An intelligent power grid inspection robot

Abstract

The application belongs to the technical field of power grid inspection, and particularly relates to an intelligent power grid inspection robot, which comprises a machine body, a mechanical arm arranged on the outer surface of the machine body, a deformation of the mechanical arm being controlled by an intelligent control system, an information acquisition device arranged at the end of the mechanical arm, the machine body being in a cylindrical structure, and a traction channel being arranged at the middle part of the machine body; the machine body is driven to move along the power conductor by remote control, in the process, the mechanical arm on the upper side of the machine body drives the information acquisition device to move flexibly, the surface image data of the connected power conductor and the adjacent power conductor and the possible abnormal data of electric leakage are collected, the collected data are fed back to the control center for analysis, whether the surface of the power conductor is broken or not, whether the electric leakage occurs or not and the like are judged, and the abnormal area is marked, so that the targeted artificial inspection and maintenance in the later period are facilitated, and the inspection and checking efficiency of the power conductor is improved.

Description

Technical Field

[0001] This invention belongs to the field of power grid inspection technology, specifically a smart power grid inspection robot. Background Technology

[0002] A smart grid is the intelligentization of the power grid. It is built on an integrated, high-speed, two-way communication network and achieves the goals of reliability, safety, economy, efficiency, environmental friendliness, and safe use of the power grid through the application of advanced sensing and measurement technologies, advanced equipment technologies, advanced control methods, and advanced decision support system technologies. Its main characteristics include self-healing, incentivizing and protecting users, resisting attacks, providing power quality that meets user needs, allowing access to various forms of power generation, activating the electricity market, and optimizing and efficiently operating assets.

[0003] During the normal operation of the smart grid system, a large number of pipelines are laid in uninhabited areas far from cities, and many of these areas have complex terrain and are sparsely populated. In order to ensure the normal operation of the power grid, it is necessary to conduct a full-line inspection regularly. However, it is time-consuming and labor-intensive to manually inspect the high-altitude lines in these remote areas, and the risk of sending inspection personnel to climb the high-altitude lines for specific inspections is relatively high. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes an intelligent power grid inspection robot.

[0005] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention proposes an intelligent power grid inspection robot, including a body, a mechanical arm is provided on the outer surface of the body, the deformation of the mechanical arm is controlled by an intelligent control system, an information acquisition device is provided at the end of the mechanical arm, the body is a cylindrical structure, and a traction channel is provided in the middle part of the body. The inner wall of the traction channel is symmetrically provided with mounting grooves on the upper and lower sides. Pairs of limit wheels are symmetrically provided inside the mounting grooves, and the limit wheels are rotatably connected to the inner wall of the mounting groove. The limit wheels are connected to the output end of the drive device provided on the inner wall of the mounting groove. The outer ring of the limit wheel is provided with an arc-shaped limit groove, and the inner wall of the limit groove is evenly provided with anti-slip parts. The outer surface of the machine body is equipped with balancing fans on both sides. Driven by the intelligent control system, the balancing fans generate downward airflow to balance the machine body.

[0006] Preferably, the information acquisition device includes an image sensor, a temperature and humidity sensor, and voltage and current sensors.

[0007] Preferably, the body is composed of symmetrical upper and lower mounting blocks, both of which have semi-circular cross-sections, and the robotic arm is set on the outer surface of the upper mounting block; Upper and lower connecting blocks are respectively provided on both sides of the upper and lower mounting blocks. The upper and lower connecting blocks are connected by a telescopic device. The bottom surface of the lower connecting block is provided with a balancing groove with the opening facing downward. The balancing fan is located inside the balancing groove. An air supply hole is provided on the inner wall of the balancing groove above the balancing fan. An air inlet hole is provided on the top surface of the upper connecting block. The air inlet hole is connected to the air supply hole.

[0008] Preferably, the inner wall of the traction channel corresponding to the upper mounting block is evenly provided with air outlets, and the air outlets and air inlets are connected by a connecting channel, and the inner wall of the connecting channel is evenly provided with heating wires. The mounting slot of the lower mounting block is provided with an outlet that communicates with the outside, and the inner wall of the outlet is provided with a recovery hole that communicates with the air supply hole. An interception net is provided near the opening of the recovery hole close to the outlet.

[0009] Preferably, the gap regions of the pairs of limiting wheels that are evenly distributed along the traction channel are staggered in height in the vertical direction.

[0010] Preferably, the anti-slip component is a tubular anti-slip rope, which is woven from elastic fibers. The limiting wheel has a hollow interior forming a heating chamber, which is connected to the corresponding air outlet and the interior of the anti-slip rope.

[0011] Preferably, the surface of the anti-slip rope is uniformly provided with annular friction rings, and the gap between the friction rings is smaller than the diameter of the anti-slip rope; and the sidewall of the anti-slip rope is uniformly provided with through holes, and the through holes are concentrated in the area corresponding to the friction rings.

[0012] Preferably, the anti-slip rope has an elastic ball at its end, the elastic ball is hollow inside, and the hollow part is filled with a metal ball.

[0013] Preferably, the openings on both sides of the traction channel are provided with closed sleeves, the closed sleeves have a conical cross-section, and the closed sleeves have a two-section structure, located on the upper and lower mounting blocks on the upper and lower sides respectively.

[0014] The beneficial effects of this invention are as follows: The intelligent power grid inspection robot of this invention uses remote control to start the drive device. The rotating limit wheels drive the robot body to move along the power lines. During this process, the robotic arm located on the upper side of the robot body drives the information collection device to move flexibly, collecting image data of the surface of connected and adjacent power lines, as well as data on possible leakage anomalies. The collected data is then fed back to the control center for analysis to determine whether there are any breaks or damages on the surface of the power lines, or whether there are any leakage issues. Abnormal areas are marked to facilitate targeted manual inspection and maintenance later. This saves manpower for inspection and improves the efficiency of power line inspection. Attached Figure Description

[0015] The invention will now be further described with reference to the accompanying drawings.

[0016] Figure 1 This is a perspective view of the present invention; Figure 2 This is a cross-sectional view of the present invention; Figure 3 This is a cross-sectional view of the present invention; Figure 4 yes Figure 3 A magnified view of a portion of point A in the middle.

[0017] In the diagram: Body 1, robotic arm 11, information acquisition device 12, traction channel 13, air outlet 131, connecting channel 132, sealing sleeve 133, mounting groove 14, discharge port 141, recovery hole 142, limit wheel 15, limit groove 151, heating chamber 152, anti-slip component 16, anti-slip rope 161, elastic ball 162, friction ring 163, balance fan 17, upper mounting block 18, upper connecting block 181, air inlet 182, lower mounting block 19, lower connecting block 191, balance groove 192, air supply hole 193. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1: As shown in the attached diagram of the instruction manual. Figures 1-4 As shown, during the normal operation of the smart grid system, a large number of pipelines are laid in uninhabited areas far from the city, and many areas have complex terrain and few people. In order to ensure the normal operation of the power grid, it is necessary to conduct a full-line inspection regularly. However, it is time-consuming and labor-intensive to manually inspect the high-altitude lines in these remote areas. Moreover, the risk factor of sending inspection personnel to climb the high-altitude lines for specific inspections is high. Therefore, this application proposes a smart grid inspection robot, including a body 1. A robotic arm 11 is provided on the outer surface of the body 1. The deformation of the robotic arm 11 is controlled by an intelligent control system. An information acquisition device 12 is provided at the end of the robotic arm 11. The robotic arm 11 is connected to the body 1 by a motor and can rotate in the horizontal direction. The deformation of the movable joint on the robotic arm 11 can drive the information acquisition device 12 to adjust its position in the vertical direction. The body 1 has a cylindrical structure, and a traction channel 13 is provided in the middle part of the body 1. The upper and lower sides of the inner wall of the traction channel 13 are symmetrically provided with mounting grooves 14. Pairs of limiting wheels 15 are symmetrically provided inside the mounting grooves 14, and the limiting wheels 15 are rotatably connected to the inner wall of the mounting grooves 14. The limiting wheels 15 are connected to the output end of the drive device provided on the inner wall of the mounting grooves 14. The drive device can be a motor device and is controlled by an intelligent control system. The outer ring of the limiting wheel 15 is provided with an arc-shaped limiting groove 151, and the inner wall of the limiting groove 151 is uniformly provided with anti-slip parts 16. The anti-slip parts 16 can be selected as needed, and can be anti-slip blocks or anti-slip strips made of elastic rubber material, which are uniformly adhered to the inner wall surface of the limiting groove 151 to increase the relative friction between the limiting groove 151 and the surface of the contacting power wire. Balance fans 17 are installed on both sides of the outer surface of the body 1. The balance fans 17 are driven by the intelligent control system to generate downward wind force to balance the body 1.

[0020] Specific workflow: During use, the robot body 1 is first manually connected to the power line at the connection point. The power line extends into the traction channel 13 in the middle of the robot body 1, placing it between the upper and lower limit wheels 15 and subjecting it to pressure. The anti-slip parts 16 evenly arranged on the inner wall of the upper limit groove 151 of the limit wheel 15 can increase the relative friction between the limit wheel 15 and the power line, so that the inspection robot remains stable when moving along the high-altitude power line and performing normal line inspections. When it is necessary to control the movement of the inspection robot, the drive equipment can be started remotely. The rotating limit wheel 15 drives the robot body 1 to move along the power line. During this process, the robotic arm 11 located on the upper side of the robot body 1 drives the information collection device to move flexibly, collecting image data of the surface of the connected power line and adjacent power lines, as well as data on possible leakage anomalies. The collected data is then fed back to the control center for analysis to determine whether there are any breaks or damages on the surface of the power line, or whether there are any leakage issues. Abnormal areas are marked to facilitate targeted manual inspection and maintenance later. This saves manpower for inspection and improves the efficiency of power line inspection. Furthermore, in order to ensure that the cylindrical body 1 remains balanced during movement and to reduce the load on the power lines that serve as the support for movement, balance fans 17 are installed on both sides of the body 1. When the balance fans 17 are activated, they release airflow downwards, and the reverse force of the airflow pushes the body 1 upwards, creating an upward lift. This can partially offset the pressure of the body 1's own weight on the power lines, thereby reducing their bending deformation and preventing damage to the power lines that serve as support and guide. Furthermore, a balance angle sensor can be installed inside the body 1 to detect any tilting angle that occurs during the movement of the body 1. When the body 1 tilts, the power of the balance fan 17 on the tilted side can be increased, while the power of the balance fan 17 on the other side can be decreased. This pushes the body 1 to rotate in the opposite direction to maintain balance, and then restores the original power, so that the body 1 tends to be balanced during movement. Only when there is a need for detection and the body 1 needs to rotate to detect the area of ​​the power wire near the lower side, the difference in power of the two balance fans 17 can be used to drive the body 1 to rotate in reverse, so that the robotic arm 11 can move the information collection device 12 to the lower side of the body 1. This enables sufficient information collection from different areas of the power wire and improves the coverage of the investigation. Furthermore, the information acquisition device 12 mounted on the end of the robotic arm 11 includes an image sensor, a temperature and humidity sensor, and voltage and current sensors. This enables the full acquisition of image information, temperature and humidity information, and power parameter information on the surface of the power conductor. It also provides alarms for possible local abnormal parameters, promptly detects the location of abnormalities in the power conductor, and conducts troubleshooting and repairs, thereby reducing the occurrence rate of power accidents and ensuring the normal operation of the smart grid as a whole.

[0021] Example 2: Based on Embodiment 1, the body 1 is composed of symmetrical upper mounting block 18 and lower mounting block 19. The cross-section of both upper mounting block 18 and lower mounting block 19 is semi-circular arc, and the robotic arm 11 is set on the outer surface of upper mounting block 18. The upper and lower limit wheels 15 that cooperate with the power wires are respectively connected to the mounting grooves 14 corresponding to upper mounting block 18 and lower mounting block 19. Upper connecting block 181 and lower connecting block 191 are respectively provided on both sides of upper mounting block 18 and lower mounting block 19. Upper connecting block 181 and lower connecting block 191 are connected by telescopic device. The telescopic device can be an electric telescopic rod device. The main body of the device is located inside the lower connecting block 191, and the telescopic end is fixed to the upper connecting block 181 through a detachable connector. The bottom surface of the lower connecting block 191 is provided with a balance groove 192. The balance groove 192 opens downward, and the balance fan 17 is located inside the balance groove 192. An air supply hole 193 is provided on the inner wall of the balance tank 192 above the balance fan 17. An air inlet hole 182 is provided on the top surface of the upper connecting block 181. A filter screen is provided at the opening of the air inlet hole 182 to intercept dust and impurities in the outside air. The air inlet hole 182 is connected to the air supply hole 193.

[0022] Specific workflow: Based on the specific workflow in Embodiment 1, in order to adapt to power wires of different diameters and facilitate the installation of the inspection robot on the power wires, the robot body 1 is assembled by combining an upper mounting block 18 and a lower mounting block 19 that are separated. Therefore, before installation, the upper mounting block 18 and the lower mounting block 19 are in a separate state. The power wire is placed between the upper mounting block 18 and the lower mounting block 19. Then, the upper connecting block 181 and the lower connecting block 191 are connected by a telescopic device to form a whole. At this time, the telescopic device can be activated to drive the telescopic end to move and control the distance between the upper connecting block 181 and the lower connecting block 191, so that the upper mounting block 18 and the lower mounting block 19 are brought closer to each other and drive the limit wheels 15 on the upper and lower sides to clamp the power wire in the middle gap. By flexibly adjusting the gap between the upper mounting block 18 and the lower mounting block 19, this application can adapt to power wires of different diameters. Furthermore, regarding the specific installation of the balancing fan 17, it is positioned in the balancing groove 192 on the bottom surface of the lower connecting block 191. The balancing fan 17 is activated to draw the airflow from the upper side into the air inlet 182, which then flows to the air supply hole 193 and is ejected vertically downward from the bottom opening of the balancing groove 192, forming an upward impact airflow. This causes the lower connecting block 191 to experience an upward recoil, balancing the gravity of the entire inspection robot body 1, enabling it to move smoothly and stably along the power lines.

[0023] Example 3: Based on Embodiment 2, the inner wall of the traction channel 13 corresponding to the upper mounting block 18 is uniformly provided with air outlets 131. The air outlets 131 and the air inlet 182 are connected by a connecting channel 132. The inner wall of the connecting channel 132 is uniformly provided with a heater composed of heating wires. Under the action of the controller, the air flowing in the connecting channel 132 is heated by the heating wires. The inner wall of the mounting groove 14 of the lower mounting block 19 is provided with an outlet 141 that communicates downward with the outside. The inner wall of the outlet 141 is provided with a recovery hole 142, which communicates with the air supply hole 193. An interception net is provided near the opening of the outlet 141 in the recovery hole 142.

[0024] Specific workflow: Based on the specific workflow in Example 2, considering the dust and impurities that may exist on the surface of the power line that serves as support, and the ice and snow layer that may adhere to the power line in rainy or snowy weather, which may affect the movement of the inspection robot along the power line; therefore, by setting the air outlet 131 to communicate with the air inlet 182, and setting the connecting channel 132 to install a heating wire inside, the air will heat up after being powered on and heat the incoming airflow to form a hot airflow; Thus, when the balancing fan 17 is started, the airflow drawn in flows into the connecting channel 132 through the air inlet 182 and is heated to form a hot airflow that enters the traction channel 13 through the air outlet 131 to flush the internal electrical wires. The flushing of the hot airflow accelerates the shedding of dust, impurities, rainwater, and even ice and snow that may adhere to the electrical conductors, and flows out to the outside through the outlet 141 of the bottom mounting block 19. During this process, the airflow is drawn into the balancing tank 192 through the recovery hole 142 to maintain the balance of the body 1. The above operation guides the path of the incoming impact airflow to partially overlap with the movement path of the power conductor in the traction channel 13, thereby achieving the flushing and cleaning of the surface of the power conductor and preventing debris adhering to the surface of the power conductor in the external environment from hindering the normal movement of the machine body 1. Moreover, the surface of the power conductor with debris removed is cleaner, which facilitates the normal operation of the information acquisition device 12 and fully collects relevant data from the surface of the power conductor, improves the accurate identification of possible defects on the power conductor, and further ensures the safe operation of each conductor in the power network.

[0025] Furthermore, the traction channel 13 has closed sleeves 133 on both sides of the opening. The closed sleeve 133 has a conical cross-section and is a conical tubular structure. The diameter of the small end is close to the diameter of the power wire. The closed sleeve 133 is a symmetrical double-segment structure. Normally, the two segments are semi-tubular structures that are separated from each other and are located on the upper mounting block 18 and lower mounting block 19 on the upper and lower sides, respectively. When the upper mounting block 18 and lower mounting block 19 are combined, the two closed sleeves 133 also merge to form a complete conical tubular structure. The two closed sleeves 133 can be combined and fixed together by connecting parts such as elastic connecting ropes, so that the power wire can penetrate the openings of the closed sleeves 133 on both sides and maintain a fit. This reduces the gap between the opening of the closed sleeve 133 and the power wire. When hot air is injected, it can reduce the loss of hot air seepage and ensure that the inside of the traction channel 13 is in a state of concentrated hot air flushing and cleaning.

[0026] Example 4: Based on Embodiment 3, the gap regions of the pairs of limiting wheels 15, which are evenly distributed along the traction channel 13, are staggered in height in the vertical direction.

[0027] Specific workflow: Based on the specific workflow in Example 3, the limit wheels 15 are distributed in pairs and are evenly distributed along the central axis of the traction channel 13. Some of the pairs of limit wheels 15 are tilted upwards and some are tilted downwards. The upwardly tilted limit wheels 15 and the downwardly tilted limit wheels 15 are interleaved. When the power wires extending into the traction channel 13 pass through each limit wheel 15 in sequence, the twisting effect of the tilted limit wheels 15 causes the power wires inside the traction channel 13 to present a continuous curved structure. The bending amplitude can be determined according to the characteristics of the power wires. For power wires with large diameters that are difficult to deform, the tilt amplitude can be set to be small, so that the bending deformation amplitude of the power wires entering the traction channel 13 is small, avoiding damage to the power wires due to excessive bending amplitude. The pair of limit wheels 15 make the power conductor continuously curved, which makes the connection between the limit wheels 15 and the power conductor tighter, thereby reducing the accidental slippage between the power conductor and the body 1 and ensuring the stable movement of the inspection robot along the power conductor. In addition, for the layered impurities such as dirt or ice and snow adhering to the surface of the power conductor, the deformation and bending of the power conductor causes the layered impurities to separate from the surface of the power conductor, accelerating the peeling off of the layered impurities from the surface of the power conductor and improving the cleaning efficiency of the surface of the power conductor. This allows any defects or damage to the surface of the power conductor to be detected in time, ensuring the normal operation of the power network.

[0028] Example 5: Based on Embodiment 4, any specific selection of the anti-slip component 16 that can meet the above requirements and increase the relative friction between the limit wheel 15 and the power wire to enable its smooth movement is applicable to this application. This embodiment provides a possible technical solution. Specifically, the anti-slip component 16 is a tubular anti-slip rope 161, which is woven from elastic fibers. The limiting wheel 15 has a hollow interior forming a heating chamber 152, which communicates with the corresponding air outlet 131 and the interior of the anti-slip rope 161. Considering that the upper and lower limiting wheels 15 are located in the upper mounting block 18 and the lower mounting block 19 respectively, therefore, according to the attached drawings... Figure 3 The content of the article states that a hollow area is set in the inner wall of the mounting groove 14 of the lower mounting block 19, which is connected to the connecting channel 132 of the upper mounting block 18 through a connecting pipe. In this way, the corresponding limiting wheel 15 of the lower mounting block 19 is connected to the hollow area, which facilitates the introduction of hot airflow. For the limiting wheels 15 on both the upper and lower sides, one side is connected to the connecting channel 132 through a tubular rotating shaft, and the other side is connected to the output end of the drive device. An elastic ball 162 is provided at the end of the anti-slip rope 161. The elastic ball 162 is hollow inside and the hollow part is filled with a metal ball. Specific workflow: Based on the specific workflow in Embodiment 4, one end of the limiting wheel 15 is connected to the output end of the drive device, and the other end is rotatably connected to the inner wall of the mounting groove 14 through a rotating shaft. The rotating shaft is a tubular structure and slides into the connecting channel 132, so that part of the heated airflow in the connecting channel 132 enters the heating chamber 152 inside the limiting wheel 15 along the rotating shaft, thereby increasing the air pressure inside the heating chamber 152. Subsequently, the airflow is dispersed and flows out from the evenly distributed tubular anti-slip rope 161. The anti-slip rope 161 is located in the contact gap area between the limiting wheel 15 and the power wire. After the anti-slip rope 161 is inflated, it expands and fills the contact gap area, increasing the relative friction between the limiting wheel 15 and the power wire. In addition, the hot airflow inside penetrates outward from the gap of the anti-slip rope 161, washing the surface of the power wire in the contact gap. Combined with the scraping action of the anti-slip rope 161 on the surface of the power wire, it accelerates the removal of debris adhering to the surface of the power wire. Meanwhile, the elastic ball 162 at the end of the anti-slip rope 161 swings as the limit wheel 15 rotates, and the elastic ball 162 bounces under external impact, causing the surface of the anti-slip rope 161 to deform elastically, accelerating the shedding of particulate impurities that may adhere to the surface of the anti-slip rope 161, thereby ensuring the cleanliness of the surface of the anti-slip rope 161, so that it can be used to clean the surface of the power conductor smoothly in the subsequent process.

[0029] Furthermore, the surface of the anti-slip rope 161 is uniformly provided with annular friction rings 163, and the gap between the friction rings 163 is smaller than the diameter of the anti-slip rope 161; and the sidewall of the anti-slip rope 161 is uniformly provided with through holes, and the through holes are concentrated in the area corresponding to the friction rings 163; the friction rings 163 can be made of high-temperature resistant and wear-resistant fabric fiber material or sponge material, which are highly breathable materials, and the gap area between adjacent friction rings 163 is smaller than the diameter of the friction rings 163, so that the part of the anti-slip rope 161 corresponding to the friction rings 163 can be made of elastic metal fiber; When the anti-slip rope 161 contacts and scrapes the surface of the power conductor, the anti-slip rope 161, made of metal fiber, has good strength and toughness, avoiding breakage and damage during the cleaning process. Furthermore, the metal material has good electrical and thermal conductivity, facilitating the flow of hot air through the through-holes to penetrate the friction ring 163 and scrape away any impurities or ice / snow that may adhere to the surface of the power conductor. The friction ring 163, on the one hand, increases the friction between the power conductor and the anti-slip rope 161, improving the cleaning effect; on the other hand, it prevents the metal parts of the anti-slip rope 161 from directly contacting the power conductor, maintaining a gap that effectively discharges static electricity from impurities on the surface of the power conductor, eliminating electrostatic adsorption and improving the cleaning effect.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A smart grid inspection robot, comprising a body (1), a robotic arm (11) disposed on the outer surface of the body (1), the deformation of the robotic arm (11) being controlled by an intelligent control system, and an information acquisition device (12) disposed at the end of the robotic arm (11), characterized in that: The body (1) is a cylindrical structure, and a traction channel (13) is provided in the middle part of the body (1); The traction channel (13) has symmetrically arranged mounting grooves (14) on the upper and lower sides of the inner wall. Pairs of limiting wheels (15) are symmetrically arranged inside the mounting grooves (14), and the limiting wheels (15) are rotatably connected to the inner wall of the mounting grooves (14). The limiting wheels (15) are connected to the output end of the driving device provided on the inner wall of the mounting grooves (14). The outer ring of the limiting wheel (15) is provided with an arc-shaped limiting groove (151), and the inner wall of the limiting groove (151) is uniformly provided with anti-slip parts (16). Balance fans (17) are installed on both sides of the outer surface of the body (1). The balance fans (17) are driven by the intelligent control system to generate downward wind force to balance the body (1).

2. The intelligent power grid inspection robot according to claim 1, characterized in that: The information acquisition device (12) includes an image sensor, a temperature and humidity sensor, and voltage and current sensors.

3. The intelligent power grid inspection robot according to claim 1, characterized in that: The body (1) is composed of a symmetrical upper mounting block (18) and a lower mounting block (19). The cross-sections of the upper mounting block (18) and the lower mounting block (19) are both semi-circular arcs, and the robotic arm (11) is set on the outer surface of the upper mounting block (18). Upper connecting block (181) and lower connecting block (191) are respectively provided on both sides of the upper mounting block (18) and the lower mounting block (191). The upper connecting block (181) and the lower connecting block (191) are connected by a telescopic device. The bottom surface of the lower connecting block (191) is provided with a balance groove (192). The balance groove (192) opens downward and the balance fan (17) is located inside the balance groove (192). The inner wall of the balance groove (192) is provided with an air supply hole (193) above the balance fan (17). The top surface of the upper connecting block (181) is provided with an air inlet hole (182). The air inlet hole (182) is connected to the air supply hole (193).

4. The intelligent power grid inspection robot according to claim 3, characterized in that: Air outlets (131) are evenly arranged on the inner wall of the traction channel (13) corresponding to the upper mounting block (18). The air outlets (131) and the air inlet (182) are connected by a connecting channel (132). Heating wires are evenly arranged on the inner wall of the connecting channel (132). The mounting groove (14) of the lower mounting block (19) is provided with an outlet (141) that communicates with the outside. The inner wall of the outlet (141) is provided with a recovery hole (142). The recovery hole (142) communicates with the air supply hole (193). An interception net is provided near the opening of the outlet (141) of the recovery hole (142).

5. The intelligent power grid inspection robot according to claim 4, characterized in that: The gap areas of the pairs of limiting wheels (15) evenly distributed along the traction channel (13) are staggered in height in the vertical direction.

6. The intelligent power grid inspection robot according to claim 5, characterized in that: The anti-slip component (16) is a tubular anti-slip rope (161), which is woven from elastic fibers. The limiting wheel (15) has a hollow interior forming a heating chamber (152). The heating chamber (152) is connected to the corresponding air outlet (131), and the heating chamber (152) is connected to the interior of the anti-slip rope (161).

7. The intelligent power grid inspection robot according to claim 6, characterized in that: The surface of the anti-slip rope (161) is uniformly provided with annular friction rings (163), and the gap between the friction rings (163) is smaller than the diameter of the anti-slip rope (161); and the sidewall of the anti-slip rope (161) is uniformly provided with through holes, and the through holes are concentrated in the area corresponding to the friction rings (163).

8. The intelligent power grid inspection robot according to claim 7, characterized in that: An elastic ball (162) is provided at the end of the anti-slip rope (161). The elastic ball (162) is hollow inside and the hollow part is filled with a metal ball.

9. The intelligent power grid inspection robot according to claim 4, characterized in that: The traction channel (13) has a closed sleeve (133) on both sides of the opening. The closed sleeve (133) has a tapered cross section and is a two-section structure, located on the upper mounting block (18) and lower mounting block (19) on the upper and lower sides respectively.

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