| According to the insulation characteristic of the detecting robot, the research on ultrasonic inspection technics for insulators, the design of the robot, the insulating safety analysis of the robot and the insulating control of the robot are introduced.Insulation is one of the key issues when the detecting robot is working under circumstance of 220kV high voltage. The telescopic insulating mechanism was adopted as one of the elevating parts. A light mobile vehicle with scissors elevating booms was used as the moving carrier. According to the characteristic of post porcelain insulators, a new ultrasonic detecting mechanism was designed to work on 220kV high voltage. The robot solved insulating problems on the mechanical system, control system and communication system.When conductors existed in dielectric insulating gap should be conformed to national standards of China. According to streamer discharge theory, the design of the robot by calculating the complex insulating gap was analyzed. Test results had shown that the design of the robot could satisfy the insulation requirements for insulating devices at high-voltage.The control system was composed of insulating platform control subsystem and remote-operating control subsystem. To be insulating, the remote-operating control subsystem instructed the insulating platform control subsystem by wireless communication system to control the robot work. The detecting data which was got by Ultrasonic Inspection Instrument was wireless uploaded to main computer. Special software was programmed to calculate flaw depth and length using these data. |
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