Internet of Things AR inspection robot and substation inspection method

Abstract

The invention is suitable for the field of intelligent robots, and provides an Internet of Things AR inspection robot and a substation inspection method.The robot comprises a vehicle body, a detection device is installed on the vehicle body, the detection device inspects different positions of a power station, a round hole is formed in the vehicle body, and a round pipe is fixedly installed in the round hole. The movable pushing frame drives the opening and closing plate to be away from the rectangular penetrating opening through the connecting block fixed to one side, so that the rectangular penetrating opening is opened, and the warning box on one side can be moved out of the vehicle body. The warning box can give out flashes and alarm sounds, the flashes and the alarm sounds can be in various states, flashes of different colors and different alarm sounds can be given out according to the specific situation of the problem, and workers can judge the general situation according to the flashes of different colors and the alarm sounds.

Description

Technical Field

[0001] This invention relates to the field of power line inspection, specifically to an IoT AR inspection robot and a substation inspection method. Background Technology

[0002] Inspecting high-voltage transmission lines is an important task for the power sector. Due to the advantages of using robots to inspect lines, such as safety, reliability, high efficiency and relatively low cost, the demand for transmission line inspection robots has been increasing globally in recent years.

[0003] AR refers to projecting the inspection status of the inspection robot onto the table in a 3D image for workers to view;

[0004] When inspection robots patrol substations, if any devices or equipment in the substation malfunction, the inspection robot will mark the location of the problem on a map and continue the patrol. However, this marking method requires staff to conduct specific inspections by referring to the map, which consumes a lot of time. Furthermore, if a leakage occurs and staff are not warned, it can easily lead to electric shock to the operator. Summary of the Invention

[0005] The purpose of this invention is to provide an IoT AR inspection robot and a substation inspection method to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An IoT AR inspection robot and a substation inspection method include:

[0008] The vehicle body is equipped with a detection device that inspects different locations of the power station. The vehicle body has a circular hole with a circular tube fixedly installed inside. One end of the circular tube extends out of the vehicle body and is fitted with a threaded cap that is threadedly connected to it. The other end of the circular tube extends into the vehicle body. Multiple warning boxes arranged along its length are piled up inside the circular tube. A retrieval component is installed inside the vehicle body. The warning boxes are removed from the vehicle body and placed on the ground at the location of the problem using the retrieval component.

[0009] The bottom of the vehicle body is equipped with a drive unit that propels it to move.

[0010] As a further aspect of the present invention: the detection device includes an electric telescopic rod fixedly installed on the vehicle body, a rotating base fixedly installed at the movable end of the electric telescopic rod, a detection probe provided in the middle of the rotating base, a round shaft fixedly installed on the detection probe and rotatably connected to the side wall of the rotating base, a shield fixedly installed on the detection probe, a motor installed inside the detection probe, a wiper blade provided on one side of the detection probe, the rotating rod of the wiper blade extending into the detection probe and fixedly installed with the output shaft of the motor, and an antenna fixedly installed on the vehicle body.

[0011] As a further embodiment of the present invention: the object retrieval assembly includes a plurality of first support plates fixedly installed in the vehicle body, a slide rod fixedly installed between the two first support plates, a threaded rod provided on the side away from the slide rod, the two ends of the threaded rod being rotatably connected to the two first support plates, a circular hole opened on one side of the first support plate, a push rod slidably connected in the circular hole, a push block fixedly installed on one end of the push rod and sliding on the slide rod, and a threaded hole threadedly connected to the threaded rod on the side of the push block away from the slide rod.

[0012] As a further embodiment of the present invention: a pusher frame is fixedly installed at the end of the pusher rod away from the pusher block, and hydraulic rods are fixedly installed on the inner walls of both sides of the pusher frame. An arc-shaped push plate is fixedly installed at the movable end of the hydraulic rod. A warning box is placed between the two arc-shaped push plates. Multiple cylinders are fixedly installed on the pusher frame, and a material-blocking plate that abuts against the cylindrical tube is fixedly installed on the cylinder. A rectangular through-hole is opened on one side of the vehicle body, and an opening and closing plate is placed in the rectangular through-hole. A connecting block is fixedly installed between the opening and closing plate and the pusher frame.

[0013] As a further embodiment of the present invention: a servo motor is fixedly installed inside the vehicle body. One end of the threaded rod extends to the other side of the first support plate and is connected to a transmission belt between the threaded rod and the output shaft of the servo motor. A second support plate is fixedly installed on the vehicle body. A small gear is rotatably connected to one side of the second support plate. The shaft of the small gear away from the second support plate is fixedly installed to the output shaft of the servo motor. A large gear meshing with the small gear is rotatably connected to one side of the second support plate. The shaft of the large gear extends to the other side of the second support plate and is fixedly installed to a cam. A piston cylinder is fixedly installed inside the vehicle body. A piston block is slidably connected inside the piston cylinder. A piston rod is fixedly installed on one side of the piston block. The end of the piston rod away from the piston block extends to the outside of the piston cylinder and is fixedly installed to a circular plate. A roller that rolls with the cam is fixedly installed on the side of the circular plate away from the piston rod. A compression spring sleeved on the piston rod abuts between the circular plate and the side wall of the piston cylinder. A connecting pipe is fixedly installed on the side wall of the piston cylinder. The end of the connecting pipe away from the piston cylinder passes through the push rod and is fixedly installed to the hydraulic rods on both sides.

[0014] As a further embodiment of the present invention: the driving component includes a chassis fixedly installed at the bottom of the vehicle body, multiple wheels rotatably connected to the chassis, a drive motor fixedly installed in the chassis and connected to the wheel axle, and a battery pack fixedly installed in the chassis and connected to the drive motor.

[0015] As a further embodiment of the present invention: the warning box includes a base and a transparent plastic cover fixed thereon, an LED light column is installed inside the transparent plastic cover, a speaker is provided on one side of the base, a switch connected to the LED light column and the speaker is fixedly installed on the base, a battery is installed inside the base, and a charging port connected to the battery is provided on the base.

[0016] A method for inspecting a substation using the IoT AR inspection robot as described in the claims includes the following steps:

[0017] Step 1: Charge the inspection robot by opening the threaded cover and placing multiple fully charged warning boxes into the round tube.

[0018] Step 2: The wheels drive the inspection robot to patrol the substation, and the electric telescopic pole can be used to inspect equipment at different heights.

[0019] Step 3: When the inspection robot detects a problem with the substation equipment or that it needs maintenance, the inspection robot stops moving.

[0020] Step 4: Open the hinged panel at the rear of the inspection robot, push the warning box inside the vehicle body out using the pusher and place it on the ground at the location of the problem;

[0021] Step 5: When staff need to address the problem location, they can quickly reach the location based on the flashing lights and alarm sounds emitted by the warning box.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention has a novel design. The movable push rod pushes the fixed push frame to move out of the vehicle body. At the same time, the hydraulic rod installed on the push frame operates. The movable end of the operating hydraulic rod pushes the arc-shaped push plate to move and block the warning box in the middle. The push frame continues to move. The movable push frame drives the opening and closing plate away from the rectangular through-hole through the fixed connecting block on one side, so that the rectangular through-hole opens and the warning box on one side can be moved out of the vehicle body. At the same time, the material blocking plate on one side blocks the pipe so that the warning box inside the pipe cannot fall. After the warning box is moved out of the vehicle body, the movable end of the hydraulic rod drives the arc-shaped push plate to separate and release the warning box to both sides, so that the warning box falls to the ground.

[0023] When staff need to conduct specific inspections and repairs on the locations where the inspection robot has detected problems, the flashing lights and alarm sounds emitted by the warning box can quickly guide them to the location of the problem. Of course, the flashing lights and alarm sounds have multiple states, emitting different colors of flashing lights and different alarm sounds depending on the specific situation of the problem. Staff can judge the approximate situation based on the different colors of flashing lights and alarm sounds. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of one embodiment of an IoT AR inspection robot.

[0025] Figure 2 This is a schematic diagram of the side structure of the vehicle body in one embodiment of an IoT AR inspection robot.

[0026] Figure 3 This is a magnified schematic diagram of the detection probe in one embodiment of an IoT AR inspection robot.

[0027] Figure 4 This is a schematic diagram of the internal structure of the vehicle body in one embodiment of an IoT AR inspection robot.

[0028] Figure 5 This is an enlarged structural diagram of the warning box in one embodiment of an IoT AR inspection robot.

[0029] Figure 6 This is a schematic diagram of the threaded rod in one embodiment of an IoT AR inspection robot.

[0030] Figure 7 This is an enlarged structural diagram of the arc-shaped push plate in one embodiment of an IoT AR inspection robot.

[0031] In the diagram: 1. Vehicle body; 2. Wheel; 3. Antenna; 4. Threaded cap; 5. Round tube; 6. Electric telescopic rod; 7. Rotating base; 8. Detection probe; 9. Baffle plate; 10. Wiper blade; 11. Chassis; 12. Opening and closing plate; 13. Servo motor; 14. Connecting block; 15. Push frame; 16. Material blocking plate; 17. Threaded rod; 18. First support plate; 19. Piston cylinder; 20. Second support plate; 21. Cam; 22. Transmission belt; 23. Small gear; 24. Large gear; 25. Push rod; 26. Slide rod; 27. Push block; 28. Roller; 29. ​​Compression spring; 30. Connecting pipe; 31. Warning box; 32. Arc-shaped push plate; 33. Hydraulic rod; 34. Switch; 35. Charging port. Detailed Implementation

[0032] 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.

[0033] Furthermore, elements in this invention are referred to as being "fixed to" or "set on" another element, which may be directly on the other element or may also include an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may also include an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0034] Please see Figures 1-7 In this embodiment of the invention, an IoT AR inspection robot and a substation inspection method include:

[0035] Vehicle body 1, on which a detection device is installed.

[0036] Please see Figure 1 , Figure 2 , Figure 3 The detection device includes an electric telescopic rod 6 fixedly installed on the vehicle body 1. A rotating base 7 is fixedly installed at the movable end of the electric telescopic rod 6. A detection probe 8 is provided in the middle of the rotating base 7. A round shaft rotatably connected to the side wall of the rotating base 7 is fixedly installed on the detection probe 8. A shield 9 is fixedly installed on the detection probe 8. A motor is installed inside the detection probe 8. A wiper blade 10 is provided on one side of the detection probe 8. The rotating rod of the wiper blade 10 extends into the detection probe 8 and is fixedly installed with the output shaft of the motor. An antenna 3 is fixedly installed on the vehicle body 1.

[0037] The rotating base 7 and the detection probe 8 can be rotated 180° by the circular shaft connecting them, allowing the detection probe 8 to observe different positions. The detection probe 8 is equipped with various sensing devices such as an infrared sensor, rangefinder, high-definition camera, and infrared thermal imager. The shield 9 and the wiper 10 on one side allow the inspection robot to patrol in the rain. The shield 9 blocks rainwater, and the wiper 10 swings to clean rainwater splashed onto the glass window. The electric telescopic rod 6 operates, and its movable end pushes the rotating base 7 to rise or fall. The rise and fall of the rotating base 7 allows the detection probe 8 to detect equipment at different heights. The antenna 3 on one side can transmit the robot's real-time detection status to the main control room. At the same time, the antenna is connected to the AR device in the main control room to display the real-time status of the substation.

[0038] The detection device inspects different locations of the power station. A circular hole is provided on the vehicle body 1, and a circular tube 5 is fixedly installed in the circular hole. One end of the circular tube 5 extends outside the vehicle body 1 and is fitted with a threaded cap 4 that is threadedly connected to it. The other end of the circular tube 5 extends into the vehicle body 1. Multiple warning boxes 31 arranged along its length are piled up inside the circular tube 5. A retrieval component is installed inside the vehicle body 1. The warning box 31 is taken out from the vehicle body 1 and placed on the ground at the location of the problem using the retrieval component.

[0039] Of course, a filling device can be installed on the charging compartment of the inspection robot. When the robot is charging automatically, the filling device will automatically fill the warning box 31 into the round tube 5.

[0040] Please see Figure 4 , Figure 6 The object retrieval assembly includes multiple first support plates 18 fixedly installed inside the vehicle body 1. A slide rod 26 is fixedly installed between the two first support plates 18. A threaded rod 17 is provided on the side away from the slide rod 26. The two ends of the threaded rod 17 are rotatably connected to the two first support plates 18. A circular hole is opened on one side of the first support plate 18. A push rod 25 is slidably connected in the circular hole. A push block 27 that slides on the slide rod 26 is fixedly installed on one end of the push rod 25. A threaded hole that is threadedly connected to the threaded rod 17 is opened on the side of the push block 27 away from the slide rod 26.

[0041] When the warning box 31 needs to be removed from the vehicle body 1, the threaded rod 17 on one side rotates. The rotating threaded rod 17 drives the push block 27 threadedly connected to it to move to one side. The moving push block 27 moves to one side alone with the push rod 25 fixed thereto. Because the first support plate 18 has a round hole for the push rod 25 to slide, the push rod 25 can only move in a straight line when it moves. At the same time, the slide rod 26 fixed on one side makes the sliding of the push block 27 more stable.

[0042] Both sides of the first support plate 18 have round holes, and ball bearings are installed in the round holes to support the rotating shaft of the threaded rod 17. The ball bearings make the rotation of the threaded rod 17 smoother and faster.

[0043] Please see Figure 6 , Figure 7 The push rod 25 is fixedly mounted with a push frame 15 at one end away from the push block 27. Hydraulic rods 33 are fixedly mounted on the inner walls of both sides of the push frame 15. An arc-shaped push plate 32 is fixedly mounted on the movable end of the hydraulic rod 33. The warning box 31 is placed between the arc-shaped push plates 32 on both sides. Multiple cylinders are fixedly mounted on the push frame 15. A material blocking plate 16 that abuts against the round tube 5 is fixedly mounted on the cylinder. A rectangular through-hole is opened on one side of the vehicle body 1. An opening and closing plate 12 is placed in the rectangular through-hole. A connecting block 14 is fixedly mounted between the opening and closing plate 12 and the push frame 15.

[0044] The push rod 25 moves, pushing the push frame 15, which is fixed to it, to move out of the vehicle body 1. At the same time, the hydraulic rod 33 mounted on the push frame 15 rotates. The movable end of the rotating hydraulic rod 33 pushes the arc-shaped push plate 32 to move and abut against the warning box 31 in the middle. The push frame 15 continues to move. The moving push frame 15 drives the opening and closing plate 12 away from the rectangular through-hole through the connecting block 14 fixed on one side, so that the rectangular through-hole opens and the warning box 31 on one side can be moved out of the vehicle body 1. At the same time, the material blocking plate 16 on one side... The pipe 5 is blocked so that the warning box 31 inside the pipe cannot fall. After the warning box 31 is moved out of the vehicle body 1, the movable end of the hydraulic rod 33 drives the arc-shaped push plate 32 to separate and release the warning box 31 to both sides, so that the warning box 31 falls to the ground. The push frame 15 drives the opening and closing plate 12 back into the rectangular through hole through the connecting block 14, and closes the rectangular through hole. Because the push frame 15 returns to the vehicle body 1, the material blocking plate 16 fixed on it will leave the round pipe 5, so that the warning box 31 falls back into the middle of the arc-shaped push plates 32 on both sides.

[0045] Please see Figure 4 , Figure 6A servo motor 13 is fixedly installed inside the vehicle body 1. One end of the threaded rod 17 extends to the other side of the first support plate 18 and is connected to a transmission belt 22 between it and the output shaft of the servo motor 13. A second support plate 20 is fixedly installed on the vehicle body 1. A small gear 23 is rotatably connected to one side of the second support plate 20. The side of the small gear 23 away from the second support plate 20 is fixedly installed to the output shaft of the servo motor 13. A large gear 24 that meshes with the small gear 23 is rotatably connected to one side of the second support plate 20. The shaft of the large gear 24 extends to the other side of the second support plate 20 and is fixedly installed with a cam 21. A piston cylinder 19 is fixedly installed inside the vehicle body 1. A piston block is slidably connected inside the piston cylinder 19. A piston rod is fixedly installed on one side of the piston block. The end of the piston rod away from the piston block extends to the outside of the piston cylinder 19 and is fixedly installed with a circular plate. A roller 28 that is rolledly connected to the cam 21 is fixedly installed on the side of the circular plate away from the piston rod. A compression spring 29 sleeved on the piston rod abuts between the circular plate and the side wall of the piston cylinder 19. A connecting pipe 30 is fixedly installed on the side wall of the piston cylinder 19. The end of the connecting pipe 30 away from the piston cylinder 19 passes through the push rod 25 and is fixedly installed with the hydraulic rods 33 on both sides.

[0046] When the servo motor 13 operates, its output shaft drives the threaded rod 17 on one side to rotate via the transmission belt 22 mounted on it. Simultaneously, the output shaft of the servo motor 13 drives the small gear 23 rotating on the second support plate 20 to rotate. The rotating small gear 23 drives the meshing large gear 24 on one side to rotate. Because the small gear drives the large gear, the small gear rotates several times while the meshing large gear only rotates once. The rotating large gear 24 drives the cam 21, which is fixed to its shaft, to rotate. When the protrusion of the cam 21 rotates to abut against the roller 28... When the contact position is reached, the roller 28 is pushed to one side. The moving roller 28 drives the fixed circular plate to push the piston rod on one side to move. The moving piston rod drives the piston block in the piston cylinder 19 to move, and the liquid in the piston cylinder 19 is transported to the hydraulic rod 33 through the connecting pipe 30. At the same time, the circular plate moves and squeezes the compression spring 29. When the recess of the cam 21 rotates to the position of the roller 28, the compressed compression spring 29 pushes the circular plate back to its original position, and drives the piston block in the piston cylinder 19 to draw the liquid in the hydraulic rod 33 back into the piston cylinder 19.

[0047] Please see Figure 1 , Figure 2 The drive unit includes a chassis 11 fixedly installed at the bottom of the vehicle body 1, a plurality of wheels 2 rotatably connected to the chassis 11, a drive motor fixedly installed in the chassis 11 and connected to the axle of the wheels 2, and a battery pack fixedly installed in the chassis 11 and connected to the drive motor.

[0048] The drive motor drives the wheel 2 to rotate, and the rotating wheel 2 drives the entire vehicle body 1 to move forward. Of course, there are two drive motors installed in the chassis 11. The two drive motors are connected to the wheels on both sides respectively. When the two drive motors rotate in the same direction, the vehicle body 1 moves back and forth. When the two drive motors rotate in opposite directions, the vehicle body 1 can turn left and right.

[0049] Please see Figure 5 The warning box 31 includes a base and a transparent plastic cover fixed thereon. An LED light column is installed inside the transparent plastic cover. A speaker is provided on one side of the base. A switch 34 connected to the LED light column and the speaker is fixedly installed on the base. A battery is installed inside the base. A charging port 35 connected to the battery is provided on the base.

[0050] When staff need to conduct specific inspections and repairs on the locations where the inspection robot has detected problems, the flashing lights and alarm sounds emitted by the warning box 31 can quickly guide them to the location of the problem. Of course, the flashing lights and alarm sounds have multiple states, emitting different colors of flashing lights and different alarm sounds depending on the specific situation of the problem. Staff can judge the approximate situation based on the different colors of flashing lights and alarm sounds.

[0051] It should be noted that the warning box 31 is equipped with a remote control chip. The warning box 31 and the inspection robot are connected wirelessly. After the warning box 31 leaves the vehicle body 1, it will emit a flash and an alarm sound.

[0052] The method for inspecting a substation using the IoT AR inspection robot as described in claim 7 includes the following steps:

[0053] Step 1: Charge the inspection robot by opening the threaded cover 4 and placing multiple fully charged warning boxes 31 into the round tube 5.

[0054] Step 2: The wheels 2 rotate to drive the inspection robot to inspect the substation, and the electric telescopic pole 6 can inspect equipment at different heights.

[0055] Step 3: When the inspection robot detects a problem with the substation equipment or that it needs maintenance, the inspection robot stops moving.

[0056] Step 4: Open the opening and closing plate 12 at the rear of the inspection robot, push the warning box 31 inside the vehicle body 1 through the push frame 15 and place it on the ground at the location of the problem;

[0057] Step 5: When staff need to take specific action on the location where the problem has occurred, they can quickly reach the location based on the flashing lights and alarm sounds emitted by the warning box 31.

[0058] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0059] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An IoT AR inspection robot, characterized in that, include: The vehicle body (1) is equipped with a detection device that inspects different locations of the power station. The vehicle body (1) has a circular hole, and a circular tube (5) is fixedly installed inside the circular hole. One end of the circular tube (5) extends outside the vehicle body (1) and is fitted with a threaded cap (4) that is threadedly connected to it.

2. The IoT AR inspection robot according to claim 1, characterized in that, The other end of the round tube (5) extends into the vehicle body (1). Multiple warning boxes (31) are stacked inside the round tube (5) along its length. A retrieval assembly is installed inside the vehicle body (1). The warning box (31) is taken out from the vehicle body (1) and placed on the ground at the location of the problem using the retrieval assembly.

3. The IoT AR inspection robot according to claim 2, characterized in that, The bottom of the vehicle body (1) is equipped with a drive unit that drives it to move.

4. The IoT AR inspection robot according to claim 3, characterized in that, The detection device includes an electric telescopic rod (6) fixedly installed on the vehicle body (1), and a rotating base (7) is fixedly installed at the movable end of the electric telescopic rod (6), with a detection probe (8) provided in the middle of the rotating base (7).

5. The IoT AR inspection robot according to claim 3, characterized in that, A circular shaft is fixedly installed on the detection probe (8) and rotatably connected to the side wall of the rotating base (7). A shield (9) is fixedly installed on the detection probe (8). A motor is installed inside the detection probe (8). A wiper blade (10) is provided on one side of the detection probe (8). The rotating rod of the wiper blade (10) extends into the detection probe (8) and is fixedly installed with the output shaft of the motor. An antenna (3) is fixedly installed on the vehicle body (1). The object retrieval assembly includes multiple first support plates (18) fixedly installed inside the vehicle body (1). A slide rod (26) is fixedly installed between the two sides of the first support plates (18). A threaded rod (17) is provided on the side away from the slide rod (26). The two ends of the threaded rod (17) are rotatably connected to the two sides of the first support plates (18). A round hole is opened on one side of the first support plate (18). A push rod (25) is slidably connected in the round hole. A push block (27) that slides on the slide rod (26) is fixedly installed on one end of the push rod (25). A threaded hole that is threadedly connected to the threaded rod (17) is opened on the side of the push block (27) away from the slide rod (26). A pusher frame (15) is fixedly installed at the end of the pusher rod (25) away from the pusher block (27). Hydraulic rods (33) are fixedly installed on the inner walls of both sides of the pusher frame (15). An arc-shaped push plate (32) is fixedly installed at the movable end of the hydraulic rod (33). The warning box (31) is placed between the arc-shaped push plates (32) on both sides. Multiple cylinders are fixedly installed on the pusher frame (15). A material blocking plate (16) that abuts against the round tube (5) is fixedly installed on the cylinder. A rectangular through-hole is opened on one side of the vehicle body (1). An opening and closing plate (12) is placed in the rectangular through-hole. A connecting block (14) is fixedly installed between the opening and closing plate (12) and the pusher frame (15). A servo motor (13) is fixedly installed inside the vehicle body (1). One end of the threaded rod (17) extends to the other side of the first support plate (18) and is connected to a transmission belt (22) between it and the output shaft of the servo motor (13). A second support plate (20) is fixedly installed on the vehicle body (1). A small gear (23) is rotatably connected to one side of the second support plate (20). The side of the small gear (23) away from the second support plate (20) is fixedly installed to the output shaft of the servo motor (13). A large gear (24) meshing with the small gear (23) is rotatably connected to one side of the second support plate (20). The shaft of the large gear (24) extends to the other side of the second support plate (20) and is fixedly installed with a convex... The wheel (21) has a piston cylinder (19) fixedly installed inside the vehicle body (1). A piston block is slidably connected inside the piston cylinder (19). A piston rod is fixedly installed on one side of the piston block. The end of the piston rod away from the piston block extends to the outside of the piston cylinder (19) and is fixedly installed with a circular plate. A roller (28) that is slidably connected to the cam (21) is fixedly installed on the side of the circular plate away from the piston rod. A compression spring (29) sleeved on the piston rod is abutted between the circular plate and the side wall of the piston cylinder (19). A connecting pipe (30) is fixedly installed on the side wall of the piston cylinder (19). The end of the connecting pipe (30) away from the piston cylinder (19) passes through the push rod (25) and is fixedly installed with the hydraulic rods (33) on both sides.

6. The IoT AR inspection robot according to claim 5, characterized in that, The drive unit includes a chassis (11) fixedly installed at the bottom of the vehicle body (1), a plurality of wheels (2) are rotatably connected to the chassis (11), a drive motor fixedly installed in the chassis (11) and connected to the drive motor.

7. The IoT AR inspection robot according to claim 5, characterized in that, The warning box (31) includes a base and a transparent plastic cover fixed thereon. An LED light column is installed inside the transparent plastic cover. A speaker is provided on one side of the base. A switch (34) connected to the LED light column and the speaker is fixedly installed on the base. A battery is installed inside the base. A charging port (35) connected to the battery is provided on the base.

8. A method for inspecting a substation using the IoT AR inspection robot as described in claim 7, characterized in that, Includes the following steps: Step 1: Charge the inspection robot by opening the threaded cover (4) and placing multiple fully charged warning boxes (31) into the round tube (5); Step 2: The wheels (2) drive the inspection robot to inspect the substation, and the electric telescopic pole (6) can inspect equipment at different heights. Step 3: When the inspection robot detects a problem with the substation equipment or that it needs maintenance, the inspection robot stops moving. Step 4: Open the opening and closing plate (12) at the tail of the inspection robot, push the warning box (31) inside the vehicle body (1) out through the push frame (15) and place it on the ground at the location of the problem; Step 5: When staff need to take specific action on the location where the problem has occurred, they can quickly reach the location of the problem by using the flashing lights and alarm sounds emitted by the warning box (31).

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