Research And Design For Damper-replacing Live Working Robot On Power Transmission Line

In recent years,the failure problem of the damper on the old high-voltage transmission line occurs frequently,if the broken damper are not replaced in time?it will not play the anti-vibration effect and cause power supply security risks.As a result of the uninterrupted power supply requirements,the live working worker must wear a heavy high-voltage shielding clothing to carry out damper-replacing work,the whole process is not only time-consuming but also highly dangerous.In order to solve the above problems and improve the safety and efficiency of live working,this paper analyzes the environment of live working,structure of damper and process of damper-replacing.The paper proposed a type of damper-replacing live working robot on 110kV transmission line.The work done in this paper is described as follows:The mechanical structure of the robot is designed,including the robot body,the working arm and the tighten bolts tools.The key parts of the robot are analyzed,such as the running wheel,the gripper and the tighten bolts tools.At the same time,a robot-specific measurement and control platform system is set up.Through the analysis of the damper-replacing process by manual operation,the method of vision-based bolt alignment is discussed.The bolt fastening method based on the torque/rotation method is designed,according to the bolt tightening of the damper-replacing process.With the torque transmission characteristic of the end effectors,the control parameters such as the current and the pulses that can be recognized by the driver are deduced.And the method is verified in the transmission line.Finally,based on the analysis of the electromagnetic field environment of the transmission line,the equivalent model of the robot when entering and leaving the electric field is obtained.At the same time,the electromagnetic protection design of the robot is carried out.So the last hurdle of the actual operation of the robot is obtained.In order to test the practicality and reliability of the live working robot,an experiment on the 110kV transmission line was established at Live Working Center of State Grid Hunan Electric Power Company,the results show the robot is effective.