Optimization And Research On Cleaning Device For High-Voltage Hot-Line Cleaning Robot

It's poor in rain but rich in sand and wind in northwestern China. "Pollution Flashover" accident, which hugely handicaps the safe operation of the power system, easily occurs under this kind of circumstance. Sponsored by China National Hi-tech R&D Program (863 Program), the research institute of robotics from Shanghai Jiao Tong University, in alliance with Lanzhou Power company, developed the high-voltage hot-line cleaning robot(HVCRⅠ).The hot-line cleaning of the insulator could be realized after the HVCR was developed. But HVCRⅠstill left us many unsolved problems, such as: uneasy movement in the power station and inefficiency in cleaning of taper insulator. So we are developing the second generation of HVCR (HVCRⅡ).This thesis sets its eye on the cleaning device, the upper part of HVCRⅡ.From the angel of mechatronic product design, we divide the system into three parts: mechanical system, control system and hydraulic system, which are then elaborated separately in the following chapters.This thesis focuses on the mechanical and control sub-system. And the radius variable cleaning manipulator (RVCM) is introduced and analyzed as a very important part. The RVCM, using the finger-like 8-bar mechanism, consists of three serially connected cross four bars. The analysis and optimization are then done to ensure the precision of the manipulator. Using 3D-modeling software pro/e, I design the structure, do the simulation of motion inference and finally accomplish the design of 3D prototype. Another creative point of the mechanical system is the relay-style lift mechanism, which has the advantage of horizontal fixed scissor style and two hinged scissor style fork. It solves the insulating problem of the system.Then, the design principle and steps of PLC control system are introduced and analyzed. We use PLC as the main control unit and wireless controller to telecontrol the robot. I made the program of auto cleaning, which ensure the robot can rotate the brush while opening the manipulator, swaying the manipulator and declining of the fork. The auto cleaning of the insulator could be accomplished.Hydraulic system is a very important part of the robot. The hydraulic system provides comparably large power and ensures the insulating property. We use the inverter to control the speed of the robot, which is relatively a low-cost and effective way. In the end of the thesis, we conduct the experiment of high-voltage insulating property, which is a comprehensive test for the robot. After the test, we concluded that the robot met the design requirement.