Development Of Insulation Wrapping Robot For Overhead Bare Line Of Distribution Network

Distribution network overhead line is an important way of power transmission,which has a direct impact on people’s production and life.The overhead lines of distribution network are widely distributed,with many users,and the environment of line erection is complex.At present,more than 70% of the overhead lines of urban and rural distribution network are bare conductors,which are very vulnerable to tree barriers,high-altitude foreign matters,and the touch of construction machinery,causing line trips and even electric shock casualties.The current solution is only to replace the insulated conductors or manually wrap the bare conductors with insulation materials,but this is not the case.These methods are expensive and time-consuming,which affect the normal transmission of power.Therefore,this paper designs a kind of insulation wrapping robot for 10 k V distribution overhead exposed lines,and designs and analyzes the robot in the following aspects.(1)In this paper,a mechanical structure of an overhead bare line wrapping robot is designed,and an automatic insulating wrapping method is proposed.The overall mechanical structure of the wrapping robot,as well as the important components such as the walking mechanism,the buckle mechanism,the lifting mechanism of the feeding mechanism and the shearing mechanism are analyzed in detail,and the working process of the robot is described.(2)The frame structure of the robot is simulated and optimized by ANSYS Workbench software,and the key mechanical components such as the robot integral beam,axle,installation buckle are analyzed by finite element method,so as to verify the reliability of the mechanical structure.(3)According to the technical specifications of the robot and the actual operation needs,the hardware architecture of the robot control system is designed,and STM32f4 chip is selected as the main control chip of the robot.The hardware part of the robot control system mainly includes motion control module,sensor module,communication module and power module.The real-time operating system based on Free RTOS is developed to complete the design of the software system.(4)In order to detect the package results,the machine is equipped with a camera to collect the image information of the insulating sheath,and process the image.After image preprocessing,HSV feature extraction,edge detection and other technologies,judge the package reliability.(5)The prototype of the wrapping robot is made and debugged.Finally,the wrapping experiment of the wrapping robot is completed in the 10 k V transmission line test environment and the field line built in the laboratory.The validity of mechanism design and control system design of wrapping robot is verified by experiments.