Design of hot-line cleaning robot used in substation

This paper presents a master-slave hot-line robot working in high voltage for cleaning insulators. Compared with existing cleaning robots, this robot mechanism is superior in insulation as it uses a series of insulation methods, such as the crank arm insulative elevating mechanism, insulative hydraulic system, master-slave control, optical fiber and ZigBee communication, to ensure the safety of robot and the operator, and is more useful in mountainous or salt damage areas by adopting a crawler chassis. In addition, instead of working on the higher levels, the operator manipulates master hand in the cab to avoid happening electric shock. Moreover, we confirmed its effectiveness through practical application.