Development Of Intelligent Patrol Robot For Equipment Of Railway Transformer Substation

The number of railway substations has been increasing,and the safety hazards of power accidents are on the rise.The most common inspection method in the current power distribution station is manual inspection,that is,the manual periodic observation and recording of the operation information of the power distribution equipment is used.However,there are various defects in the manual inspection.To ensure the safe operation of the electrical equipment,it is necessary to update the current Inspection method.In order to develop an intelligent automatic,safe and reliable intelligent equipment that adapts to the scene,in order to complete the research and development of the intelligent inspection robot for the power distribution equipment,the following work is mainly carried out:Review the relevant materials,and at the same time combine the requirements of the enterprise and the actual situation on the site,put forward the appropriate technical requirements and functional requirements,decompose the structural design of the inspection robot into the design of the motion structure and the design of the inspection structure,and clarify the specific work requirements of each assembly,and The inspection path and workflow are determined.The design,introduction and composition of the body,differential wheel,driven wheel and guard of the moving mechanism AGV are presented.A more general differential wheel PID control model is proposed and the trajectory simulation is carried out.The detailed structure design of the assembly of the lifting mechanism assembly,the small swing arm assembly,the large swing arm assembly and the dust cover of the detecting mechanism is carried out.The model of the inspection robot was established by using 3D software,and the virtual assembly was analyzed.The mechanical structure of mutual interference was analyzed and modified.The strength and stiffness of some parts were verified by static analysis and modal analysis of some parts.Some parts have been improved.The structure of the inspection robot control system is introduced,and some functional structures of the robot are tested.