CN211993008U

CN211993008U - Transformer substation inspection robot based on Internet of things

Info

Publication number: CN211993008U
Application number: CN202020266455.9U
Authority: CN
Inventors: 江再玉; 金耀; 夏泽举; 臧志波; 许华一
Original assignee: Beijing China Power Information Technology Co Ltd; Marketing Service Center of State Grid Anhui Electric Power Co Ltd
Current assignee: Beijing China Power Information Technology Co Ltd; Marketing Service Center of State Grid Anhui Electric Power Co Ltd
Priority date: 2020-03-06
Filing date: 2020-03-06
Publication date: 2020-11-24
Anticipated expiration: 2030-03-06

Abstract

The utility model discloses a transformer substation patrols and examines robot based on thing networking, including robot main part, first motor, camera, second motor, electric telescopic handle and control module group, bilateral symmetry articulates around the robot main part has the drive wheel, and the positive intermediate position fixed welding of drive wheel has the connection inner tube, and the outside cover of connecting the inner tube is equipped with the connecting sleeve, the positive welded fastening of connecting sleeve has the supporting wheel, the outside cover of drive wheel and supporting wheel is equipped with rubber track, the collecting storage has been seted up to the top of robot main part. The utility model discloses a set up the top that the collecting storage was seted up in the robot main part, and set up and rotate between rotation seat and the collecting storage and be connected for inside can be favorable to reducing the occupation space when the device deposits with support column income collecting storage through rotating, protect the camera simultaneously, be favorable to preventing that the camera from receiving external collision damage.

Description

Transformer substation inspection robot based on Internet of things

Technical Field

The utility model relates to a transformer substation patrols and examines robotic device technical field, specifically is a transformer substation patrols and examines robot based on thing networking.

Background

The transformer substation inspection robot based on the Internet of things is an intelligent monitoring device which is driven by electric power and used for continuously moving and detecting in a transformer substation according to a preset route, a camera loaded by the intelligent monitoring device can clearly shoot the working condition of equipment in the transformer substation and transmits the working condition to a receiving device through a network, and the intelligent monitoring device can replace manual inspection and can perform full-day gapless circulating work, so that the intelligent monitoring device is widely applied to inspection work of the transformer substation.

In order to ensure that a camera carried by the existing transformer substation inspection robot can rotate in all directions, a plurality of motors are generally required to be mounted on a supporting seat of the camera for driving, so that the usage amount of the motors is too large, the manufacturing and maintenance cost is increased, and the inner space of the robot is easily crowded;

in addition, current robot of patrolling and examining, and the camera is mostly fixed mounting in the top outside of robot, because the protrusion of camera is external, and the space that occupies when leading to its not use is great, and the camera protrusion leads to receiving the collision damage easily when just depositing, consequently, for solving above-mentioned problem, provides a transformer substation patrols and examines robot based on thing networking.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a transformer substation patrols and examines robot based on thing networking to solve the current transformer substation based on thing networking that proposes in the above-mentioned background art and patrol and examine the robot because the more motor of supporting seat internally mounted at the camera leads to making and the maintenance cost increases, and because the camera protrusion is external, occupation space is big when leading to depositing, and leads to the camera to receive the problem of collision damage easily.

In order to achieve the above object, the utility model provides a following technical scheme: a transformer substation inspection robot based on the Internet of things comprises a robot main body, a first motor, a camera, a second motor, an electric telescopic rod and a control module, wherein driving wheels are symmetrically hinged to the front side and the rear side of the robot main body, a connecting inner cylinder is fixedly welded to the middle position of the front side of each driving wheel, a connecting sleeve is sleeved on the outer side of the connecting inner cylinder, a supporting wheel is fixedly welded to the front side of the connecting sleeve, a rubber crawler belt is sleeved on the outer sides of the driving wheels and the supporting wheel, a containing bin is arranged above the robot main body, a rotating seat is hinged to the left side of the containing bin, half teeth are fixedly arranged at the bottom of the rotating seat, a first gear is meshed below the half teeth, the first motor is fixedly arranged on the back of the middle position of the first gear, a supporting column is hinged to the upper portion of the rotating seat, and a first bevel gear, a rotating shaft is inserted into the bottom of the supporting column, a second bevel gear is fixedly mounted on the outer side of the rear part of the rotating shaft, a first worm gear is fixedly mounted on the outer side of the middle position of the rotating shaft, cameras are symmetrically hinged to the front side and the rear side of the upper part of the supporting column, a second worm gear is fixedly mounted between the two groups of cameras, a first transmission rod is inserted into the inner wall of the right side of the supporting column through a support, a second gear is fixedly welded at the lower end of the first transmission rod, a first worm is fixedly welded at the upper end of the first transmission rod, a second transmission shaft is mounted under the first transmission rod and is inserted into the inner wall of the supporting column through the support, a third gear is fixedly mounted at the upper end of the second transmission shaft, a second worm is fixedly welded at the lower end of the second transmission shaft, and a second motor is fixedly, and fixed mounting has the transmission loop bar on the rotation output shaft of second motor, the top of transmission loop bar is inserted and is equipped with the removal inserted bar, and removes the outside fixed mounting of inserted bar and have the driving gear, the upper end of removing the inserted bar articulates there is electric telescopic handle, the internally mounted of robot main part has the control module group.

Preferably, the outer wall of the connecting sleeve is uniformly provided with threads, the inner wall of the supporting wheel is uniformly provided with threads, the threads assembled on the outer wall of the connecting sleeve are matched with the threads assembled on the inner wall of the supporting wheel, the connecting sleeve is rotatably connected with the threads of the supporting wheel through the meshing of the threads, and the driving wheel and the supporting wheel are the same in size.

Preferably, the inside dimension of the storage bin is the same as the outside dimension of the support column, the right bottom of the storage bin is inclined, the sponge mat is mounted at the right bottom of the storage bin, the outer wall of the right bottom of the storage bin is provided with a drainage through groove, and the rotating seat is rotatably connected with the storage bin.

Preferably, the supporting column is rotatably connected with the rotating seat, teeth assembled on the outer side of the second bevel gear are matched with teeth assembled on the outer side of the first bevel gear, the second bevel gear is rotatably connected with the first bevel gear in a meshed manner through meshing of the teeth, teeth assembled on the outer side of the second worm are matched with teeth assembled on the outer side of the first worm gear, and the second worm is in meshed transmission connection with the first worm gear through meshing of the teeth.

Preferably, the teeth assembled on the outer side of the second worm wheel are matched with the teeth assembled on the outer side of the first worm, and the second worm wheel is in meshing transmission connection with the first worm through meshing of the teeth.

Preferably, the tooth that the driving gear outside was assembled and the tooth looks adaptation of second gear and third gear outside assembly, the driving gear passes through the meshing of tooth and rotates with second gear and third gear meshing respectively and is connected, the square groove has been seted up to the top of transmission loop bar, remove the inserted bar and insert and establish in the square groove of seting up on the transmission loop bar, the outside size of removing the inserted bar and the inside size looks adaptation of transmission loop bar square groove, remove the inserted bar through square groove and transmission loop bar sliding connection from top to bottom.

Compared with the prior art, the beneficial effects of the utility model are that:

1. set up between drive wheel and the supporting wheel and connect through the thread engagement who connects inner tube and connecting sleeve for can carry out the separation operation at will between drive wheel and the supporting wheel, be favorable to supporting the device installation rubber track through the installation of supporting wheel and dismantlement, be favorable to making the device adjust according to service environment, make the device travel under the different road surface circumstances of adaptation.

2. Set up in the top of robot main part through setting up the collecting storage, and set up and rotate between rotation seat and the collecting storage and be connected for inside can be through rotating with support column income collecting storage, occupation space when being favorable to reducing the device and depositing, install the foam-rubber cushion in the right side bottom of collecting storage simultaneously, make the camera when income collecting storage right side is inside, can be better protect, be favorable to preventing that the camera from receiving external collision and damaging.

3. The driving gear can slide upwards and downwards under the pushing of the electric telescopic rod, the driving gear can be meshed with the second gear or the third gear respectively according to the actual use condition, the driving gear is driven by only adopting a single motor, the all-dimensional rotation adjustment of the camera can be realized, the production and maintenance cost of the device can be reduced, meanwhile, the self-locking performance of the meshing transmission of the teeth and the worm gear is realized, the camera is fixed firmly after the angle adjustment, and the working stability of the device is greatly improved.

Drawings

FIG. 1 is a schematic sectional view of the front view of the structure of the present invention;

FIG. 2 is a schematic front view of the structure of the present invention;

FIG. 3 is a schematic front sectional view of the structure of the present invention;

FIG. 4 is a schematic sectional view of the support pillar according to the present invention;

FIG. 5 is a schematic view of the driving wheel, the connecting inner cylinder, the connecting sleeve and the supporting wheel of the present invention;

fig. 6 is a schematic side view of the connection structure of the first gear and the first motor according to the present invention;

fig. 7 is a schematic top sectional view of the structure of the driving rod and the movable rod of the present invention.

In the figure: 1. a robot main body; 2. a drive wheel; 3. connecting the inner cylinder; 4. a connecting sleeve; 5. a support wheel; 6. a rubber track; 7. a storage bin; 8. a rotating seat; 9. half tooth; 10. a first gear; 11. a first motor; 12. a support pillar; 13. a first bevel gear; 14. a rotating shaft; 15. a second bevel gear; 16. a first worm gear; 17. a camera; 18. a second worm gear; 19. a first drive lever; 20. a second gear; 21. a first worm; 22. a second drive shaft; 23. a third gear; 24. a second worm; 25. a second motor; 26. a drive loop bar; 27. moving the inserted rod; 28. a driving gear; 29. an electric telescopic rod; 30. a control module.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-7, the present invention provides an embodiment:

a transformer substation inspection robot based on the Internet of things comprises a robot main body 1, a first motor 11, a camera 17, a second motor 25, an electric telescopic rod 29 and a control module 30, wherein driving wheels 2 are symmetrically hinged to the front side and the rear side of the robot main body 1, a connecting inner cylinder 3 is fixedly welded in the middle of the front side of each driving wheel 2, a connecting sleeve 4 is sleeved on the outer side of each connecting inner cylinder 3, a supporting wheel 5 is fixedly welded on the front side of each connecting sleeve 4, rubber tracks 6 are sleeved on the outer sides of the driving wheels 2 and the supporting wheels 5, threads are uniformly assembled on the outer wall of each connecting sleeve 4, threads assembled on the outer wall of each connecting sleeve 4 are matched with threads assembled on the inner wall of each supporting wheel 5, the connecting sleeves 4 are rotatably connected with the threads of the supporting wheels 5 through meshing of the threads, and the driving wheels 2 and the supporting wheels 5 are the same in, through the threaded connection between the connecting inner cylinder 3 and the connecting sleeve 4, the supporting wheel 5 can be flexibly separated or installed from the driving wheel 2 through rotation, when the device meets rainy and snowy weather, the supporting wheel 5 is installed on the driving wheel 2, and the rubber crawler 6 is sleeved on the driving wheel 2 and the supporting wheel 5, so that the ground-grabbing area of the device is greatly enhanced, the ground-grabbing friction of the device is favorably improved, the device is not easy to slip, the driving stability of the device in rainy and snowy weather is favorably improved, meanwhile, when the ground with good weather is dry, a worker can separate the supporting wheel 5 from the driving wheel 2 through rotation and take down the rubber crawler 6, the hanging load burden of the driving wheel 2 is reduced, the driving wheel 2 is faster when rotating to move, and the moving efficiency of the device in good weather is favorably ensured through adjustment, the device can be adjusted according to actual use environment, is suitable for driving under different weather conditions, and greatly improves the flexibility of the device during use.

The robot comprises a robot main body 1, a containing bin 7 is arranged above the robot main body 1, a rotating seat 8 is hinged on the left side of the containing bin 7, a half-tooth 9 is fixedly arranged at the bottom of the rotating seat 8, a first gear 10 is meshed below the half-tooth 9, a first motor 11 is fixedly arranged on the back of the middle position of the first gear 10, a support column 12 is hinged above the rotating seat 8, the inner size of the containing bin 7 is the same as the outer size of the support column 12, the bottom of the right side of the containing bin 7 is inclined, a sponge pad is arranged at the bottom of the right side of the containing bin 7, a drainage through groove is formed in the outer wall of the bottom of the right side of the containing bin 7, the rotating seat 8 is rotatably connected with the containing bin 7, when the robot works, the first gear 10 is driven to rotate by the power-on start of the first motor 11, the half-tooth 9 drives the rotating seat 8 to rotate under the meshing action of, make the rotation through rotating seat 8 can be with support column 12 and camera 17 income containing storehouse 7 inside, be favorable to reducing the occupation space of the device when not using, and simultaneously, accomodate through rotating, make camera 17 income containing storehouse 7's right side, be favorable to preventing that camera 17 is prominent in the outside when depositing, receive external collision damage easily, install the foam-rubber cushion in containing storehouse 7's right side bottom, be favorable to guaranteeing containing storehouse 7 to camera 17's buffering protectiveness, and set up the right side bottom of containing storehouse 7 into the slope form, and set up the drainage through groove, be favorable to the ponding of containing storehouse 7 bottom to discharge smoothly, prevent that ponding from piling up inside containing storehouse 7.

A first bevel gear 13 is fixedly welded at the middle position of the top of the rotating seat 8, a rotating shaft 14 is inserted at the bottom of the supporting column 12, a second bevel gear 15 is fixedly installed at the outer side of the rear part of the rotating shaft 14, a first worm wheel 16 is fixedly installed at the outer side of the middle position of the rotating shaft 14, cameras 17 are symmetrically hinged at the front side and the rear side above the supporting column 12, a second worm wheel 18 is fixedly installed between the two groups of cameras 17, a first transmission rod 19 is inserted on the inner wall of the right side of the supporting column 12 through a support, a second gear 20 is fixedly welded at the lower end of the first transmission rod 19, a first worm 21 is fixedly welded at the upper end of the first transmission rod 19, teeth assembled at the outer side of the second worm wheel 18 are matched with teeth assembled at the outer side of the first worm 21, the second worm wheel 18 is in meshing transmission connection with the first worm 21 through teeth, and when the second gear 20 rotates, the, because the meshing of first worm 21 and second worm wheel 18 is rotated and is connected for first worm 21 drives second worm wheel 18 and rotates, thereby makes camera 17 can carry out the ascending rotation regulation in upper and lower direction, with the help of the auto-lock performance of first worm 21 with the meshing of second worm wheel 18, makes camera 17 can be fixed firm after the rotation is ended, is favorable to guaranteeing the device stability after adjusting the end.

A second transmission shaft 22 is arranged right below the first transmission rod 19, the second transmission shaft 22 is inserted on the inner wall of the supporting column 12 through a support, a third gear 23 is fixedly arranged at the upper end of the second transmission shaft 22, a second worm 24 is fixedly welded at the lower end of the second transmission shaft 22, the supporting column 12 is rotatably connected with the rotating base 8, teeth assembled on the outer side of the second bevel gear 15 are matched with teeth assembled on the outer side of the first bevel gear 13, the second bevel gear 15 is rotatably connected with the first bevel gear 13 in a meshing manner through the teeth, teeth assembled on the outer side of the second worm 24 are matched with teeth assembled on the outer side of the first worm wheel 16, the second worm 24 is rotatably connected with the first worm wheel 16 in a meshing manner through the teeth, during operation, the second worm 24 is driven to rotate through the second transmission shaft 22 after the third gear 23 rotates, and under the rotating meshing manner of the second worm 24 and the first worm wheel 16, make first worm wheel 16 rotate, through the rotation of pivot 14, the relative meshing rotation between cooperation second bevel gear 15 and the first bevel gear 13 for third gear 23 drives support column 12 when rotating and rotates, through the rotation of support column 12, make the camera 17 of installing at its upper end carry out the rotation regulation in the left and right sides direction, through the meshing transmission between second worm 24 and the first worm wheel 16, with the help of the auto-lock performance of meshing between second worm 24 and the first worm wheel 16, be favorable to guaranteeing that support column 12 is fixed firmly after rotating.

A second motor 25 is fixedly installed on the inner wall of the left side of the supporting column 12, a transmission sleeve rod 26 is fixedly installed on a rotating output shaft of the second motor 25, a movable insertion rod 27 is inserted above the transmission sleeve rod 26, a driving gear 28 is fixedly installed on the outer side of the movable insertion rod 27, an electric telescopic rod 29 is hinged to the upper end of the movable insertion rod 27, a control module 30 is installed inside the robot main body 1, teeth assembled on the outer side of the driving gear 28 are matched with teeth assembled on the outer sides of the second gear 20 and the third gear 23, the driving gear 28 is respectively meshed with the second gear 20 and the third gear 23 through meshing of the teeth and is in rotating connection, a square groove is formed above the transmission sleeve rod 26, the movable insertion rod 27 is inserted in the square groove formed in the transmission sleeve rod 26, the outer size of the movable insertion rod 27 is matched with the inner size of the square groove formed in the transmission sleeve rod 26, the movable insertion rod 27 is connected with the transmission sleeve rod 26 in a vertical sliding mode through, when the device works, the movable inserted bar 27 is connected with the transmission sleeve bar 26 through the square groove, so that the movable inserted bar 27 can only slide up and down relative to the transmission sleeve bar 26, the rotation between the transmission sleeve bar 26 and the movable inserted bar 27 is prevented, the transmission stability between the transmission sleeve bar 26 and the movable inserted bar 27 is favorably ensured, carry out the push-and-pull to removing inserted bar 27 through setting up electric telescopic handle 29, make the position of driving gear 28 adjust the change, be favorable to carrying out the meshing transmission with second gear 20 and third gear 23 respectively through the removal of driving gear 28, be convenient for reduce the use amount of second motor 25, be favorable to reducing the production and the maintenance cost of the device, be convenient for reduce the space of second motor 25 in the device and occupy the volume, the internally mounted of control module group 30 has battery and machine controller, thereby machine controller can change the direction of rotation of motor through the input direction who changes the electric current.

The working principle is as follows: when the device works, the device is started, when the device is in rainy and snowy weather, the ground is wet and slippery, a worker can connect the driving wheel 2 and the supporting wheel 5 through the rotation of the connecting inner cylinder 3 and the connecting sleeve 4, then the rubber crawler belt 6 is sleeved on the outer sides of the driving wheel 2 and the supporting wheel 5, so that the device is in contact with the ground through the rubber crawler belt 6, the contact friction force between the device and the ground is increased, the device can normally work and run in rainy and snowy weather, when the ground is dry, the worker can separate the supporting wheel 5 from the driving wheel 2 through rotation, and take down the rubber crawler belt 6, the load carried on the driving wheel 2 is reduced, and the device can rapidly move on a dry road surface;

when the device works, the device is started, the first motor 11 is electrified and started to drive the first gear 10 fixed on the rotating output shaft of the first motor to rotate, the first gear 10 drives the half-tooth 9 to rotate through the meshing of teeth, so that the rotating seat 8 rotates and erects to drive the supporting column 12 and the camera 17 to erect, and when the device is not used, the first motor 11 rotates reversely to drive the supporting column 12 and the camera 17 to be collected into the containing bin 7 for folding, containing and storing;

when the device works, if the rotation direction of the camera 17 needs to be adjusted up and down, the electric telescopic rod 29 contracts to drive the movable inserted rod 27 fixed on the power output shaft of the electric telescopic rod to move upwards, so that the driving gear 28 is meshed with the second gear 20, the second motor 25 is electrified and started to drive the movable inserted rod 27 to rotate, the second gear 20 rotates through the meshing of teeth, the second gear 20 drives the first worm 21 to rotate through the first transmission rod 19, and the camera 17 rotates up and down through the meshing rotation of the second worm 18 and the first worm 21;

during operation, if need adjust camera 17 left and right sides orientation, electric telescopic handle 29 circular telegram extends, drive and remove inserted bar 27 and move down, make driving gear 28 and third gear 23 mesh, second motor 25 drives after the circular telegram starts and removes inserted bar 27 and rotate, through the meshing of removing inserted bar 27 and third gear 23, make third gear 23 drive second worm 24 through second transmission shaft 22 and rotate, through the meshing of second worm 24 and first worm wheel 16, make first worm wheel 16 rotate, under the meshing transmission switching-over effect of second bevel gear 15 and first bevel gear 13, make support column 12 carry out left and right direction rotation, thereby drive camera 17 and carry out left and right direction rotation adjustment.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a transformer substation inspection robot based on thing networking, includes robot main part (1), first motor (11), camera (17), second motor (25), electric telescopic handle (29) and control module group (30), its characterized in that: the robot comprises a robot main body (1), wherein driving wheels (2) are symmetrically hinged to the front side and the rear side of the robot main body (1) in a symmetrical mode, a connecting inner barrel (3) is fixedly welded at the front middle position of each driving wheel (2), a connecting sleeve (4) is sleeved on the outer side of the connecting inner barrel (3), a supporting wheel (5) is fixedly welded on the front side of the connecting sleeve (4), a rubber track (6) is sleeved on the outer side of each driving wheel (2) and the supporting wheel (5), a containing bin (7) is arranged above the robot main body (1), a rotating seat (8) is hinged to the left side of the containing bin (7), a half tooth (9) is fixedly arranged at the bottom of the rotating seat (8), a first gear (10) is meshed below the half tooth (9), a first motor (11) is fixedly arranged at the back of the middle position of the first gear (10), and a supporting column (, the middle position of the top of the rotating seat (8) is fixedly welded with a first bevel gear (13), the bottom of the supporting column (12) is inserted with a rotating shaft (14), a second bevel gear (15) is fixedly installed on the outer side of the rear part of the rotating shaft (14), a first worm gear (16) is fixedly installed on the outer side of the middle position of the rotating shaft (14), cameras (17) are symmetrically hinged to the front side and the rear side of the upper part of the supporting column (12), a second worm gear (18) is fixedly installed between the two groups of cameras (17), a first transmission rod (19) is inserted on the inner wall of the right side of the supporting column (12) through a support, a second gear (20) is fixedly welded at the lower end of the first transmission rod (19), a first worm (21) is fixedly welded at the upper end of the first transmission rod (19), and a second transmission shaft (22) is installed under, and second transmission shaft (22) insert through the support and establish on the inner wall of support column (12), the upper end fixed mounting of second transmission shaft (22) has third gear (23), the lower extreme fixed welding of second transmission shaft (22) has second worm (24), fixed mounting has second motor (25) on the left side inner wall of support column (12), and fixed mounting has transmission loop bar (26) on the rotation output shaft of second motor (25), the top of transmission loop bar (26) is inserted and is equipped with removal inserted bar (27), and removes the outside fixed mounting of inserted bar (27) and have driving gear (28), the upper end of removing inserted bar (27) articulates there is electric telescopic handle (29), the internally mounted of robot main part (1) has control module (30).

2. The substation inspection robot based on the Internet of things according to claim 1, characterized in that: the outer wall of the connecting sleeve (4) is evenly provided with threads, the inner wall of the supporting wheel (5) is evenly provided with threads, the threads assembled on the outer wall of the connecting sleeve (4) are matched with the threads assembled on the inner wall of the supporting wheel (5), the connecting sleeve (4) is rotatably connected with the threads of the supporting wheel (5) through the meshing of the threads, and the driving wheel (2) and the supporting wheel (5) are the same in size.

3. The substation inspection robot based on the Internet of things according to claim 1, characterized in that: the inside dimension of collecting storage (7) is the same with the outside dimension of support column (12), the right side bottom of collecting storage (7) is the slope form, the foam-rubber cushion is installed to the right side bottom of collecting storage (7), the logical groove of drainage has been seted up on the right side bottom outer wall of collecting storage (7), it is connected with collecting storage (7) rotation to rotate seat (8).

4. The substation inspection robot based on the Internet of things according to claim 1, characterized in that: the supporting column (12) is rotatably connected with the rotating seat (8), teeth assembled on the outer side of the second bevel gear (15) are matched with teeth assembled on the outer side of the first bevel gear (13), the second bevel gear (15) is rotatably connected with the first bevel gear (13) in a meshed mode through meshing of the teeth, teeth assembled on the outer side of the second worm (24) are matched with teeth assembled on the outer side of the first worm wheel (16), and the second worm (24) is in meshed transmission connection with the first worm wheel (16) through meshing of the teeth.

5. The substation inspection robot based on the Internet of things according to claim 1, characterized in that: the teeth assembled on the outer side of the second worm wheel (18) are matched with the teeth assembled on the outer side of the first worm (21), and the second worm wheel (18) is in meshing transmission connection with the first worm (21) through meshing of the teeth.

6. The substation inspection robot based on the Internet of things according to claim 1, characterized in that: the tooth of driving gear (28) outside assembly and the tooth looks adaptation of second gear (20) and third gear (23) outside assembly, the meshing of driving gear (28) through the tooth is rotated with second gear (20) and third gear (23) meshing respectively and is connected, the square groove has been seted up to the top of transmission loop bar (26), remove in inserted bar (27) insert the square groove of seting up on transmission loop bar (26), the outside size of removing inserted bar (27) and the inside size looks adaptation of transmission loop bar (26) upper square groove, remove inserted bar (27) through square groove and transmission loop bar (26) sliding connection from top to bottom.