Research And Design On The Polling Robot With The Function Of Climbing A Pole In The Transformer Substation

Nowadays,there is nobody on duty in most transformer substation of power system.Equipment of power transformation is facing with more challenges.It is vital for power department to run the transformer substation security and stability,thus,there is necessary to find a way that can discover the potential dangerous and abnormal about the equipment in time.In domestic,we always use the ground robot to polling.Though they can solve the problems about the self-check in a certain degree,there is still lots of places that they unable to monitor,where the transformer equipment in a higher position,such as,top accessory of transformer,line insulator,lightning rod and so on.Those part of transformer or equipment are under the complex situation on the distance,angle and dark night,which makes the ground robot cannot found the dangers and bug directly and precisely.In this paper,a robot is presented that can climb the pole in the transformer situation to solve the above problem.Here,a polling robot in the transformer substation whose structure like Mother-and-Son is been proposed.The part of the robot which is on the ground is called Mother-part,and the climbing unit is called Son-part.The Mother-part is designed from different aspects,such as the way of walking and testing,the test way and how to avoiding the obstacle through navigation.The navigation way of the Mother-part transformer substation robot is improved based on the basic GPS mode.According to the disadvantages on the traditional robot,the navigational way which rely on magnet and laser is placed by the visual way which is refer to the navigation wire.As the climbing robot is designed to wiggly,and the idea is based on the climbing mechanism of human beings The operating principle and the design of the climbing robot is clarified in this paper.To be specific,through building the model considering the theory of kinematics on the key part,like the connecting rod part,a good performance is showed in simulation.So far,the control system including the software,the hardware and the PC remote monitoring software has been designed already.Through the sample testing,a specific program for the robot is confirmed.The robot proposed shown a high efficiency and integrity when it has the experiment practical.