Research On The Robot System For Electrified Water Flushing In Substations

In recent years,with the continuous development of society,whether it is industrial production or people's life,the demand for continuous power supply is higher and higher.Substation is an important part of maintaining power supply,and the daily maintenance of substation is a necessary condition to ensure the normal operation of substation.Insulator strings outdoors in substations are exposed to the air for a long time,and pollution is attached to their surfaces and cannot be removed.Therefore,regular cleaning of insulator strings is required.The traditional flushing method is to manually wash the insulator string with water gun.This method requires people to be in the high voltage and strong magnetic field environment of the substation,which poses a threat to personal safety.Besides,the cleaning efficiency is low,the physical energy consumption is large,and the risk coefficient is high.Therefore,it is an urgent need of power system to develop a kind of robot which can replace manual to complete the water flushing operation of substation.In this thesis,based on the analysis of the operation requirements of insulator string live water flushing,a substation live water flushing robot system is designed,which can hold water gun instead of manual to complete the live water flushing operation of insulator string in substation in multi-direction,multi-angle and complex environment.The robot is equipped with a multi-degree-of-freedom manipulator and a multi-directional sensing system,which can adapt to the complex installation mode and position of insulator strings in the substation,and can complete the control of the robot according to the external environment.It improves the level of water flushing operation and the intelligent level of power system.The main research contents of this thesis are as follows:(1)Overall structure design of the robot.According to the requirements of substation water washing operation,combined with the actual environment of substation,the structure of the robot is designed,and the multi-degree of freedom manipulator and robot perception system are added to improve the flexibility and intelligence of the robot.(2)Kinematics modeling and analysis of water flushing manipulator.According to the structure characteristics of the mechanical arm water flushing exercises,selects the d-h method using the kinematics equation of mechanical arm and nozzle of kinematics,are simulated in MATLAB software,and according to the mechanical arm range of each joint space was analyzed,and the movement of mechanical arm and,in turn,is proposed based on a vision of a blunt six back flushing control method.(3)Completed the robot electrical system design and functional analysis,completed the handheld terminal system and the vehicle control system of each part of the module selection,circuit design and functional parameter Settings.(4)Hydrodynamic analysis of flushing insulator with water gun.The tracking flushing of hand-held double nozzle in the traditional artificial way to reduce the idea of a knife nozzle,on the basis of using the hydrodynamics of the phenomenon of Karman Vortex Street to achieve single nozzle fixed point around the washing effect,through the formula related calculation have been carried out to verify the feasibility of this method,and simulation experiments were done in the Workbench and Fluent software.(5)Robot insulation system design.By detecting high resistivity water resistivity of robot's pure water insulation performance of the control,ensure nozzle jets of insulation performance can meet the standard requirements,at the same time,in the lifting mechanism of the robot added a section made of insulating material insulating lift arm,the robot and the top of the chassis complete isolation,to prevent the phenomenon of high voltage earthing,Correlative insulation measures have been added to the mobile chassis of the robot.On the basis of the mechanical structure,a safety monitoring module has been added to monitor the leakage current in the process of water flushing in real time.This topic in the design of the transformer substation charged water washing robot system,a nozzle robot in mobile substation outdoor ground and complete flushing work of insulator is better than that of artificial operation operating performance and operating efficiency,reduce the homework threshold of insulator string charged water flushing for the power system to implement the intelligent of the further taken a solid step.