Design Of Tensioning Insulator String Spraying Robot For High Voltage Transmission Line

Tensile insulator strings in high-voltage transmission lines are used to isolate and support conductors and are one of the most important electrical components.Due to its long-term exposure to the complex and harsh outdoor environment,in order to ensure its good hydrophobicity,electrical insulation and leakage resistance,it is necessary to regularly spray PRTV or RTV anti-pollution flashover coatings.The current anti-fouling flashover coatings are sprayed or brushed on high-altitude lines by workers carrying hand-held spray guns or brushes in the event of a power outage.Personal safety hazards,but also a large amount of labor waste and power outage losses.In recent years,with the rapid development of special robot technology,the power industry has also begun to enter a new stage of automation and intelligence.Based on the above status quo,this project designs a spraying robot that can replace workers’ high-altitude spraying operations.It completes spraying operations without power failure,which not only alleviates the labor intensity of construction personnel,but also improves the use efficiency of transmission lines.Overall,the research on this topic has important practical significance and practical value.In order to facilitate targeted mechanical structure design,the research object of this paper is the tension insulator string in the 220kv high-voltage transmission line.The designed spraying robot has the function of autonomous walking on the tension insulator string and the function of live spraying.This paper introduces in detail the main research direction and research status of the current tension insulator string spraying equipment,and deeply analyzes the characteristics and shortcomings of some typical research schemes.In-depth analysis of the component parameters of the tension insulator string,the distribution position in the transmission line and other information,and based on this,the basic functions that the spraying robot needs to meet are proposed,and then the functionstructure mapping relationship of the spraying robot is built using the FBS model.The complete mechanical structure is designed and a 3D model is built.The walking steps of the spraying robot on the tension insulator string are analyzed,and the position transformation matrix from the base coordinate system to the end effector is established by using the D-H parameter method.Further,in order to ensure that the walking mechanism can realize the expected action,the component model of the tension insulator string was established using Solidworks software,and the virtual prototype technology was used to import the designed spraying robot into the working environment under actual working conditions for kinematics simulation.According to the spraying process requirements of the tension insulator string,the highpressure airless spraying process was selected as the spraying system.According to the CFD(Computational Fluid Dynamics)theory,the spraying simulation was carried out using the Fluent fluid dynamics simulation software,and the simulation conditions based on the kepsilon model were established.,by comparing the spraying effects formed by different nozzle apertures,spraying pressures,nozzle angles and other related parameters,the optimal combination of parameters was screened out.In this study,the mechanical structure design,kinematic analysis,virtual prototype simulation and spraying effect simulation of the tension insulator string spraying robot are carried out.The simulation results prove that its walking ability can adapt to the working environment of the tension insulator string,and the spraying effect meets the process requirements.The scheme design is reliable and effective.