CN217345465U

CN217345465U - Chassis structure for automatic inspection robot of transformer substation

Info

Publication number: CN217345465U
Application number: CN202220651700.7U
Authority: CN
Inventors: 陈柔先; 尤作
Original assignee: Fuxian Intelligent Technology Wuhan Co ltd
Current assignee: Fuxian Intelligent Technology Wuhan Co ltd
Priority date: 2022-03-24
Filing date: 2022-03-24
Publication date: 2022-09-02
Anticipated expiration: 2032-03-24

Abstract

The application discloses a chassis structure for a substation automatic inspection robot, which comprises a bottom plate, wherein two groups of tires are arranged on the bottom plate along the length direction of the bottom plate, each group of tires comprises two coaxial moving wheels arranged along the width direction of the bottom plate, and a power mechanism for driving the moving wheels to move is also arranged on the bottom plate; the bottom plate goes up and down to be provided with the casing, the one side that ground was kept away from to the casing is provided with the installation rail, one side that the casing is close to ground is not higher than in the horizontal direction the axis of removal wheel, still be provided with on the bottom plate and be used for ordering about the elevating gear of casing automatic rising. This application has the effect that reduces the whole focus of robot and then reduces the vibrations that produce when patrolling and examining the robot and remove.

Description

Chassis structure for automatic inspection robot of transformer substation

Technical Field

The application relates to the field of intelligent robots, in particular to a chassis structure for an automatic inspection robot of a transformer substation.

Background

A substation is a place in an electric power system where voltage and current are converted, electric energy is received, and electric energy is distributed. The inspection of the substation is to periodically inspect the appearance, color, existence of impurities, pointer indication, sound, smell, equipment temperature and other conditions of the equipment manually so as to judge whether the running condition of the equipment is normal.

Chinese patent with application number cn202010788991.x in the related art proposes a substation inspection robot, including: the system comprises a chassis, a shell, a mobile device, a patrol inspection device, a power supply device, a main control device and a safe driving module; the moving device comprises a moving wheel device and steering devices which are in one-to-one correspondence with the moving wheel device; the movable wheel device is arranged on the bottom of the chassis; the shell is detachably covered on the top of the chassis, and an installation cavity is formed between the shell and the chassis; the steering device is arranged in the mounting cavity, is connected with the movable wheel device and is used for driving the movable wheel device to steer; the inspection device is arranged on the chassis at a position between the steering devices and extends out of the shell; the safe driving module is used for detecting and feeding back environment information required by safe driving; the power supply device is used for supplying power; the main control device is respectively and electrically connected with the movable wheel device, the steering device, the inspection device, the power supply device and the safe driving module. The problems that the workload is large, the weather requirement is high, the working efficiency is low and the like in the conventional manual detection are solved.

With respect to the related art among the above, the inventors consider that the following drawbacks exist: the transformer substation inspection robot can possibly encounter roadblocks during inspection, a chassis and a casing of the transformer substation inspection robot in the related technology are both located above a movable wheel device, the inspection robot can conveniently cross the roadblocks, meanwhile, the chassis and the casing which are arranged above the movable wheel device are high in overall gravity center, when the inspection robot moves and crosses the roadblocks, vibration of electrical elements on the chassis and the casing can be stronger, the electrical elements are easily damaged due to the vibration, and normal use of the transformer substation inspection robot is affected.

SUMMERY OF THE UTILITY MODEL

The utility model provides a chassis structure for automatic robot of patrolling and examining of transformer substation is provided in order to improve the higher whole focus that leads to the robot of patrolling and examining of casing position and then to lead to the problem of the great influence electrical components of vibrations when patrolling and examining the robot and remove.

The application provides a chassis structure for automatic robot that patrols and examines of transformer substation adopts following technical scheme:

a chassis structure for a substation automatic inspection robot comprises a bottom plate, wherein two groups of tires are arranged on the bottom plate along the length direction of the bottom plate, each group of tires comprises two coaxial moving wheels arranged along the width direction of the bottom plate, and a power mechanism for driving the moving wheels to move is further arranged on the bottom plate; the bottom plate goes up and down to be provided with the casing, the one side that ground was kept away from to the casing is provided with the installation rail, one side that the casing is close to ground is not higher than in the horizontal direction the axis of removal wheel, still be provided with on the bottom plate and be used for ordering about the elevating gear that the casing goes up and down.

By adopting the technical scheme, the inspection device of the inspection robot can be arranged on the upper end surface of the shell through the mounting rail, and one side, close to the ground, of the shell is not higher than the axial direction of the moving wheels in the horizontal direction, so that when the inspection robot moves normally, the height of the shell is lower, the height of the inspection device is also lower, the overall gravity center of the inspection robot is lower, the inspection robot can move more stably, and the influence of vibration generated when the inspection robot moves on electrical elements arranged on the bottom plate and the shell is avoided as much as possible; when crossing the barrier, rise the casing through elevating gear, can avoid being in the casing of lower position to cross the barrier and produce the interference to patrolling and examining the robot as far as possible.

Optionally, the lifting device comprises a plurality of threaded short rods arranged in the cavity formed by the base plate and the shell, one end of each threaded short rod far away from the base plate is fixedly connected to one side, close to the ground, of the shell, and a driving assembly used for driving the threaded short rods to move axially is further arranged on the base plate.

Through adopting above-mentioned technical scheme, the axial that makes the screw thread quarter butt is vertical direction, and drive assembly drive screw thread quarter butt can order about the screw thread quarter butt along its axial displacement and go up and down, and then drives the casing lift of rigid coupling on the screw thread quarter butt, avoids the casing to cross the barrier to produce the interference to patrolling and examining the robot as far as possible.

Optionally, the driving assembly includes a worm wheel, the threaded short rod is connected to the center of the worm wheel in a threaded manner and penetrates through the worm wheel, and a worm meshed with the worm wheels and a driving motor for driving the worm to rotate are arranged on the bottom plate; and the bottom plate is also provided with a guide structure for limiting the threaded short rod to rotate along with the worm wheel.

Through adopting above-mentioned technical scheme, driving motor drives the worm and rotates, and the worm can drive rather than a plurality of worm wheel of meshing with moving the rotation, and the screw thread quarter butt is difficult to rotate along with the worm wheel is moving under guide structure's restriction, and then makes screw thread quarter butt along its axial displacement, realizes the lift to the casing.

Optionally, the guide structure includes a non-circular block fixedly connected to the bottom plate and a guide groove formed in the end surface of the threaded short rod close to the bottom plate, the guide groove is formed along the axial direction of the threaded short rod, and the non-circular block is connected with the guide groove in a sliding manner.

Through adopting above-mentioned technical scheme, the axial that non-circle piece followed the guide way slides and connects in the guide way, because the restriction of non-circle piece, the screw thread quarter butt is difficult to rotate around its axial, and then under the drive of worm wheel, is elevating movement along the axial of screw thread quarter butt.

Optionally, the lifting devices are provided with multiple groups at intervals.

Through adopting above-mentioned technical scheme, multiunit elevating gear can realize the lift to the casing more stably, and then alleviates rocking when the casing goes up and down to a certain extent to the electrical components's that sets up on the casing influence.

Optionally, a plurality of groups of vertical shock absorption assemblies are further arranged on the bottom plate at intervals; vertical damper includes one end rigid coupling in bottom plate, the other end rigid coupling in shells inner wall's telescopic link, the cover is equipped with first elastic component on the telescopic link.

Through adopting above-mentioned technical scheme, the cooperation of telescopic link and first elastic component can carry out the shock attenuation vertically to the casing, and then reduces to patrol and examine the influence of the vibrations that the robot removed and produced when crossing the barrier to the electrical components who sets up on bottom plate and casing.

Optionally, a plurality of groups of transverse shock absorption assemblies are further arranged on the bottom plate at intervals; the transverse damping assembly comprises a cross rod arranged on the bottom plate, the cross rod is parallel to the surface of the bottom plate, a gap is reserved between the cross rod and the bottom plate, a damping spring is sleeved on the cross rod, the shell is further hinged with two connecting rods, one end of each connecting rod is hinged with the shell, and the other end of each connecting rod is hinged with the end of the corresponding damping spring.

Through adopting above-mentioned technical scheme, when the casing takes place the horizontal direction and rocks, the connecting rod can conduct vibrations to damping spring department, through the ascending vibrations of horizontal direction that damping spring digestion casing received, and then reduce and patrol and examine the influence of the vibrations that the robot removed, especially crossed the barrier casing and produce when rising to the electrical components who sets up on the casing.

Optionally, the bottom plate is further provided with a corrugated plate for sealing a gap between the bottom plate and the casing.

Through adopting above-mentioned technical scheme, because casing and bottom plate activity set up, therefore when the dolly removed or crossed the barrier, probably had debris to get into the cavity between casing and bottom plate from the space between casing and bottom plate in, consequently formed sealedly to casing and bottom plate through the buckled plate, reduced the possibility that debris got into the cavity between casing and bottom plate to a certain extent, the buckled plate that can take up and shut simultaneously can avoid its influence to the casing lift.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the inspection device of the inspection robot can be arranged on the upper end surface of the shell through the mounting rail, and one side, close to the ground, of the shell is not higher than the axial direction of the moving wheels in the horizontal direction, so that the height of the shell is lower when the inspection robot moves normally, the height of the inspection device is lower, the overall gravity center of the inspection robot is lower, the inspection robot can move more stably, and the influence of vibration generated when the inspection robot moves on electrical elements arranged on the bottom plate and the shell is avoided as much as possible; when the obstacle passes, the shell is lifted by the lifting device, so that the interference of the shell at a lower position on the obstacle passing of the inspection robot can be avoided as much as possible;

2. the telescopic rod and the first elastic piece are matched to vertically absorb shock of the shell, so that the influence of the shock generated when the inspection robot moves and passes through obstacles on electrical elements arranged on the bottom plate and the shell is reduced;

3. when the shell rocks in the horizontal direction, the connecting rod can conduct vibration to the damping spring, and the vibration in the horizontal direction received by the shell is digested through the damping spring, so that the influence of the vibration generated when the inspection robot moves, particularly when the obstacle crossing shell rises on an electrical component arranged on the shell is reduced.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present application.

Fig. 2 is a schematic structural diagram mainly used for showing a lifting device, a vertical shock absorption assembly and a transverse shock absorption assembly in the embodiment of the application.

Fig. 3 is a partial cross-sectional schematic view mainly showing a driving assembly according to an embodiment of the present application.

FIG. 4 is a schematic structural diagram for showing a vertical shock absorbing assembly according to an embodiment of the present application.

FIG. 5 is a schematic structural diagram illustrating a lateral shock absorbing assembly according to an embodiment of the present application.

Reference numerals: 1. a base plate; 21. a moving wheel; 22. a power mechanism; 31. a housing; 32. a semicircular groove; 4. a lifting device; 41. a threaded stub; 42. a drive assembly; 421. a worm gear; 422. a worm; 423. a drive motor; 424. a lower sleeve; 425. pressing the cylinder upwards; 426. an avoidance groove; 43. a guide structure; 431. a non-circular block; 432. a guide groove; 5. a vertical shock absorbing assembly; 51. a telescopic rod; 52. a first elastic member; 6. a lateral shock absorbing assembly; 61. a cross bar; 62. a damping spring; 63. a connecting rod; 7. a corrugated plate; 8. mounting a rail; 9. and a controller.

Detailed Description

The present application is described in further detail below with reference to figures 1-5.

The embodiment of the application discloses a chassis structure for automatic inspection robot of transformer substation. Referring to fig. 1 and 2, a chassis structure for automatic robot that patrols and examines of transformer substation includes that the cross section personally submits the bottom plate 1 of rectangle, is provided with two sets of tire groups along its length direction on the bottom plate 1, and every tire group includes two coaxial and along the removal wheel 21 that bottom plate 1 width direction set up, still is provided with the power unit 22 that is used for ordering about removal wheel 21 and removes in removal wheel 21 one side on the bottom plate 1.

Referring to fig. 1, the bottom plate 1 is provided with a housing 31 in a lifting manner, the housing 31 includes a flat plate portion and four side plate portions, the housing 31 and the bottom plate 1 together enclose a cavity, the power mechanism 22 is located in the cavity, and a semicircular groove 32 for accommodating the moving wheel 21 is formed in the side plate portion corresponding to the length direction of the bottom plate 1. The far upper wall of the shell 31 is fixedly connected with a mounting rail 8, and other devices used for inspection of the automatic inspection robot of the transformer substation are arranged on the upper end face of the shell 31 through the mounting rail 8 to form a complete automatic inspection robot of the transformer substation.

Referring to fig. 1 and 2, one side of the casing 31 in the embodiment of the present application, which is close to the ground, is lower than the height of the axis of the moving wheel 21 in the horizontal direction, and the height of the upper end surface of the casing 31 is slightly higher than the height of the top end of the tire, the height of the plate surface of the bottom plate 1 in the embodiment of the present application is the same as the height of the axis of the moving wheel 21, so that the obstacle crossing along with the moving wheel 21 is facilitated, and meanwhile, the height of the side wall of the casing 31 in the embodiment of the present application, which is close to the ground, in the horizontal direction is lower than the height of the plate surface of the bottom plate 1.

Because the main devices that the robot is used for patrolling and examining are all installed in casing 31 up end, when the length of casing 31 curb plate portion is fixed, casing 31 bottom surface position is lower, and casing 31 position is lower promptly, and the holistic focus of robot is patrolled and examined therefore lower, can remove when patrolling and examining more stably, and the vibrations that produce when removing to patrol and examine are less, and then vibrations are also less to the damage that sets up the electrical components on casing 31 and bottom plate 1 and cause.

However, when the inspection robot crosses over a road block such as a buffer zone, the lower end surface of the housing 31 is rubbed or impacted with the road block, and then strong vibration is generated to damage electrical components disposed on the housing 31, and therefore, referring to fig. 2, the base plate 1 is further provided with a lifting device 4 for automatically lifting the housing 31, so that the housing 31 can be lifted before the inspection robot crosses over the road block, and the housing 31 can be lowered after crossing over the road block.

Referring to fig. 2, the lifting device 4 includes two threaded short rods 41 disposed at intervals in a cavity formed by the bottom plate 1 and the housing 31 along the width direction of the bottom plate 1, the threaded short rods 41 are located on one side of the moving wheel 21, one end of the threaded short rod 41 away from the bottom plate 1 is fixedly connected to one side of the housing 31 close to the ground, and the axial direction of the threaded short rod 41 is a vertical direction, when the threaded short rod 41 moves along the axial direction thereof, the housing 31 further lifts along with the threaded short rod 41, and therefore, the bottom plate 1 is further provided with a driving assembly 42 for driving the threaded short rod 41 to move along the axial direction thereof.

Specifically, referring to fig. 3 in combination, the driving assembly 42 includes a worm wheel 421 rotatably connected to the bottom plate 1, the short screw rod 41 is connected to the center of the worm wheel 421 in a threaded manner and penetrates through the worm wheel 421, meanwhile, a lower sleeve 424 is fixedly connected to the bottom plate 1 below the worm wheel 421 and is used for supporting the worm wheel 421 to rotate, the lower sleeve 424 is hollow, and the short screw rod 41 extends into a cavity in the middle of the lower sleeve 424; an upper pressing cylinder 425 for limiting the vertical deviation of the worm wheel 421 when rotating is further fixedly connected to the bottom plate 1, the upper pressing cylinder 425 is hollow, the aperture of the hollow part of the upper pressing cylinder 425 close to the short threaded rod 41 is smaller than the aperture of the hollow part of the upper pressing cylinder close to the worm wheel 421, and the lower sleeve 424, the worm wheel 421 and the short threaded rod 41 are all located in the hollow cavity of the upper pressing cylinder 425.

Further, with reference to fig. 2 and fig. 3, the bottom plate 1 is further provided with a worm 422 engaged with the two worm wheels 421 and a driving motor 423 for driving the worm 422 to rotate, one side of the lower sleeve 424 close to the worm 422 is provided with an avoiding groove 426, which is convenient for the worm 422 to engage with the worm wheels 421, the axial direction of the worm 422 is the width direction of the bottom plate 1, the worm 422 is rotatably disposed on one side of the worm wheels 421 close to the center of the bottom plate 1, the worm 422 is driven to rotate so that the worm 422 drives the two worm wheels 421 to rotate synchronously, and meanwhile, the bottom plate 1 is further provided with a guiding structure 43 for limiting the threaded short rod 41 to rotate synchronously with the worm wheels 421.

Specifically, the guide structure 43 includes a non-circular block 431 fixedly connected to the bottom plate 1 and a guide groove 432 provided on the end surface of the threaded short rod 41 close to the bottom plate 1, the non-circular block 431 is disposed in the hollow cavity of the upper pressing cylinder 425, the non-circular block 431 in the embodiment of the present application is a rectangular block, the guide groove 432 is therefore a rectangular groove, the guide groove 432 is provided in the center of the lower end surface of the threaded short rod 41 in the axial direction of the threaded short rod 41, and the non-circular block 431 is connected with the guide groove 432 in a sliding manner.

The driving motor 423 drives the worm 422 to rotate, the worm 422 can drive the two worm wheels 421 engaged with the worm 422 to rotate synchronously, when the worm wheels 421 rotate, the threaded short rod 41 is difficult to rotate synchronously with the worm wheels 421 in the horizontal direction due to the limitation of the non-circular block 431 on the groove wall of the guide groove 432, and the threaded short rod 41 further moves axially under the driving of the worm wheels 421 connected with the threaded short rod through threads, so that the shell 31 is lifted and lowered finally. Meanwhile, under the cooperation of the worm wheel 421 and the worm 422, the two threaded short rods 41 are lifted synchronously, so that the lifting of the shell 31 is more stable.

Referring back to fig. 2, in the embodiment of the present application, two sets of lifting devices 4 are arranged at intervals along the length direction of the bottom plate 1, the two sets of lifting devices 4 can lift the housing 31 more stably, meanwhile, the controller 9 is fixedly connected to the bottom plate 1, a sensor (not shown in the figure) is fixedly connected to the outer wall of the housing 31, the sensor and the driving motors 423 in the two sets of lifting devices 4 are electrically connected to the controller 9, when the inspection robot encounters an obstacle, the sensor transmits a signal to the controller 9, the controller 9 further controls the two driving motors 423 to rotate synchronously, and further drives the four threaded short rods 41 to lift synchronously through the driving motors 423, so that the lifting of the housing 31 is more stable; after the inspection robot crosses the obstacle, the controller 9 controls the two driving motors 423 to synchronously and reversely rotate, so that the shell 31 can be driven to descend, and the shell 31 can be automatically lifted through the controller 9.

Further, as the housing 31 rises when the inspection robot gets over the obstacle, and the shock received by the electrical components arranged on the housing 31 is stronger when the inspection robot gets over the obstacle, a plurality of groups of vertical shock absorption assemblies 5 and horizontal shock absorption assemblies 6 for absorbing the shock of the housing 31 are further arranged in the cavities of the bottom plate 1 and the housing 31.

With reference to fig. 2 and fig. 4, the vertical shock absorbing assembly 5 includes an expansion rod 51 with one end fixedly connected to the bottom plate 1 and the other end fixedly connected to the inner wall of the housing 31, a first elastic member 52 is sleeved on the expansion rod 51, the spring is selected for use as the first elastic member 52, and the expansion rod 51 extends to the end of the expansion rod 51 close to the inner wall of the housing 31 at the end close to the bottom plate 1 of the first elastic member 52. Vertical damper 5 in this application embodiment is provided with four groups and vertical damper 5 is located and presses a section of thick bamboo 425 to keep away from one side of worm 422, through the vibrations that four first elastic component 52 can be better digestion casing 31 produced in vertical direction, the homoenergetic when patrolling and examining the dolly and remove and hinder more realizes better shock attenuation effect to casing 31.

Referring to fig. 2 and 5 in combination, the lateral shock absorbing assemblies 6 in the embodiment of the present application are provided in two sets, and the lateral shock absorbing assemblies 6 are located on the side of the vertical shock absorbing assembly 5 away from the worm 422.

Horizontal damper 6 includes horizontal pole 61 of interval rigid coupling on bottom plate 1, the axial of horizontal pole 61 is the width direction of bottom plate 1, the cover is equipped with damping spring 62 on the horizontal pole 61, it has two connecting rods 63 still to articulate on the casing 31 inner wall, connecting rod 63 one end is articulated with casing 31, the other end is articulated with damping spring 62's tip, damping spring 62's flexible horizontal vibrations that can clear up its receipt, it digests to patrol and examine the dolly and conduct the flexible of back by damping spring 62 via connecting rod 63 with the horizontal vibrations that receive when surmounting the obstacle.

Vertical vibrations and horizontal vibrations that the casing 31 received are digested respectively through vertical damper 5 and horizontal damper 6's cooperation, and then realize good shock attenuation effect to casing 31, alleviate the vibrations that the electrical components who sets up on casing 31 received, and then alleviate the damage of vibrations to electrical components production.

Further, look back at fig. 2, because casing 31 and bottom plate 1 are whole comparatively to press close to ground and casing 31 swing joint in bottom plate 1, consequently, still be provided with the buckled plate 7 that is used for clearance between sealing bottom plate 1 and casing 31 on the bottom plate 1, buckled plate 7 in this application embodiment is provided with two, is located the both ends of 1 length direction of bottom plate respectively. One end of the corrugated plate 7 in the telescopic direction is fixedly connected to the bottom plate 1, the other end of the corrugated plate 7 is fixedly connected to the inner wall of the shell 31, and the end face of the corrugated plate 7 perpendicular to the telescopic direction is attached to the inner wall of the side plate part of the shell 31. The corrugated plate 7 is sealed between the shell 31 and the bottom plate 1, so that the possibility that sundries enter a cavity between the shell 31 and the bottom plate 1 is reduced to a certain degree, and meanwhile, the corrugated plate 7 which can be folded and unfolded can avoid the influence of the lifting of the shell 31.

The implementation principle of the chassis structure for the automatic inspection robot of the transformer substation is as follows: the main device of the inspection robot is arranged on the upper end surface of the shell 31, and the shell 31 is arranged at a lower position so as to reduce the center of gravity of the whole inspection robot, so that the inspection robot with the chassis structure can have higher stability during moving, and the influence of vibration generated during moving of the inspection robot on electrical elements arranged on the bottom plate 1 and the shell 31 is avoided as much as possible; the controller 9 controls the driving motor 423 to synchronously drive the two worms 422 to rotate, so as to drive the four worm wheels 421 to synchronously rotate, further drive the four threaded short rods 41 to synchronously lift, and finally realize the lifting of the shell 31, so that the shell 31 at a lower position can be lifted when the inspection robot passes through the obstacle, and the shell 31 at the lower position is prevented from interfering the inspection robot; through the cooperation of telescopic link 51 in first elastic component 52, and the cooperation through horizontal pole 61, damping spring 62 and horizontal pole 61 realizes the shock attenuation to casing 31 level and vertical direction, further alleviates the vibrations that set up the electrical components on casing 31 and receive when patrolling and examining the robot and removing, and then alleviates the damage that vibrations produced electrical components.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a chassis structure for automatic robot of patrolling and examining of transformer substation which characterized in that: the tire cleaning device comprises a bottom plate (1), wherein two groups of tire groups are arranged on the bottom plate (1) along the length direction of the bottom plate, each group of tire groups comprises two coaxial moving wheels (21) arranged along the width direction of the bottom plate (1), and a power mechanism (22) for driving the moving wheels (21) to move is further arranged on the bottom plate (1); bottom plate (1) goes up and down to be provided with casing (31), one side that ground was kept away from in casing (31) is provided with installation rail (8), one side that casing (31) are close to ground is not higher than in the horizontal direction the axis of removal wheel (21), still be provided with on bottom plate (1) and be used for ordering about elevating gear (4) that casing (31) goes up and down.

2. The chassis structure for the automatic inspection robot of the transformer substation according to claim 1, wherein: elevating gear (4) include a plurality of set up in bottom plate (1) with screw thread quarter butt (41) in the cavity that casing (31) formed, screw thread quarter butt (41) are kept away from the one end rigid coupling of bottom plate (1) in casing (31) is close to one side on ground, still be provided with on bottom plate (1) and be used for ordering about screw thread quarter butt (41) are along its axial displacement's drive assembly (42).

3. The chassis structure for the automatic inspection robot of the transformer substation according to claim 2, wherein: the driving assembly (42) comprises a worm wheel (421), the threaded short rod (41) is in threaded connection with the center of the worm wheel (421) and penetrates through the worm wheel (421), and a worm (422) in meshed connection with the worm wheels (421) and a driving motor (423) for driving the worm (422) to rotate are arranged on the bottom plate (1); the bottom plate (1) is also provided with a guide structure (43) for limiting the threaded short rod (41) to rotate along with the worm wheel (421).

4. The chassis structure for the automatic inspection robot of the transformer substation according to claim 3, characterized in that: the guide structure (43) comprises a non-circular block (431) fixedly connected to the bottom plate (1) and a guide groove (432) formed in the end face of the bottom plate (1) close to the threaded short rod (41), the guide groove (432) is formed in the axial direction of the threaded short rod (41), and the non-circular block (431) is connected with the guide groove (432) in a sliding mode.

5. The chassis structure for the automatic inspection robot of the transformer substation according to claim 1, characterized in that: and a plurality of groups of lifting devices (4) are arranged at intervals.

6. The chassis structure for the automatic inspection robot of the transformer substation according to any one of claims 1 to 5, wherein: a plurality of groups of vertical shock absorption assemblies (5) are arranged on the bottom plate (1) at intervals; vertical damper (5) include one end rigid coupling in bottom plate (1), the other end rigid coupling in telescopic link (51) of casing (31) inner wall, the cover is equipped with first elastic component (52) on telescopic link (51).

7. The chassis structure for the automatic inspection robot of the transformer substation according to claim 6, characterized in that: a plurality of groups of transverse shock absorption components (6) are arranged on the bottom plate (1) at intervals; horizontal damper (6) including set up in horizontal pole (61) on bottom plate (1), horizontal pole (61) are on a parallel with the face of bottom plate (1) just horizontal pole (61) with leave the clearance between bottom plate (1), the cover is equipped with damping spring (62) on horizontal pole (61), it has two connecting rods (63) still to articulate on casing (31), connecting rod (63) one end with casing (31) are articulated, the other end with damping spring (62)'s tip is articulated.

8. The chassis structure for the automatic inspection robot of the transformer substation according to any one of claims 1 to 5, wherein: the bottom plate (1) is further provided with a corrugated plate (7) used for sealing a gap between the bottom plate (1) and the shell (31).