The Development Of Substation Electrical Insulators Dry Ice Cleaning Robot

At present, With the improvement of social productivity and progress of science andtechnology, Electric power demand increases and the expansion of the scale of thenetwork becomes more and more significantly, which puts forward stricter requirementabout equipment and connections between different units. The influence of environmentalfactors causing pollutants in the insulator surface accumulation, it makes an enormousthreat to the security of the safe operation of the power system. When the weather is notgood or the snow melted, which easily causes pollution flashover, big electricity cut, eventhe personnel casualty. In order to solve the problem of power cut of manual sweeping,pollution of the environment with deionized water rinsing,With electric blast cleaningand charged mechanical dry cleaning is easy to cause secondary pollution,Coatedantifouling paint difficult to remove. A new robot for hot-line dry ice blast cleaning ofpost insulators in substations is introduced.The research status principle of dry ice cleaning and high voltage insulator cleaningat home and abroad is this paper introduces in details. The thesis main content isascertained.According to the complex environment of high voltage insulators for substations,completed clear the post insulators uses it which is "vertical lifting; cleaning on bothsides of the turn". Combined with the robot in the design criteria and design method ofhigh voltage substation ice transporting pipeline, to determine the overall design schemeof robot, kinematic analysis of spatial3D prototype modeling, mass characteristic modelanalysis as well as the robot tools in Pro/e environment.Completion of the kinematics and dynamics analysis using the ADAMS software, tocheck the rationality and feasibility of the motion; at the same time, with the help ofANSYS on the robot arm body structural strength analysis and optimization, simpleimprovement to the original arm body, makes the overall institutional strength morereliable.The overall architecture of robot control system, development of the control systemof the4axis motion control card based on PMAC and the control box based on hand-heldwireless module, in the PEWIN32PRO software to achieve the remote control terminal cleaning tool of electrified cleaning robot using PID control algorithm, to avoid the highvoltage caused by damage to the operator.The insulator robot experiment platform of dry ice cleaning as the foundation, makethe cleaning test of wireless communication reliability, insulation performance of thewhole robot with the arm body materials, verified the stability and safety of the robotperformance, to provide the basis of equipment optimization and R&D subsequent.Through the research, verified the possibility of substation insulator dry ice cleaning,laid the theoretical and experimental basis for the full realization of on-line cleaninginsulators.