which the bottom end of the telescopic rotating shaft 6 is connected to the connecting frame 51. The top end of the telescopic rotating shaft 6 is a pentagonal telescopic rod 62, which ensures that the downward movement of the stabilizing plate 3 does not affect the subsequent rotational transmission action of the telescopic rotating shaft 6.

[0054] Furthermore, a driven tooth 63 is installed at the top of the pentagonal telescopic rod 62. The driven tooth 63 has a vertical movement clearance inside the body 1, and a compression spring 64 installed above keeps the driven tooth 63 in the lowest position. An active tooth 65 is installed on the outer wall of the drive shaft 2, and the active tooth 65 is located on one side of the driven tooth 63.

[0055] Furthermore, the movable column 7 is located on one side of the drive shaft 2 and is partially embedded in the connecting block 22. As the stabilizing plate 3 moves downward and contacts the ground, the inner top wall of the connecting block 22 will eventually press against the movable column 7 and cause it to move downward. A restoring spring 71 is installed at the bottom of the movable column 7, and a rocker movable link 72 is connected to the top of the movable column 7. A top plate 73 is installed at one end of the rocker movable link 72. The top plate 73 is located on the bottom side of the driven tooth 63. The top plate 73 has a certain degree of curvature, so that when the driven tooth 63 is pushed upward and does not immediately engage with the driving tooth 65, there is a certain degree of redundancy.

[0056] The drive shaft 2 drives the connecting block 22 through the thread. When the connecting block 22 moves to the bottom unthreaded area, its stabilizing plate 3 moves to the bottom side. At this time, the negative pressure adsorption column 5 of the stabilizing plate 3 contacts the ground for support.

[0057] At this time, the moving column 7 is pressed by the connecting block 22. The moving column 7 drives the top plate 73 to move upward through the rocker movable connecting rod 72. The top plate 73 pushes the driven tooth 63 upward and meshes with the active tooth 65. At this time, the rotation of the drive shaft 2 can drive the telescopic rotating shaft 6 to rotate. The rotation of the telescopic rotating shaft 6 drives the connecting frame 51 to move upward through the threaded groove 61, thereby completing the negative pressure action of the negative pressure adsorption column 5.

[0058] Operation process: When the robotic arm 11 needs to operate the power equipment, the drive motor 21 rotates, driving the drive shaft 2 to rotate. The rotation of the drive shaft 2 causes the connecting block 22 to move downwards. The downward movement of the connecting block 22 causes the stabilizing block to move. The stabilizing block gradually moves down and contacts the ground. When the thread of the drive shaft 2 delivers the connecting block 22 to the end, the connecting block will no longer move due to the rotation of the drive shaft 2. When the connecting block 22 moves downwards for the last part, the downward movement of the connecting block touches the moving column 7. The downward movement of the moving column 7 causes the other end of the rocker movable link 72 to move downwards. At this time, the rocker movable link 72... The other end tilts upwards, causing the rocker arm 72 to drive the top plate 73 to lift the driven tooth 63 upwards, so that the driven tooth 63 meshes with the slowly rotating active tooth 65 (its top plate 73 has a certain degree of curvature, so that when the driven tooth 63 lifts upwards and does not immediately engage with the active tooth 65, there is a certain degree of redundancy). At this time, the bottom of the negative pressure adsorption column 5 is in contact with the ground. At this time, the active tooth 65 rotates, driving the driven tooth 63 to rotate. The rotation of the driven tooth 63 drives the telescopic rotating shaft 6 to rotate. The rotation of the telescopic rotating shaft 6 drives the connecting frame 51, which engages with the threaded groove 61, to move. 1. The movement of the piston 52 causes it to move upward within the negative pressure suction column 5, thus causing the negative pressure suction column 5 to adhere to the ground, effectively improving the safety of the robotic arm 11 during operation and preventing accidental contact or tipping due to instability. After the operation is completed, the drive shaft 2 reverses and drives the stabilizing plate 3 upward. At this time, the driven tooth 63 and the driving tooth 65 are still in a meshed state. The rotation of the drive shaft 2 drives the driven tooth 63 to rotate and restore the connecting frame 51. At this time, the negative pressure is also canceled simultaneously. As the moving column 7 is no longer pressed, its return spring 71 moves the moving column 7 upward to restore it. Unrestricted by the top plate 73, the clamping spring 64 returns the driven wheel and drive wheel 13 to their original positions, thus ensuring subsequent operation. When the drive shaft 2 rotates and drives the stabilizing disc 3 to move, the stabilizing disc 3 drives the auxiliary support foot 32 to move down through the bent connecting rod 31, and the stabilizing disc 3 drives the transmission gear plate 43 to move. The movement of the transmission gear plate 43 drives the transmission gear set 42 to rotate. Through the transmission ratio, the transmission gear set 42 synchronously contacts the lateral expansion foot 4 with the ground, thus enabling the machine body 1 to have sufficient longitudinal stability during operation, while its lateral support can also be expanded, further improving the safety and reliability of operation.

[0059] Example 2

[0060] Reference Figure 1 This is the second embodiment of the present invention, which differs from the first embodiment in that: a method for intelligent inspection and control of power equipment includes the following steps:

[0061] S1. Inspection and navigation steps: According to the preset inspection task, control the drive wheel 13 to drive the body 1 to move along the planned path, and collect the position and attitude information of the body 1 in real time. When the preset observation point of the target power equipment is reached, the positioning and parking are performed.

[0062] S2, Multimodal Information Acquisition Steps: Control the probe to adjust its spatial attitude, collect the operating status parameters of the target power equipment through the sensors integrated on the probe, and at the same time collect multi-angle visible light images and infrared thermal imaging images of the target power equipment through the camera;

[0063] The probe integrates: an ultrasonic partial discharge sensor for acquiring partial discharge amplitude and frequency; a temperature and humidity sensor for acquiring environmental parameters; a non-contact infrared temperature measurement module for acquiring the temperature distribution on the cabinet surface; and a high-definition visible light camera for acquiring visible light images.

[0064] S3. Emergency Decision-Making Steps: When it is determined that there is an abnormal state that requires manual intervention, an emergency operation command containing the target spatial coordinates is generated, and the corresponding end effector control strategy of the robotic arm 11 is matched according to the type of abnormality.

[0065] S4. Precise emergency operation steps: Control the movement of the robotic arm 11 according to the emergency operation instructions, so that the end effector reaches the abnormal point of the target power equipment and executes the predetermined emergency operation action.

[0066] This method enables fully automated operation of power equipment, from autonomous inspection and anomaly detection to precise emergency response, significantly improving the response speed to sudden defects.

[0067] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A smart inspection and control robot for power equipment, comprising a body (1), a robotic arm (11), and a probe component (12), characterized in that: It also includes, The drive shaft (2) is located inside the machine body (1) and is connected to the external drive motor (21), and can rotate in both directions; A stabilizing plate (3) is installed on one side of the bottom of the body (1) for lowering to contact the ground; The lateral expansion foot (4) is located inside the side wall of the fuselage (1) and can move synchronously with the stabilizing plate (3) to support the fuselage (1); The negative pressure adsorption column (5) is located below the stabilizing disk (3); The telescopic rotating shaft (6) is located inside the stabilizing plate (3) and extends upward into the interior of the body (1), and is connected to the negative pressure generating component of the negative pressure adsorption column (5); The movable column (7) is located between the telescopic rotating shaft (6) and the drive shaft (2). When the stabilizing plate (3) moves to the end of the drive shaft (2), the connecting block (22) of the stabilizing plate (3) and the drive shaft (2) makes contact with the movable column (7) and moves upward to loosen it, so that the movable column (7) moves downward and moves upward to restore its original position. When the moving column (7) moves downward, its telescopic rotating shaft (6) is connected to the drive shaft (2) for rotational transmission, so as to perform negative pressure adsorption on the negative pressure adsorption column (5) and the ground. When it moves upward, the transmission between the telescopic rotating shaft (6) and the drive shaft (2) is disconnected.

2. The intelligent inspection and control robot for power equipment as described in claim 1, characterized in that: The outer wall of the stabilizing plate (3) is equipped with a bent connecting rod (31), and the outer wall of the bent connecting rod (31) is equipped with an auxiliary support foot (32). The auxiliary support feet (32) are evenly distributed in the four corner areas at the bottom of the body (1) by bending the connecting rod (31) to ensure the stability of the body (1) when it is supported.

3. The intelligent inspection and control robot for power equipment as described in claim 2, characterized in that: The lateral expansion foot (4) is connected to the body (1) by an arc-shaped support bar (41). The outer arc surface of the arc-shaped support bar (41) is connected to the transmission gear set (42). The outer wall of the stabilizing plate (3) is equipped with a transmission tooth plate (43), which meshes with the transmission gear set (42). The small gear of the transmission gear set (42) meshes with the transmission gear plate (43), and the large gear of the transmission gear set (42) meshes with the arc-shaped support bar (41). According to the set transmission ratio, it is ensured that the lateral expansion foot (4) and the stabilizing plate (3) can synchronously contact the ground and provide support.

4. The intelligent inspection and control robot for power equipment as described in claim 3, characterized in that: The lateral expansion feet (4) are located on both sides of the narrow side of the fuselage (1), ensuring greater stability of the narrow side of the fuselage (1).

5. The intelligent inspection and control robot for power equipment as described in claim 4, characterized in that: The bottom of the stabilizing plate (3) is equipped with a negative pressure adsorption column (5), the bottom of the negative pressure adsorption column (5) is provided with a sealing gasket, the inside of the stabilizing plate (3) is provided with a connecting frame (51), the bottom of the connecting frame (51) is equipped with a piston (52), and the piston (52) is embedded in the negative pressure adsorption column (5). When the piston (52) moves upward, the negative pressure adsorption column (5) comes into contact with the ground. The movement of the piston (52) makes the negative pressure inside the negative pressure adsorption column (5) firmly adsorbed with the ground.

6. The intelligent inspection and control robot for power equipment as described in claim 5, characterized in that: The bottom end of the telescopic rotating shaft (6) is provided with a threaded groove (61), and the bottom end of the telescopic rotating shaft (6) is connected to the connecting frame (51) through the threaded groove (61). The top end of the telescopic rotating shaft (6) is a pentagonal telescopic rod (62), and the pentagonal telescopic rod (62) ensures that the downward movement of the stabilizing plate (3) does not affect the subsequent rotational transmission action of the telescopic rotating shaft (6).

7. The intelligent inspection and control robot for power equipment as described in claim 6, characterized in that: The top of the pentagonal telescopic rod (62) is equipped with a driven tooth (63), which has a vertical movement gap inside the body (1), and the compression spring (64) above it keeps the driven tooth (63) in the lowest position. The outer wall of the drive shaft (2) is equipped with an active tooth (65), which is located on one side of the driven tooth (63).

8. The intelligent inspection and control robot for power equipment as described in claim 7, characterized in that: The movable column (7) is located on one side of the drive shaft (2) and is partially embedded in the connecting block (22). As the stabilizing plate (3) moves downward and contacts the ground, the inner top wall of the connecting block (22) will eventually press against the movable column (7) and move downward. A restoring spring (71) is installed at the bottom of the movable column (7). A rocker movable link (72) is connected to the top of the movable column (7). A top plate (73) is installed at one end of the rocker movable link (72). The top plate (73) is located on the bottom side of the driven tooth (63).

9. The intelligent inspection and control robot for power equipment as described in claim 8, characterized in that: The drive shaft (2) drives the connecting block (22) through the thread. When the connecting block (22) moves to the bottom unthreaded area, its stabilizing plate (3) moves to the bottom side. At this time, the negative pressure adsorption column (5) of the stabilizing plate (3) contacts the ground for support. At this time, the moving column (7) is pressed by the connecting block (22), and the moving column (7) drives the top plate (73) to move upward through the rocker movable connecting rod (72). The top plate (73) pushes the driven tooth (63) upward and meshes with the driving tooth (65).

10. A method for intelligent inspection and control of power equipment, applied to the intelligent inspection and control robot for power equipment as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1, Inspection and navigation steps: Control the drive wheel (13) to drive the body (1) to move along the planned path according to the preset inspection task, and collect the position and posture information of the body (1) in real time. When the preset observation point of the target power equipment is reached, the positioning and parking are executed. S2, Multimodal Information Acquisition Steps: Control the probe to adjust its spatial attitude, acquire the operating status parameters of the target power equipment through the sensors integrated on the probe, and simultaneously acquire multi-angle visible light images and infrared thermal imaging images of the target power equipment through the camera; S3, Emergency Decision-Making Steps: When it is determined that there is an abnormal state that requires manual intervention, an emergency operation command containing the target spatial coordinates is generated, and the corresponding robotic arm (11) end effector control strategy is matched according to the type of abnormality. S4. Precise emergency operation steps: Control the movement of the robotic arm (11) according to the emergency operation instructions, so that the end effector reaches the abnormal point of the target power equipment and performs the predetermined emergency operation action.

Images