Inspection operation robot for power distribution room

Abstract

The invention provides a patrol operation robot for a power distribution room, belongs to the technical field of patrol operation robots for power distribution rooms, and can at least partially solve the problems that most of existing patrol robots are mainly used for achieving a basic patrol function, the operation capability is single, various complex operations are difficult to complete, and compatibility to different high-voltage and low-voltage power distribution equipment is insufficient. The power distribution room inspection and operation integrated device comprises a driving module, the driving module is provided with a lifting module, a mechanical arm, an operation assembly and a holder module, and the lifting module, the mechanical arm and the operation assembly are integrated on the driving module; the inspection and multiple operation functions are unified on the same robot platform, multiple types of operation such as button pressing, rotating and shaking-in and shaking-out can be further executed while equipment state inspection is completed, manual participation is reduced, and the operation and maintenance efficiency of a power distribution room is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of power distribution room inspection robots, specifically relating to an inspection robot for power distribution rooms. Background Technology

[0002] High-voltage and low-voltage distribution rooms are crucial facilities in power systems for receiving, distributing, and transmitting electrical energy. High-voltage distribution rooms receive power from the grid and distribute and step down the voltage, while low-voltage distribution rooms transmit the stepped-down energy to various electrical devices. Both are connected via transformers and related electrical equipment, working together to ensure the safe and stable operation of the power system. Distribution room inspections are an important part of daily power system maintenance, primarily involving checks on the operating environment, high-voltage equipment, transformers, and low-voltage equipment. This includes checking instrument readings for normal operation, detecting abnormal noises or odors, verifying equipment temperatures, confirming correct switch positions, and ensuring the reliability of indicator lights and interlocking devices. In addition to routine inspections, various operational tasks must be performed, including operating low-voltage distribution cabinets, pressing and maneuvering frame-type switches, maneuvering high-voltage distribution cabinet trolleys, local / remote switching, and emergency tripping.

[0003] With the promotion of unmanned substations, the use of inspection robots to replace manual inspection and operation tasks has become the development direction of intelligent power operation and maintenance. However, existing high and low voltage substation inspection robots are mostly limited to basic inspection functions, with relatively simple operational capabilities, making it difficult to complete various complex operations. Furthermore, they lack compatibility with different high and low voltage power distribution equipment, failing to meet the practical application needs of integrated substation inspection and operation. For example, patent CN117773871A discloses a switch room inspection robot, which, while capable of inspection and some operational functions to a certain extent, has a relatively dispersed execution mechanism system. Different types of operations rely on different execution structures, lacking a unified end-effector architecture, resulting in a complex system structure and significant challenges in collaborative control. Therefore, we propose an inspection and operation robot for substations. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art, and to provide an inspection robot for power distribution rooms.

[0005] This invention provides an inspection robot for a power distribution room, including a drive module, which is equipped with: A lifting module, the fixed end of which is mounted on the drive module; A robotic arm is mounted at the lifting end of the lifting module; An operating component, disposed at one end of the robotic arm, includes a cross-shaped mounting base, a rotating module, a rocker arm module, a pressing module, and a sleeve module, each disposed at one end of the cross-shaped mounting base; and A gimbal module, comprising an image acquisition unit, an infrared imaging unit, and a processing unit electrically connected to the image acquisition unit and the infrared imaging unit via a transmission circuit; The operation component is used to perform operation tasks in the power distribution room; the image acquisition unit is used to acquire visible light image information of the equipment in the power distribution room; the infrared imaging unit is used to acquire infrared thermal imaging information of the equipment in the power distribution room; and the processing unit is used to process the visible light image information and the infrared thermal imaging information, and output sensing data for equipment status identification, indication information judgment and temperature anomaly detection.

[0006] Furthermore, the drive module includes a drive base plate, a traveling wheel disposed on one side of the drive base plate, a traveling motor connected to the traveling wheel, a universal driven wheel disposed on the side of the traveling wheel on the drive base plate, and a driven wheel adjustment plate connected to the universal driven wheel.

[0007] Specifically, the rotating module includes an electric gripper capable of clamping action and a gripper motor connected to the electric gripper, for performing knob operation and emergency tripping operation in the power distribution room.

[0008] Specifically, the rocker module includes a rocker motor, a rocker connected to the rocker motor, and a pressure sensor integrated on the rocker, for determining the operation status of the rocker based on the number of rotations of the rocker and the torque change detected by the pressure sensor during the rocker-in and rocker-out operations.

[0009] Preferably, the pressing module includes a pressing motor, a buffer connected to the movable end of the pressing motor, and a pressing head connected to the other end of the buffer, for performing the clicking and unlocking operation of the button in the power distribution room.

[0010] Specifically, the sleeve module includes a sleeve motor, a sleeve connected to the movable end of the sleeve motor, and a torque sensor integrated on the sleeve, for use in realizing the swing-in and swing-out operation of the circuit breaker in the power distribution room according to the set number of rotations of the sleeve and the torque change during the rotation of the sleeve.

[0011] Furthermore, the operating component also includes a 3D camera disposed in the central region of the cross mount for guiding the spatial positioning and alignment of the operating component.

[0012] Furthermore, the inspection robot also includes a control button and a speaker located on one end face of the drive module, and a charging module is provided on the side of the drive module opposite to the speaker.

[0013] Furthermore, the drive module is also equipped with a wireless communication module for communicating with external systems or the indoor power distribution equipment.

[0014] Specifically, the drive module is also equipped with an environmental perception module, which includes a lidar, an ultrasonic sensor, and a collision protection sensor, to enable the inspection robot to perceive the environment, avoid obstacles, and protect itself from collisions in the power distribution room.

[0015] The beneficial effects of this invention are as follows: This invention integrates a lifting module, a robotic arm, and operating components onto a drive module, unifying inspection and multiple operational functions onto a single robotic platform. While performing equipment status inspections, it can further execute various operations such as button pressing, rotation, and rocking in / out, reducing manual intervention and improving the efficiency of power distribution room maintenance. Furthermore, by equipping the robotic arm with operating components including a rotation module, a rocker arm module, a pressing module, and a sleeve module, it achieves centralized coverage of different power distribution equipment operation methods, avoiding the problems of dispersed and complex actuators in existing technologies. This enhances the robot's adaptability and operational versatility to different power distribution room equipment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an inspection robot for a power distribution room according to a specific embodiment of the present invention. Figure 2 This is a partial structural schematic diagram of an inspection robot for a power distribution room according to a specific embodiment of the present invention. Figure 3 This is a schematic diagram of the drive module structure of an inspection robot for a power distribution room according to a specific embodiment of the present invention. Figure 4 This is a schematic diagram of the robotic arm and operating components of an inspection robot for a power distribution room, according to a specific embodiment of the present invention. Figure 5 This is a schematic diagram of the operating components of an inspection robot for a power distribution room according to a specific embodiment of the present invention. Figure 6 This is a schematic diagram of the rotating module structure of an inspection robot for a power distribution room according to a specific embodiment of the present invention. Figure 7 This is a schematic diagram of the joystick module structure of an inspection robot for a power distribution room according to a specific embodiment of the present invention. Figure 8 This is a schematic diagram of the pressing module structure of an inspection robot for a power distribution room according to a specific embodiment of the present invention. Figure 9 This is a schematic diagram of the sleeve module structure of an inspection robot for a power distribution room according to a specific embodiment of the present invention.

[0017] One of them is a robotic arm; 2. Operational components; 21 Rotary module, 211 Gripper motor, 212 Electric gripper; 22 joystick module, 221 joystick motor, 222 joystick; 23 Pressing module, 231 Pressing motor, 232 Pressing head, 233 Buffer component; 24-sleeve module, 241-sleeve motor, 242-sleeve; 253D camera; 3 Lifting module, 4 LiDAR, 5 Gimbal module, 6 Ultrasonic sensor, 7 Charging module, 8 Collision protection sensor; 9. Drive module, 91. Travel wheel, 92. Travel motor, 93. Universal driven wheel, 94. Drive wheel adjustment plate, 95. Drive base plate; 10 control buttons, 11 speakers. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1 , Figure 2 , Figure 4 As shown in the figure, a specific embodiment of the present invention provides an inspection robot for a power distribution room, including a drive module 9, which is equipped with: The system comprises: a lifting module 3, with its fixed end mounted on the drive module 9; a robotic arm 1, a six-axis robotic arm mounted at the lifting end of the lifting module 3; an operation component 2, located at one end of the robotic arm 1, including a cross-shaped mounting base, a rotating module 21, a rocker module 22, a pressing module 23, and a sleeve module 24 respectively mounted at one end of the cross-shaped mounting base; and a pan-tilt module 5, including an image acquisition unit, an infrared imaging unit, and a processing unit electrically connected to the image acquisition unit and the infrared imaging unit via a transmission circuit. The operation component 2 is used to perform operational tasks within the power distribution room. The image acquisition unit acquires visible light image information of the equipment within the power distribution room, the infrared imaging unit acquires infrared thermal imaging information of the equipment within the power distribution room, and the processing unit processes the visible light image information and the infrared thermal imaging information, outputting sensing data for equipment status identification, indication information judgment, and temperature anomaly detection.

[0020] Specifically, for detecting digital display instrument readings in the power distribution room, firstly, the image acquisition unit in the pan-tilt module 5 captures images. The processing unit performs image preprocessing such as filtering, binarization, and erosion / dilation on the images. Then, using pre-calibrated parameters, it identifies the target instrument and determines whether a corresponding target instrument exists. After detecting the target instrument, geometric correction is used to correct the captured image. Morphological image processing algorithms are used to extract the digit and letter regions, and then recognition tools such as SVM are used to further identify the digital display instrument readings. For indicator lights in the power distribution room, such as trip lights and fault identification, and operation indicator lights, the deep learning target detection algorithm built into the processing unit locates the specific position of the indicator light and extracts the area for subsequent judgment. Indicator lights have two states: on and off. When the light is on, the pixel count in the binarized image is high; when the light is off, the pixel count is low. Therefore, a certain threshold is set. When the total area of ​​pixels with high pixel counts exceeds the threshold, it is determined to be in an on state.

[0021] Furthermore, for the identification of the status of components in the power distribution room, the status of components can be identified through deep learning classification algorithms built into the unit. First, the positioning network locates the specific position of each component, extracts the data, and inputs it into the deep learning classification model to classify its status: the data is pre-classified according to the status, then input into the model for training, and finally outputs the corresponding status results; for the joint identification of indicator lights and component status in the power distribution room, such as the identification of pressure plate status and tag point, mechanical judgment of energy storage lamp and switch, identification of DC power circuit breaker and indicator light, and identification of lock position, this detection item is based on the separate detection of indicator light and component status and further joint processing. First, each unit is identified separately. Taking lock position identification as an example: first, the YOLO positioning network built into the processing unit is used to locate the component position, and then the status of indicator light and lock is identified respectively. The specific status information of the equipment can be obtained by combining the lock direction and the brightness of the indicator light.

[0022] Furthermore, for checking circuit breakers, contactors, and fuses in the power distribution room for overheating, the thermal infrared imaging unit uses the temperature of each pixel provided by infrared thermal imaging, combined with the pixel areas of each device point obtained through target detection and image segmentation algorithms, to calculate the real-time temperature of each device point using an average weighted algorithm. This accurately detects the surface temperature of the equipment during operation. By performing a comprehensive scanning temperature acquisition of all equipment in the area through the infrared imaging unit, it effectively avoids missing any equipment in the area and identifies and alarms areas with excessive temperature deviations.

[0023] Based on the above basic implementation method, such as Figure 3 As shown, the drive module 9 includes a drive base plate 95, a walking wheel 91 disposed on one side of the drive base plate 95, a walking motor 92 connected to the walking wheel 91, a universal driven wheel 93 disposed on the side of the walking wheel 91 of the drive base plate 95, and a driven wheel adjustment plate 94 connected to the universal driven wheel 93.

[0024] Specifically, the drive module 9 serves as the basic support and movement unit for the inspection robot, enabling the robot to walk, turn, and provide overall stability support. During operation, the walking motor 92 drives the connected walking wheels 91 to rotate, thereby causing the drive base plate 95 to move along a predetermined path within the power distribution room. The omnidirectional driven wheels 93 are located on the side of the walking wheels of the drive base plate 95, providing auxiliary support and turning freedom during robot turning or posture adjustment to improve the robot's ability to pass through narrow passages and complex ground environments. The driven wheel adjustment plate 94 is used to adjust the position of the omnidirectional driven wheels 93, thereby ensuring the walking stability of the drive module 9 under different working conditions.

[0025] In one specific implementation, such as Figure 5 , Figure 6As shown, the rotating module 21 includes an electric gripper 212 capable of clamping and rotating independently around its own axis, and a gripper motor 211 connected to the electric gripper 212, for use in completing knob operation and emergency tripping operation in the power distribution room.

[0026] In this embodiment, the rotation operation of the universal knob (including the emergency tripping operation of the circuit breaker) in the high and low voltage power distribution room is performed by the rotation module 21. The rotation module 21 is equipped with an electric gripper 212, which supports clamping and independent rotation, and can complete the conventional knob rotation and the emergency tripping operation of the circuit breaker. In another specific embodiment, such as Figure 7 As shown, the joystick module 22 includes a joystick motor 221, a joystick 222 connected to the joystick motor 221, and a pressure sensor integrated on the joystick 222. The pressure sensor is used to determine whether the operation of the joystick 222 is in place based on the number of rotations of the joystick 222 and the torque change detected by the pressure sensor during the joystick in and joystick out operations.

[0027] Specifically, for the opening and closing buttons of the low-voltage distribution cabinet frame switch, the operation is performed by the pressing head 232 of the pressing module 23. The pressing head 232 can extend and retract independently. Clicking the unlock button unlocks the switch. Then, the pressure sensor integrated on the rocker module 22, together with the independently rotating rocker 222 of the rocker module 22, determines whether the operation of the rocker 222 is in place by combining the torque of the pressure sensor with the predetermined number of rotations of the rocker 222.

[0028] In one specific implementation, such as Figure 8 As shown, the pressing module 23 includes a pressing motor 231, a buffer 233 connected to the movable end of the pressing motor 231, and a pressing head 232 connected to the other end of the buffer 233, for completing the clicking and unlocking operation of the button in the power distribution room.

[0029] In this embodiment, the button click operation for general high and low voltage power distribution rooms is performed by the pressing head 232 of the pressing module 23. The pressing head 232 is connected to the pressing motor 231 and can extend and retract independently. The pressing head 232 integrates a pressure sensor and, together with the set elastic buffer mechanism, performs button click operation on the equipment inside the power distribution room.

[0030] Specifically, the pressing module 23 is used to complete the clicking and unlocking operations of button-type components in the power distribution room. When performing the pressing operation, the pressing motor 231 drives the pressing head 232 to move forward along the axis, so that the pressing head 232 contacts the target button and applies force. When the pressing head 232 contacts the button, the buffer 233 undergoes elastic deformation to absorb and release the impact force generated during the pressing process, thereby avoiding button damage or pressing overload due to rigid contact. At the same time, the buffer 233 can adaptively adjust the pressing force, making the pressing action more stable and reliable, and improving the safety and success rate of button operation.

[0031] In another specific embodiment, such as Figure 9 As shown, the sleeve module 24 includes a sleeve motor 241, a sleeve 242 connected to the movable end of the sleeve motor 241, and a torque sensor integrated on the sleeve 242, which is used to realize the swing-in and swing-out operation of the circuit breaker in the power distribution room according to the set number of rotations of the sleeve 242 and the torque change during the rotation of the sleeve 242; the operation component 2 also includes a 3D camera 25 set in the central area of ​​the cross mounting base, which is used to guide the spatial positioning and alignment of the operation component 2.

[0032] Furthermore, the sleeve module 24 is used to realize the swing-in and swing-out operations of rotating components such as circuit breakers in the power distribution room. In the specific working process, the sleeve motor 241 drives the sleeve 242 to rotate around its own axis, so that the sleeve 242 cooperates with the operating shaft or operating hole of the target component and applies rotational force. The torque sensor detects the torque change of the sleeve 242 in real time during the rotation of the sleeve 242 and feeds the detection result back to the control system. By combining the preset number of rotations and torque change information, it can be determined whether the current operating state has reached the expected position, thereby realizing reliable control of the swing-in and swing-out process of the circuit breaker.

[0033] Furthermore, the 3D camera 25 is positioned in the central area of ​​the cross-shaped mounting base to perceive the spatial relationship between the operating components and the power distribution room equipment. During operation, the 3D camera 25 acquires the spatial position and depth information of the target equipment and outputs three-dimensional spatial data to guide the operating components to complete spatial positioning and attitude alignment. Through the guidance of the 3D camera 25, the alignment accuracy between the operating components and the target equipment can be improved, and the operating deviation can be reduced, thereby improving the success rate and reliability of various operating tasks.

[0034] In another specific embodiment, the inspection robot also includes a control button 10 and a speaker 11 located on one end face of the drive module 9. The drive module 9 has a charging module 7 located on the side opposite the speaker. The drive module 9 also has a wireless communication module for communicating with external systems or equipment in the power distribution room. The drive module 9 also has an environmental perception module, which includes a lidar 4, an ultrasonic sensor 6, and a collision protection sensor 8, for realizing environmental perception, obstacle avoidance, and collision protection of the inspection robot in the power distribution room.

[0035] Furthermore, the environmental perception module is used to enable the inspection robot to perceive the environment and ensure safety in the power distribution room. During the operation of the robot, the lidar 4 is used to scan the surrounding environment and obtain information on the location and distance of obstacles. The ultrasonic sensor 6 is used to supplement the detection of nearby obstacles. The collision protection sensor 8 is used to trigger the protection mechanism when an accidental contact occurs, thereby enabling the robot to avoid obstacles, decelerate, or stop in an emergency in the power distribution room, thus improving operational safety.

[0036] Furthermore, the wireless communication module is used to enable data communication between the inspection robot and external systems or equipment in the power distribution room. Through the wireless communication module, the robot can send the status information, identification results or alarm information obtained during the inspection and operation process to the external monitoring system. At the same time, it can also receive control commands or task scheduling information from the external system, thereby realizing remote monitoring and management of the inspection robot.

[0037] To aid in a better understanding of the invention, a more comprehensive and specific embodiment is described, in which the invention provides an inspection robot for a power distribution room, including a drive module 9, which is provided with: The system comprises: a lifting module 3, with its fixed end mounted on the drive module 9; a robotic arm 1, a six-axis robotic arm mounted at the lifting end of the lifting module 3; an operation component 2, located at one end of the robotic arm 1, including a cross-shaped mounting base, a rotating module 21, a rocker module 22, a pressing module 23, and a sleeve module 24 respectively mounted at one end of the cross-shaped mounting base; and a pan-tilt module 5, including an image acquisition unit, an infrared imaging unit, and a processing unit electrically connected to the image acquisition unit and the infrared imaging unit via a transmission circuit. The operation component 2 is used to perform operational tasks within the power distribution room. The image acquisition unit acquires visible light image information of the equipment within the power distribution room, the infrared imaging unit acquires infrared thermal imaging information of the equipment within the power distribution room, and the processing unit processes the visible light image information and the infrared thermal imaging information, outputting sensing data for equipment status identification, indication information judgment, and temperature anomaly detection.

[0038] In this embodiment, the drive module 9 includes a drive base plate 95, a traveling wheel 91 disposed on one side of the drive base plate 95, a traveling motor 92 connected to the traveling wheel 91, a universal driven wheel 93 disposed on the side of the traveling wheel 91 of the drive base plate 95, and a driven wheel adjustment plate 94 connected to the universal driven wheel 93; the rotation module 21 includes an electric gripper 212 capable of clamping action and rotating independently around its own axis, and a gripper motor 211 connected to the electric gripper 212, for completing knob operation and emergency tripping operation in the power distribution room; the rocker module 22 includes a rocker motor 221, a rocker 222 connected to the rocker motor 221, and a pressure sensor integrated on the rocker 222, for performing... During the rocking-in and rocking-out operations, the operation of the rocker 222 is determined based on the number of rotations of the rocker 222 and the torque change detected by the pressure sensor. The pressing module 23 includes a pressing motor 231, a buffer 233 connected to the movable end of the pressing motor 231, and a pressing head 232 connected to the other end of the buffer 233, for use in completing the clicking and unlocking operations of the button in the power distribution room. The sleeve module 24 includes a sleeve motor 241, a sleeve 242 connected to the movable end of the sleeve motor 241, and a torque sensor integrated on the sleeve 242, for use in realizing the rocking-in and rocking-out operations of the circuit breaker in the power distribution room based on the set number of rotations of the sleeve 242 and the torque change during the rotation of the sleeve 242.

[0039] Specifically, the operating components also include a 3D camera 25 located in the central area of ​​the cross-shaped mounting base for guiding the spatial positioning and alignment of the operating components; the inspection robot also includes a control button 10 and a speaker 11 located on one end face of the drive module 9, and a charging module 7 is located on the side of the drive module 9 opposite to the speaker 11; the drive module 9 is also equipped with a wireless communication module for communicating with external systems or equipment in the power distribution room; the drive module 9 is also equipped with an environmental perception module, which includes a lidar 4, an ultrasonic sensor 6, and a collision protection sensor 8, for realizing environmental perception, obstacle avoidance, and collision protection of the inspection robot in the power distribution room.

[0040] In summary, the embodiments disclosed herein have at least the following technical effects: This invention integrates a lifting module 3, a robotic arm 1, and an operating component 2 on a drive module, unifying inspection and multiple operating functions on the same robot platform. While completing equipment status inspection, it can further perform various operations such as button pressing, rotation, and rocking in and out, reducing manual intervention and improving the operation and maintenance efficiency of the power distribution room. By setting an operation component 2, which includes a rotation module 21, a rocker module 22, a pressing module 23 and a sleeve module 24, at the end of the robotic arm 1, centralized coverage of different power distribution equipment operation modes can be achieved, avoiding the problems of dispersed actuators and complex structures in the existing technology, and improving the robot's adaptability and operational versatility to different power distribution room equipment. This invention acquires visible light image information and infrared thermal imaging information by setting up a gimbal module 5, and outputs the sensing data by the processing unit for equipment status identification, indication information judgment and temperature anomaly detection, thereby providing effective support for the execution of the operation components, enabling the inspection identification and actual operation to form a synergistic relationship, and improving the accuracy and reliability of the operation process. A buffer is set in the pressing module 23, and a torque or pressure detection mechanism is introduced in the sleeve module 24 and the rocker module 22, so that the impact load can be effectively released and the force state can be sensed during operation, reducing the risk of misoperation or overload, reducing damage to power distribution equipment, and improving overall operational safety. By setting an environmental perception module on the drive module 9, the robot can perceive and avoid obstacles and the operating environment in the power distribution room; at the same time, combined with the spatial adjustment capabilities of the lifting module 3 and the robotic arm 1, the robot can adapt to application scenarios where the space in the power distribution room is limited and the equipment is distributed in a variety of ways. This invention, by setting up a charging module 7 and a wireless communication module, realizes automated support for the robot in terms of power replenishment and information interaction, enabling the robot to perform remote communication, status reporting and task management, which is suitable for the development of power distribution room inspection operations towards intelligence and unmanned operation.

[0041] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. An inspection robot for use in a power distribution room, characterized in that, Includes a driver module, which has the following features: A lifting module, the fixed end of which is mounted on the drive module; A robotic arm is mounted at the lifting end of the lifting module; An operating component is disposed at one end of the robotic arm. The operating component includes a cross-shaped mounting base, a rotating module, a rocker module, a pressing module, and a sleeve module, each disposed at one end of the cross-shaped mounting base. as well as A gimbal module, comprising an image acquisition unit, an infrared imaging unit, and a processing unit electrically connected to the image acquisition unit and the infrared imaging unit via a transmission circuit; The operation component is used to perform operation tasks in the power distribution room; the image acquisition unit is used to acquire visible light image information of the equipment in the power distribution room; the infrared imaging unit is used to acquire infrared thermal imaging information of the equipment in the power distribution room; and the processing unit is used to process the visible light image information and the infrared thermal imaging information, and output sensing data for equipment status identification, indication information judgment and temperature anomaly detection.

2. The inspection robot for a power distribution room according to claim 1, characterized in that, The drive module includes a drive base plate, a traveling wheel disposed on one side of the drive base plate, a traveling motor connected to the traveling wheel, a universal driven wheel disposed on the side of the traveling wheel on the drive base plate, and a driven wheel adjustment plate connected to the universal driven wheel.

3. The inspection robot for a power distribution room according to claim 1, characterized in that, The rotating module includes an electric gripper capable of clamping action and a gripper motor connected to the electric gripper, for performing knob operation and emergency tripping operation in the power distribution room.

4. The inspection robot for a power distribution room according to claim 1, characterized in that, The joystick module includes a joystick motor, a joystick connected to the joystick motor, and a pressure sensor integrated on the joystick, for use in determining the operation status of the joystick based on the number of rotations of the joystick and the torque change detected by the pressure sensor during the joystick-in and joystick-out operations.

5. The inspection robot for a power distribution room according to claim 1, characterized in that, The pressing module includes a pressing motor, a buffer connected to the movable end of the pressing motor, and a pressing head connected to the other end of the buffer, for performing the clicking and unlocking operations of the button in the power distribution room.

6. The inspection robot for a power distribution room according to claim 1, characterized in that, The sleeve module includes a sleeve motor, a sleeve connected to the movable end of the sleeve motor, and a torque sensor integrated on the sleeve, for use in the process of sleeve rotation to realize the swing-in and swing-out operation of the circuit breaker in the power distribution room according to the set number of rotations of the sleeve and the torque change.

7. The inspection robot for a power distribution room according to claim 1, characterized in that, The operating component also includes a 3D camera disposed in the central region of the cross-shaped mounting base for guiding the spatial positioning and alignment of the operating component.

8. The inspection robot for a power distribution room according to claim 1, characterized in that, The inspection robot also includes a control button and a speaker located on one end face of the drive module, and a charging module is located on the side of the drive module opposite to the speaker.

9. The inspection robot for a power distribution room according to claim 1, characterized in that, The drive module is also equipped with a wireless communication module for communicating with external systems or the indoor power distribution equipment.

10. The inspection robot for a power distribution room according to any one of claims 1 to 9, characterized in that, The drive module is also equipped with an environmental perception module, which includes a lidar, an ultrasonic sensor, and a collision protection sensor to enable the inspection robot to perceive the environment, avoid obstacles, and protect itself from collisions in the power distribution room.

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