Development Of Integrated Robot For Insulator Cleaning And Inspection Of UHVDC Transmission Lines

Because of continuous development of China's power system,the gradual improvement of voltage levels and the rapid increase of transmission lines,insulators have become the most widely used equipment in transmission lines.Their safety and stability are directly related to the safety of transmission lines.In actual operation,because the insulators work outdoors for a long time,they are susceptible to dust,smog and other weather factors,resulting in surface area contamination of the insulators.They are easy to cause flashover phenomena on the surface of the insulators string under the terrible weather.Under the influence of long-term mechanical stress and natural environment,the electrical performance of the insulators will be greatly reduced,eventually leading to the generation of low-zero insulators,which will seriously affect the safety of the grid.In response to this phenomenon,extensive researches have been carried out at home and abroad,and some achievements have been achieved.However,most of the clear-up and inspection of insulators still remain the manual operation mode,and there are problems such as high labor intensity,low detection precision,and high operational risk and so on.In order to solve the existing problems,the application of technology by intelligent robot to the field of clear-up and inspection of insulators can provide some new ideas for the inspection of transmission lines.Referring to the actual UHV DC transmission line architecture of the project,and using intelligent robot technology combined with the relevant theory of electromagnetic field,an integrated robot for cleaning and detecting insulators of UHV DC transmission lines are designed and developed.There are four aspects:firstly,according to the principles of the bypass circuit,the equipotential operation concept is used to overcome the influence of leakage current on the detection loop,the detection method of the robot designed and its optimal working path discussed;then,to introduce the mechanical structure and related functions of the robot i5 made.We will analyze the control system design of the robot,select the component equipment for the specific function,design the hardware circuit of the robot and write the software system of the robot to ensure the rationality and integrity of the overall design;and then,use the finite element simulation software ANSYS The electrostatic field simulation model of the insulator string is constructed and verified to be reasonable.Next,the robot electrostatic field simulation model is added,the field strength distribution characteristics inside the robot chassis,the field strength distribution characteristics outside the chassis,the partial discharge phenomenon of the robot body edge of all are analyzed.Discharge characteristics of the robot parts joints will be simulated the operation of the robot,among which four aspects of the gap would be optimized and adjusted some design defects to find the best design plan.Finally,we will build the actual test platform of the project and further verify the machine through field test.Of the performance,the feasibility and practicality of the design can be guaranteed.The researches result and field tests show that the robot can adapt the complex electromagnetic field conditions of UHV lines,and successfully complete the cleaning task while measurement error of control reaches under 5%.It can be beneficial for the actual insulators clear-up and inspection working well so high-practical value and useful promotion.