Development Of Automatic Replacement Toolkit System For Suspension Insulator

Widely used in diverse overhead networks,insulators are a crucial component for electricity transmission lines.Nevertheless,insulators would lose their insulation due to the corrosion that generated by various factors.Hence,the insulator must be replaced When it was damaged.The conventional replacements are performed manually with low efficiency and quality,which consume much energy of operators and placed the operators in a dangerous situation.Aimed at these problems,the robotic technology was applied into the insulator replacements work.This paper has investigated in the automatic replacement toolkit system for suspension insulators.Firstly,a survey of the automatic replacement robot system for insulators at home and aboard was done.Based on the working environment and analysis of the insulator structure,the relevant functions of the toolkit system was summarized,the design route and the structure of the toolkit system were determined.Thus the overall scheme of the toolkit system was finished.Secondly,the toolkit system was divided into the clamping device,unloading device,rotating device,adjusting and pulling pin device and pressing pin device by adopting the modular design idea according to the overall design scheme.The main work concludes the physical structure detail design based on SolidWorks,the selection and calculation of core components of the toolkit system and the simulation test for the physical structure and operating process based on SolidWorks Simulation,ANSYS and Adams.Then,the engineering drawing,the manufacturing of non-standard parts and purchasing of the standard part were finished.Thirdly,the control system was designed.The way of control was selected as wireless control based on the requirement.The structure and the circuit schematic of the control system have been designed,and the Human-computer interaction interface and the software have been designed.Fourthly,the function test of the toolkit system was carried out based on the experiment platform established based on the working environment,which includes the independent test for each device and the joint commissioning test.Then optimizing and iterating the toolkit system according to the results of the test.Some conclusion and future work has drawn finally.