Research Of The Substation Charged Water Washing Robot

Insulators played a very important role in the electrified railway power supply system. Because a lot of pollutants in the atmosphere is deposited by physical adsorption on the surface of the insulator, will reduce the insulation performance of the device, can easily cause flashover accident. At present, China uses electrified railway traction substation insulators rinse water will wash, usually hand-held by the operator to wash gun, high operating requirements in this way, there is a big security risk. And because the water will wash too large chassis, traction substation on the road to walk, turn by a larger limit.On the basis of the existing wheel wash water will live on an insulator washing robot designed by the two together to complete the task of washing insulators. Pitch by rotating the remote control of the robot walking on the monitor to achieve the insulator washing greatly reduced manual operation, reducing the risk factor of the field insulator washing effectively improve the work efficiency.This paper consists of four parts:(1) by analyzing the existing wheel wash water will determine the robot’s overall body wash and rinse workflow solutions. The main part of the robot wheeled walking and flushing water cannon system. By design analysis, to determine the robot chassis structure, steering methods.(2) by analyzing the traffic Substation to determine the appropriate robot walking speed and turning radius. Walking by calculating the driving force, choosing the right travel drive motor. Study design of working device, to determine the structure of the water cannon system. And the pitch of the rotary driving force calculation, choose the appropriate servo motor. For dynamic analysis, choose the appropriate power source. Rinse reaction force calculation, analysis dangerous working conditions, to determine the stability of the robot work.(3) analysis of the robot’s sensors and identification systems, with a focus on how to determine the insulator target, safe insulation resistance of the sensor and walking route planning and obstacle avoidance issues research, and select the appropriate hardware.(4) the study of the robot control system, a comparative analysis to select the appropriate controller, the robot line control, tilt rotary water cannon system control, security control, a brief introduction to control ideas.