Melhorias em Módulos Robóticos para Manutenções de Componentes do Sistema de Transmissão de Energia Elétrica

Abstract

This course completion work addresses the issue related to improvements in robotic modules used to perform maintenance on components of the electric power transmission system. The main objective of this study consists in the development of specialized robotic modules for the installation of vibration dampers in transmission cables, as well as for the washing of insulator chains. In the first phase of the project, it was decided to use an EFT E610 hexacopter drone, originally used in the agricultural area, with a capacity of 10 liters, intended for conducting liquids. Then, it concentrated on efforts aimed at developing the robotic module responsible for washing the chains of insulators and other elements. This module consists of a structure attached to the drone, consisting of a cordless portable high-pressure wash machine and a water tank with a capacity of 10 liters. In the second phase of the project, the focus was on designing a specific robotic module for installing Stockbridge-type dampers, whose purpose is to reduce vibrations in high-voltage cables. The introduction of robots in this task seeks to mitigate the risks associated with activities carried out at high heights, improve the efficiency and safety of the installation process, as well as optimize the time required to replace the shock absorbers. In the third phase of the project, the focus was on the development of a robotic module for the installation of preformed vibration dampers. For this, a similar system used in the installation of bird signaling cables was investigated. The robotic module is transported by the drone to the place where the preformed vibration damper is installed, where it is fixed using a system composed of motors and axles. After attachment, the module is picked up by the drone and transported back to the ground. The results show the viability of using robotic modules to perform these tasks in the electric power transmission system. Additionally, the development of these modules contributes to the automation and improvement of efficiency in the maintenance of system components.