| As the scale of the power grid keeps increasing,the traditional way of power line patrol has been difficult to meet the requirements of future power system,research and application of inspection robot have been become necessary.Instead of manual patrol line,the inspection robot not only can complete insulation repair work of high efficiency,and can avoid the unnecessary risk.In this paper,we focus on the study of 10 KV overhead line insulation repair robot.According to the actual situation of construction site,a insulation repair robot is developed and applied in 10 KV overhead lines.The ground staff control robot by tablet,control the insulation repair robot and move to the location of repair,then wrap patches on the wire.The whole operation process can be in live line,it realizes completing insulation repair work by robot instead of artificial.Firstly,based on maintenance work situation of overhead line,preliminary design is made on the mechanical structure of insulation repair robot,including lifting-walking device and winding device.According to the size and other basic parameters,the torque of robot lifting motor and drive motor were calculated in theory,the rationality of the motor selection is verified.Secondly,we design the circuit hardware system of robot,select the communication interface between the modules,the circuit modules are designed respectively,such as master control module,Wi-Fi module,motor drive module and so on.All of this ensure the reliability of robot's control system.At last,the software design of insulation repair robot is completed,APP is written by Java language,the remote control allows insulation repair bobot working on the live line.Results of an experimental applications of this robot is given to illustrate the feasibility.The experimental results show that performance of insulation repair robot is stable,using Wi-Fi to connect and control robot by tablet run well.Robot can finish each action smoothly,such as walk,lift,open and close of manipulator. |
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