铁路牵引变电所智能巡检机器人的研制  

Development of Intelligent Inspection Robot for Railway Traction Substation

作　　者：谢佳奇 朱家诚[1] 魏俊杰[1] 杨徐 XIE Jiaqi;ZHU Jiacheng;WEI Junjie;YANG Xu(School of Mechanical Engineering, Hefei University of Technology,Hefei Anhui 230009,China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009

出　　处：《机床与液压》2020年第15期12-16,共5页Machine Tool & Hydraulics

摘　　要：为满足铁路变电所巡检无人化的发展要求,提高检验工作的质量和效率,设计了一种用于变电站室内巡检的机器人。其主要由移动小车、升降总成、操作总成、控制柜四大部分组成。介绍了各个部分的机械结构,对巡检机器人的工作流程进行了描述。该设计实现了机器人整体移动、平台升降、相机拍摄图像和机械手操作开关等功能。建立了坐标系,分析了各个坐标系之间的转换关系,进行了相机的参数标定和手眼标定,计算出机械手到目标点的位移值。测试结果表明:该机器人能够完成对电气控制柜的巡检工作,并能接收远程指令对电气开关进行开合操作。研制的巡检机器人可降低巡检人员的工作强度,提高巡检效率。In order to meet the development requirements of unmanned inspection of railway substation,improve the quality and efficiency of inspection work,a robot for indoor inspection of substation was designed.It was mainly composed of mobile car,lifting assembly,operating assembly,control cabinet.The mechanical structure of each part was introduced and the workflow of the inspection robot was described.The design realizes the functions of overall movement,platform lifting,camera shooting and manipulator operating switch.The coordinate system was established,the conversion relationship between each coordinate system was analyzed,the camera parameters calibration and hand-eye calibration were carried out,and the displacement value of the manipulator to the target point was calculated.The test results show that the robot could complete the inspection of the electrical control cabinet and receive the remote command to open and close the electrical switch.The developed inspection robot can reduce the work intensity of inspection personnel and improve the inspection efficiency.

关 键 词：巡检机器人 机械结构 相机标定 

分 类 号：TH16[机械工程—机械制造及自动化]