Research Of Robot For Painting Isolation Coating On Overhead Lines

The surface of the overhead line of the high power electrical system is directly exposed to the environment,which results in the relatively poor stability of the power transmission and distribution network and makes itself prone to the tripping accident.To solve this problem,this paper analyzes the characteristics of the current inspection robot of overhead power line and designs a wheeled suspension mobile robot which can spray the paint of insulation on the overhead lines.And based on the robot-overhead line model,the dynamic model of the robot is established.The control system is designed by simulation of the model.And finally the automation of the spray process is achieved.The wheeled suspension structure of the robot is designed,which is mainly composed of motion system and painting system.The motion system makes the robot move on the overhead line stably and reliably by the cooperation of the driving wheel,the driven wheels and the pinch wheels.The painting system which can continuously spray the insulation coating on the overhead lines is mainly composed by the pump system,the bracket,the tube system and the sprinklers.The electronic control system of the robot consists of an electronic control system on the body and a control platform.The body control system is a master-slave control system composed of two ATMEGA16 A chips.This system is mainly used to implement closed-loop speed control of two motors.The control platform is an APP based on the Android framework.It can control the robot and record the operation parameters of the robot remotely via a wireless connection with the electronic control system on the body.During the movement of the robot on the overhead line,the robot and the overhead line forms a typical rigid-flexible coupling system: the deformation of the overhead line under the pressure of the robot influences the pose of the robot and the force on the robot.This paper,based on the catenary line model,analyzes the pose change on the soft overhead line and establishes a robot-overhead line model which conforms the structure of the robot.The pose and the force can be calculated by the numerical solution of the model.Thus the dynamic equation of the robot is obtained which provides a theoretical basis for the simulation of the control system.There is a strict requirement of the thickness of the insulation coating of the overhead line in order to achieve the effect of insulation.Therefore,this paper according to the dynamic model of the robot body analyzes the control model of the capstan DC motor.The self-tuning fuzzy control system with angle feedforward is used as the control algorithm.The parameters of the system are optimized by establishing the simulation model of Simulink.The closed-loop speed control which conforms the requirement of motor is achieved and is tested by the experiment.