Transmission Line Insulator Cleaning Robot With Climbing Pole Function

Insulators in overhead transmission lines are prone to a large amount of dust,bird droppings and other contaminants due to long-term exposure to outdoor environments.Under the damp conditions,these pollutants will form a conductive film on the surface of the insulator,which will lead to a greatly reduced insulation level of the insulator,causing a flashover situation,which seriously affects the safe operation of the power system and the reliable use of electricity by residents.In view of the problem of flashover of insulators in transmission lines,the main solution is to organize the personnel to regularly clean the insulators on the poles.However,the method of cleaning the insulators by manually climbing the poles is not only labor-intensive,The hazard is high and the work efficiency is low,so it is necessary to develop a robot that can replace the artificial climbing pole and clean the insulator.Several kinds of existing climbing rod robots and insulator cleaning devices at home and abroad as the research foundation are taken in the thesis,and the robots is designsed for the structural characteristics of the power poles and insulators in the transmission line.Firstly,the overall structure of the insulator cleaning robot is designed.the three-legged extension mechanism with 1200 uniform annular distribution and the telescopic mechanism is proposed that can realize the function of the robot to climb the conical pole.The body structure solves the problem of the upper rod of the robot.At the same time,a cleaning mechanism arm with a six-degree-of-freedom structure and a rotating cleaning end are designed.By combining the two,the robot can completely and flexibly clean the inner and outer surfaces of the insulator;Then,the 3D model of the robot was built by Inventor 3D modeling software,and the force analysis of the robot was carried out.At the same time,the robot tilt problem occurred during the robot climbing process and the downward movement of the robot during the robot’s rapid automatic climbing were adopted.The fuzzy-PID control algorithm performs the leveling control and anti-skid control of the robot,and in order to realize the accurate,stable and damage-free cleaning of the insulator surface of the robot’s cleaning robot,the main power/position composite control method is used to clean the robot arm.The position and force are tracked and controlled.Secondly,the robot control system was designed,and according to the actual task of the robot,a human-computer interaction display interface was developed to facilitate the operation and control of the robot;Finally,the development of the robot prototype was carried out,and the indoor prototype test of the prototype of the robot and the outdoor climbing pole and insulator cleaning test were carried out to verify the function of the robot.The test results show that the insulator cleaning robot was proposed and designed in the thesis can realize the function of climbing the pole and insulator cleaning.