Research On Insulating Robot Of High Voltage Overhead Bare Wire

At present,more than 50% of the overhead power distribution lines in rural and urban-rural areas still use bare wires in China.Whenever bad weather,falling foreign bodies will often make the distribution line short-circuit and trip phenomenon,especially near the houses,trees,fish ponds and other areas,but also the distribution network trip and people electrocuted death of the serious disaster areas,not only affect the power supply efficiency,but also will have a bad social impact.Facing this kind of problem,the traditional solution is to replace the insulated conductor,the construction period is long,the investment is big,the electricity loss is big,quite a part of the region insulation transformation is difficult to implement.The research on insulating wrapping robot for high voltage overhead bare wire is mainly applied to the insulation technical transformation of local areas of 10 kV overhead bare wire.Insulating wrapping robot can not only avoid the possible accidents of manual wrapping,but also improve the efficiency of insulating wrapping.In addition,it is not subject to power supply and environmental constraints,effectively solving the cost of insulation transformation and the need for power failure construction problems.Compared with the existing insulation transformation of power distribution lines,the transformation time and cost are greatly reduced.This paper firstly introduces the concept and application of high voltage overhead bare wire insulated wrapping robot through the detailed arrangement and analysis of relevant literature and mono graphic works at home and abroad.Secondly,according to the operation object,the principle of the clasp of the package material and the structural characteristics of the package tool,the overall scheme design of the high-voltage overhead bare wire insulated package robot was determined,and the scheme was improved several times according to the requirements.Finally,the composition of the whole robot system and the specific operation task were determined.The robot designed in this scheme is mainly composed of conveying,clamping,lifting and walking,material plate,nail and other structural units and effectively linked,realizing the machine operation requirements of overhead bare wire insulation package.The mechanical structure is the main body of the robot.Firstly,the conveying unit structure is designed according to the working principle of the robot,and the conveying force provided by the conveying motor is calculated to ensure the smooth conveying of insulating protective sleeve.Secondly,it designs the structure of lifting and walking units,calculates the friction force of robot walking in working state,determines whether the motor selection is reasonable,analyzes the force of the lifting mechanism of scissorsand forks,and calculates the torque in working state.ansys analysis software is used for static and dynamic analysis of the screw guide rail of the lifting mechanism,to further verify the stability of the lifting mechanism and the reasonableness of motor selection,and then the robot control system design,including hardware and software design;Determine the hardware selection and design of the control system,and complete the software design of the robot.The prototype of the robot was made with the funds of scientific research and grand innovation project.The feasibility of the design scheme was verified through the test,the existing problems were found,and the preliminary test of insulation package performance of the test prototype was completed.