Design And Research Of Substation Inspection Robot

In order to realize the reform of the national power system and implement the smart grid strategy,it is necessary to use inspection robots to conduct automated and comprehensive inspections of the substation environment,thereby improving the efficiency,quality and safety of inspections.Therefore,this subject investigates and researches existing domestic and foreign inspection robot products and their key technologies,and proposes a substation inspection robot structure and control system that adapts to all-weather and multi-terrain,and has autonomous motion and information collection functions.Design.And carried out mechanical structure design,obstacle crossing stability analysis,hardware selection,control software design.And produced a prototype,completed the experimental debugging,and met the design requirements.First of all,for the realization of its obstacle crossing performance,technical indicators for the mechanical structure design of the substation inspection robot are proposed.In response to these requirements,the structural design of the chassis and pan/tilt components,including the design of the chassis and pan/tilt transmission system And the selection of the motor for each movement link,then,the stability analysis was carried out for its design model,and the stability calculation was carried out for the climbing model to ensure the reliability of its obstacle-climbing function.Secondly,according to the needs of intelligent inspection of the substation inspection robot,the overall design of its control system is proposed,and various types of hardware are selected,including the main control chip,various sensors and modules,and the selection hardware is given.Various parameters.Then connect the internal hardware of the system,and determine the communication method according to each interface type.Third,after transplanting the Linux system,software development is carried out under its system.The software system includes a basic motion control module,an autonomous motion control module,an environmental information acquisition module and a communication module.The implementation principles and technical characteristics of its sub-modules are carried out.A detailed description.Finally,the assembly and debugging of the prototype and the experimental results show that the substation inspection robot has a certain obstacle crossing ability,can realize autonomous inspection and remote wireless control,and meets the design requirements.The research on this subject can reduce the labor intensity of inspection personnel,improve inspection efficiency,ensure inspection quality,promote the transformation of substation operation and maintenance system,and effectively reduce the occurrence of safety accidents.