Research On Key Technologies Of Railway Catenary Insulator Cleaning Robot

Having been exposed to the air for a long time, dust on the surface of catenary insulators may results in flashover easily, which would lead to destruction of the rail system. At present, the cleaning methods mainly include contact cleaning and jet cleaning in artificial way, which is unsafe, inefficient and difficult to operate. As a result, the automatic cleaning of the catenary insulator is a major breakthrough in the field.In this paper, some basic research has been down in regard to the automatic cleaning of catenary insulator. Based on double gun cleaning method, the structure of the traditional water cannon and insulator recognition system, the idea of an intelligent railway catenary insulator cleaning equipment with two arms is put forward. This thesis mainly consists of the following parts:(1) By analyzing the basic function demands of the cleaning robot, concrete solutions have been proposed. Eventually the structure of the arms water cannon and relevant environmental flushing parameters are determined.(2) Cleaning robot's working condition parameter optimization as well as the calculation and verification of important parameters is finished, including the research and analysis of efficient flushing influencing factors. Multi-objective function model relevant to the elevation, distance and angle of efficient flushing is established. And varieties of multi-objective optimization methods are applied to determine the parameter. According to the working condition parameters, distance, recoil, bend angle and the head loss are further determined. At last, analysis and selection of the worm drive force are accomplished.(3) Single arm geometry aiming analysis has been worked out. Based on DH method, the arms'physical model is established and kinematics analysis about the aiming is completed. According to different flushing ways, different trajectories of flushing points are planned to achieve smooth movement.(4) A preliminary identification of insulator has been completed under special synoptic situation and laboratory environment. Build insulator visual recognition system has been built. Combined with the advantages of single and binocular system, an improved single binocular system is put forward. At last, relevant aiming and simulation experiments have been done.