毕业设计（论文）-变电站巡检机器人设计.pdf

变电站巡检机器人设计 要：变电站是电力输送中的重要一环，变电站内每个设备的运行状况需要定期的 进行安全检查。随着智能化机器人的推广，电子技术的不断提高，变电站的巡检工作 由人工转移到了巡检机器人的身上。同时应用机器人进行巡检，在大大提高了巡检效 率的同时，减少了人工巡检的安全问题。本设计的变电站巡检机器人，是针对变电站 室内外的巡检设计的一个变电站智能巡检机器人系 。机械结构方面设计了一种轮式 移动底盘，用以实现机器人的行走移动；以及一种基于滚珠丝杠的伸缩杆与可进行旋 转及俯仰功能的云台，用以实现云台的升降旋转与俯仰来实现对设备的不同部位的信 息数据采集；电气控制方面采用单片机进行控制，对电机与各传感器、相机进行控。 关键词：变电站；巡检；机器人；伸缩杆；轮式移动底盘；云台 I Abstract: Substation is an important part of power transmission. The operation of each equipment in substation needs regular safety inspection. With the promotion of intelligent robots and the continuous improvement of electronic technology, the inspection work of substation has been transferred from artificial to inspection robot. At the same time, robot inspection can improve the efficiency of inspection and reduce the safety problems of manual inspection. The substation inspection robot designed in this paper is an intelligent inspection robot system for indoor and outdoor inspection of substation. In the aspect of mechanical structure, a kind of wheeled mobile chassis is designed to realize the walking and moving of the robot in addition, a kind of telescopic rod based on ball screw and a pan tilt which can rotate and pitch are designed to realize the lifting, rotating and pitching of the pan tilt to realize the information and data collection of different parts of the equipment in the aspect of electrical control, a single- chip microcomputer is used to advance the motor, sensors and cameras Row control. Keywords： Substation patrol inspection robot telescopic pole wheeled mobile chassis pan tilt ii 目录 摘要 I 目录III 3 .绪论 1 3.1选题背景 1 3.2国内外研究现状 1 4 .确定具体方案 4 4.1移动方式确定 4 4.2导航方式选择 4 4.3巡检云台方案 5 4.4控制部分方案 6 5 .机械结构设计 7 5.1云台部分7 5.2伸缩杆部分 25 5.3轮式底盘部分 31 6.电气控制部分 37 6.1导航设备选型 38 6.2主控单元40 6.3机器人动作部分控制电路 41 6.4信息采集控制电路47 6.