高速铁路接触网支柱组立智能装备研究

Research on Intelligent Equipment for Assembly and Installation of High⁃Speed Railway Contact System Pillars

传统接触网支柱组立主要采用人工辅助吊车进行作业,施工难度大、安装精度低且存在安全隐患。为了在保证安全的前提下提高支柱组立质量和效率,研制一种基于视觉引导系统的机械臂自动对位技术和重载机械臂多自由度控制技术的高速铁路接触网支柱组立智能装备。该装备采用液压控制技术保证支柱组立稳定性、采用电动控制技术保证支柱安装准确性,实现了支柱自动识别、定位和组立功能,提高了高速铁路接触网支柱组立安装精度和效率。

The traditional overhead contact system(OCS)post erection mainly depends on manual labor and cranes,which is difficult to construct,has low installation accuracy and poses potential safety hazards.In order to improve the quality and efficiency of post erection while ensuring safety,an intelligent equipment for high⁃speed railway OCS post erection is developed,which is based on the mechanical arm automatic alignment technology and heavy⁃duty mechanical arm multi⁃degree⁃of⁃freedom(MDOF)control technology of the visual guidance system.Hydraulic control technology is adopted to ensure the stability of post erection,and electric control technology is adopted to ensure the accuracy of the installation process.The automatic identification,positioning,and erection of OCS posts are realized,and the installation accuracy and efficiency of high⁃speed railway OCS post erection are improved.