Design And Research Of Live-line Detecting Manipulator For Coating Quality Of Insulator

The insulator is an insulator hung at one end of a high-voltage wire-connection tower for the purpose of increasing the creepage distance and acting as a fixation to the connecting part.However,due to the insulators exposed and polluted to the natural environment for a long time and caused quality problems of the insulator coating surface.Then it would occur flashover discharge and cause great hidden dangers to the power supply safety.So it is essential to carry out the quality of the insulator coating quality testing.In this context,designing and researching the live-live detecting manipulator for coating quality of insulator.The live-live detecting manipulator for coating quality of insulator can replace the artificial insulator coating quality testing and avoid accidents such as falling or electric shock caused by staff in high altitude,high voltage and high radiation environment.At the same time,the manipulator can greatly improve the coating quality of the sampling efficiency and accuracy.The main research results are as follows:(1)The degree of freedom and the overall design of the live-live detecting manipulator for coating quality of insulator are analyzed and determined and completed the overall structural design on the basis of the selection of joint motor,screw and other related electrical components.Then the D-H parameter method was used to analyze the forward motion and reverse motion of the detecting manipulator and used MATLAB software to work out the working space of the detecting manipulator for coating quality of insulator,and veri fied the rationality of structure design.(2)SolidWorks Simulation was used to analyze the stress of the main force components of the detecting manipulator for coating quality of insulator,and the strength and rigidity of the main force components were analyzed and verified.The fatigue analysis and frequency analysis were carried out on the lead screw and lead screw base of the X linear joint to avoid the frequent failure of the load.(3)The foundation and modeling method of ADAMS simulation analysis are introduced and the results that the displacement,velocity and acceleration curves of the end effector and the moment of each joint was showed by the point-driven method.The accuracy of the kinematics analysis was verified and the selection of the joint motor was assisted.(4)The electrical schematic drawing and PLC control program design of the detecting manipulator for coating quality of insulator were finished.The design and installation of the control cabinet were completed on the basis of the selection of the relevant electrical components.(5)The national standards related to the safe operating distance of the detecting manipulator for coating quality of insulator were introduced and a series of measures were taken to insulate the detecting manipulator for coating quality of insulator to ensure the safety of live working personnel and live working equipment.The research results of this project have been applied to State Grid Tianjin electric power company Dongli power supply branch,which has effectively improved the efficiency and accuracy of coating quality inspection and avoided the economic losses caused by the equipment failure and the repeated power failure because of the quality of the insulator coating.It had a good application prospect and popularization value.