Critical Components And Control Research Of Washing Robort For Substation

The traction substations are responsible for the safety of the whole railway system. But the flashover happens from time to time in the insulators of the traction substations along the railway, and the results can range from the halt of the train to disastrous. In order to avoid such accidents, hot-line washing equipment has been adopted by many railway power supply sections to clean the insulators. However, new problems emerged. Operators couldn’t make the timely and accurate judgment from numerous uncertain factors, because of the influence of experience, technology and environment. Therefore, safety accidents are unavoidable. Aiming at the 110kV traction substation, a new crawler robot of hot-line washing is designed and developed. Under the remote control, the hot-line washing robot can be applied to substitute manual operation to complete most of the washing work. Thus the safety and working condition are improved, and the labor intensity is reduced.This paper introduces the design of the washing robot in detail from both structure and control aspect. The robot can be divided into two parts, crawler chassis and working device, according to function. The working device is installed on the crawler chassis, uses which it can move freely in the field of substation. The alignment of spray gun needs the help of working device, which can realize rotation, pitch and their combined movement. In the process of structural design, some important components are chosen or designed based on the parameters calculated. For example, to meet the working and the driving requirements, calculation of inertia, torque and speed is done to choose the electric machinery used in working device and crawler chassis. A self-made rotary and a simple crawler classis are de-sign due to their special requirements. The driving-stability of the robot is analyzed in three aspects, longitudinal and horizontal stability when downward, along with horizontal stabil-ity when working. A CFD calculation is completed to discuss the flow concentration and jet distance, using the software, Fluent. Considering the importance of middle bracket and chassis frame to the whole structure, the finite element analysis software ANSYS is applied to simulate their performance.This paper provides a comprehensive introduction to the control system from making control process, choosing components to designing interface, offering a complete solution to the hot-line washing work. The control of the alignment of spry gun is an important link in the whole control system. First, conduct the pre-positon of the spry gun manually. Then use the image recognition technology to handle insulator image, deliver the outcome to the mo-tion controller to control the servo motors, realize the automatic alignment of the spry gun.