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统。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IAbstract:Substationisanimportantpartofpowertransmission.Theoperationofeachequipmentinsubstationneedsregularsafetyinspection.Withthepromotionofintelligentrobotsandthecontinuousimprovementofelectronictechnology,theinspectionworkofsubstationhasbeentransferredfromartificialtoinspectionrobot.Atthesametime,robotinspectioncanimprovetheefficiencyofinspectionandreducethesafetyproblemsofmanualinspection.Thesubstationinspectionrobotdesignedinthispaperisanintelligentinspectionrobotsystemforindoorandoutdoorinspectionofsubstation.Intheaspectofmechanicalstructure,akindofwheeledmobilechassisisdesignedtorealizethewalkingandmovingoftherobot;inaddition,akindoftelescopicrodbasedonballscrewandapantiltwhichcanrotateandpitcharedesignedtorealizethelifting,rotatingandpitchingofthepantilttorealizetheinformationanddatacollectionofdifferentpartsoftheequipment;intheaspectofelectricalcontrol,asingle-chipmicrocomputerisusedtoadvancethemotor,sensorsandcamerasRowcontrol.Keywords：Substation;patrolinspection;robot;telescopicpole;wheeledmobilechassis;pantiltii目录摘要...................................................................I目录..................................................................III3.绪论...................................................................13.1选题背景.............................................................13.2国内外研究现状......................................................14.确定具体方案..........................................................44.1移动方式确定........................................................44.2导航方式选择........................................................44.3巡检云台方案...............