| At present,when cleaning insulators in 110kV substations,power outage operations or manual live operations are usually used.Power outages will cause economic losses and reduce the reliability of power supply,while manual live working has greater risks in terms of personnel safety and operational reliability.Therefore,it is necessary to develop a live working robot,which can automatically clean the insulators in the substation with power,so as to realize the uninterrupted operation of the substation.The electromagnetic environment in the substation is complex,and the key to ensuring the normal operation of the robot lies in the reasonable electromagnetic protection design of the robot.In response to this requirement,this thesis conducts a simulation analysis of the electromagnetic field of the robot when it is working,and carries out the corresponding protection design.The designed live cleaning robot can safely,reliably and efficiently clean the substation insulators.The main research contents and results of the thesis include:First,according to the specific task requirements of the charged cleaning robot in the 110kV high-voltage environment,the geometric constraint analysis of the robot in the substation cleaning operation is carried out,and a reasonable overall structure of the robot is designed according to the geometric constraint conditions.Taking into account the electrical safety of the robot in a strong electromagnetic environment,the phase-to-ground,inter-phase safety distance and the complex magnetic field environment of the robot during operation are analyzed,and the electrical safety constraints of the robot’s live working in the substation are obtained.According to the above constraints,the robot’s live working process should be reasonably arranged.Then,the ANSYS simulation software is used to calculate and simulate the changes of the electric field in the three-dimensional working space of the substation before and after the robot enters the working position of the substation.Combining various constraints,the robot is designed with reasonable electric field protection,including:according to the robot’s high-voltage environment.Safety constraints:The protective design of the robot lifting platform structure and the protective design of the robot spin-washing structure from two aspects:the radius of the end spin-washing module and the length of the connecting rod insulation material;Secondly,the influence of the shape of the holes,the aspect ratio of the rectangular hole array,the number of holes and the interval of the holes on the shielding effectiveness of the control cabinet is studied,and a reasonable control cabinet structure is designed according to the analysis results.Simulation analysis proves that the chassis can meet the protection standard in the complex environment of the substation;then the hardware and software of the robot control system are designed for electromagnetic protection to ensure that the robot can work stably in the substation.Finally,the prototype was successfully developed and the robot was subjected to pressure test,electromagnetic compatibility test and cleaning test of the robot.Experimental results show that the designed robot can operate normally in a complex electromagnetic environment and can complete cleaning tasks safely,stably and quickly. |
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