Design Of Pillar Insulator Dry Ice Cleaning Robot And The Research On Its Cleaning Method

Substation pillar insulators run in open air environment for a long time.Due to the influence of natural conditions such as rain and fog,it is inevitable to accumulate a large amount of pollution on its surface and form a pollution layer.The pollution layer is easy to cause pollution flash over under humid conditions,which seriously affects the operation safety of substation and needs to be cleaned regularly.At present,the main insulator cleaning method of substation is manual scrubbing with power outage,which has large labor quantity,high danger degree and low cleaning efficiency.Therefore,a new type of dry ice cleaning robot for insulator in substation pillar is developed instead of manual manual cleaning for insulator,and the optimization method of cleaning parameters is studied and designed.Thus,the insulator cleaning efficiency are improved,the personal safety of staff and power system operation stability is guaranteed.First of all,the working environment and cleaning requirements of the robot substation are analyzed,and according to the functional requirements,the overall structure of the insulator dry ice cleaning robot is designed.Based on the analysis of dry ice cleaning mechanism,experimental researches are carried out by different pollution parameters and cleaning parameters of the dry ice cleaning effect for insulators.By analyzing the effect of various parameters on dry ice cleaning of insulators,the conclusion is drawn that the dry ice cleaning effect will be greatly affected under different insulator fouling adhesion conditions,the relationship between cleaning parameters and cleaning effect and dry ice consumption is also grasped.Secondly,a dry ice cleaning parameter optimization method based on fouling adhesion force is proposed.The dry ice cleaning experiment is carried out by synthesizing artificial contamination with different adhesion forces.The BP neural network and BAT optimization algorithm are used to establish the insulator dry ice cleaning parameter optimization model according to the experimental data.Then the cleaning parameters are optimized with the goal of satisfying the cleaning effect and minimizing the dry ice consumption.By collecting natural pollution and comparing the cleaning effect of artificial pollution,the adhesive force of pollution is confirmed,and the optimal cleaning parameter combination is obtained by optimizing the input parameter model.Aiming at the robot control system,the selection of various functional components of the robot,the programming of robot control program,including the human-computer interaction program and the electromagnetic protection for the control system are carried out.Finally,the robot cleaning function experiment is completed by developing the robot prototype and debugging each function of the prototype,and the feasibility and effectiveness of the design and cleaning parameter optimization method of the dry ice cleaning robot are verified.