CN101707341B - Combined type running deicing mechanism of online deicing robot of high-voltage transmission line - Google Patents
Combined type running deicing mechanism of online deicing robot of high-voltage transmission line Download PDFInfo
- Publication number
- CN101707341B CN101707341B CN2009103105146A CN200910310514A CN101707341B CN 101707341 B CN101707341 B CN 101707341B CN 2009103105146 A CN2009103105146 A CN 2009103105146A CN 200910310514 A CN200910310514 A CN 200910310514A CN 101707341 B CN101707341 B CN 101707341B
- Authority
- CN
- China
- Prior art keywords
- milling
- deicing
- power transmission
- transmission shaft
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention discloses a combined type running deicing mechanism of an online deicing robot of a high-voltage transmission line, comprising a bracket and a milling wheel mechanism, a tapping mechanism and a running laminating wheel mechanism assembled on the bracket. The milling wheel mechanism and the running laminating wheel mechanism are arranged in a same running direction. The tapping mechanism is arranged below the milling wheel mechanism and the running laminating wheel mechanism. The combined type running deicing mechanism of the online deicing robot of the high voltage transmission line can deice by three mechanical ways of milling, laminating and tapping simultaneously and has the advantages of compact structure and high deicing efficiency.
Description
Technical field
The present invention relates to high-voltage transmission line online deicing robot, relate in particular to the combined type running deicing mechanism that is used for high-voltage transmission line online deicing robot.
Background technology
Powerline ice-covering and accumulated snow regular meeting cause tripping operation, the broken string of circuit, the accidents such as bar, insulator arc-over and communication disruption of falling.Security incident all once caused because of powerline ice-covering in Russia, Canada, the U.S., Japan, Britain, Finland, Iceland and China, bring enormous economic loss for many countries, so the ice and snow disaster become the common issue with that the many national grids in the whole world face.
China is one of the most serious country of powerline ice-covering, and the probability that circuit ice trouble accident takes place is very high.Over nearest 30 years, large tracts of land ice damage accident happens occasionally throughout the country, and it is exactly the main cause that causes these accidents that circuit freezes in a large number.At present, the main removing ice of power transmission line method that adopts mostly is artificial de-icing method, and therefore inefficiency but also power worker's life security caused great threat is not only studied novel de-icing method and substituted artificial deicing and just become very urgent.
High reliability motion on the high-voltage transmission line online deicing robot flexible transmission cable can guarantee the open-air continuous driving force supply that works long hours on a large scale, can carry out independent behaviour control and navigation simultaneously under complicated destructuring environment.The main task of transmission line online deicing robot is the icing of removing on stability and high efficiency ground under the freezing adverse circumstances of sleet on the high voltage transmission line.At present, the method that can adopt mainly contains chemical method, calorifics method and Mechanical Method.Because the ultra-high-tension power transmission line length of deicing robot work is bigger, implement chemical method and the deicing of calorifics method just need be carried a large amount of chemical reagent and fuel, will greatly increase the live load of deicing robot like this, should not adopt.By contrast, Mechanical Method deicing energy consumption is relatively low, and deicing mechanism is in light weight and control is simple, is better than chemical method and calorifics method.Mechanical Method deicing is at present mainly adopted the milling deicing, is knocked deicing etc., they all have very strong removing ability for the icing on the transmission of electricity cable, but because icing is distributed in the surperficial all directions of transmission of electricity cable, merely adopt mechanical deicing's mode of certain form all to have the halfway problem of deicing, deicing efficiency is also very limited.In addition, present transmission of electricity cable mechanical deicing device is not all protected the mechanism of cable usually, scarcely possesses obstacle climbing ability.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, provide a kind of can be simultaneously with milling, roll, knock three kinds of mechanical systems and carry out deicing, compact conformation, the combined type running deicing mechanism of the high-voltage transmission line online deicing robot that deicing efficiency is high.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of combined type running deicing mechanism of high-voltage transmission line online deicing robot, it is characterized in that: comprise support and be installed in milling wheel mechanism, striking mechanism and walking rolling wheel mechanism on the support, described milling wheel mechanism and walking rolling wheel arrangement of mechanism are on same direct of travel, and striking mechanism is located at milling wheel mechanism and walking rolling wheel mechanism below.
Described milling wheel mechanism comprises milling motor, milling power transmission shaft and milling cutting insert group, described milling cardan-shaft suspension is on support, described milling motor is installed on the support, the output of milling motor links to each other with the milling power transmission shaft, described milling cutting insert assembling is located on the milling power transmission shaft, the milling cutting insert group is made up of a plurality of blades that the milling radius reduces in the middle of two side direction gradually, be provided with anti-cutting plate in the middle of the milling cutting insert group, the radius that rolls radius and anti-cutting plate of described walking rolling wheel mechanism is all greater than the minimum milling radius of milling cutting insert group.
Described striking mechanism comprises and knocks motor, knock power transmission shaft, stamp, lifting motor, reduction gearing mechanism, elevating lever and the guide rail that is fixed on the support, the base of described lifting motor is fixed on the support, the output of lifting motor links to each other with the reduction gearing mechanism input, the reduction gearing mechanism output links to each other with elevating lever, the described base that knocks motor is fixed on the elevating lever, and the base that knocks motor is provided with slide block, described slide block places in the guide rail, the described power transmission shaft that knocks is connected in and knocks motor output end, and described stamp is installed in and knocks on the power transmission shaft.
Described guide rail upper end is provided with positive stop.
Described walking rolling wheel mechanism comprises and rolls motor, rolls power transmission shaft and roll wheel body, and the described cardan-shaft suspension that rolls describedly rolls motor output end and rolls power transmission shaft and be connected on support, and the described wheel body that rolls is installed in and rolls on the power transmission shaft.
The described wheel face that rolls wheel body is provided with the profile of tooth lines.
Described support comprises U type bracing frame and supporting bracket, and described U type bracing frame is fixed in the supporting bracket top, and described milling power transmission shaft and the described power transmission shaft that rolls all are supported on the U type bracing frame, and the base of described lifting motor is fixed on the supporting bracket.
Described U type bracing frame exceeds the milling wheel mechanism on direct of travel.
Compared with prior art, the invention has the advantages that:
1, the present invention adopts knockdown running deicing mechanism, can bring into play milling simultaneously, roll, knock the advantage of these three kinds of mechanical deicing's modes, greatly improve the deicing efficiency and the deicing degree of high-voltage transmission line online deicing robot, the walking rolling wheel mechanism of combined type running deicing mechanism can guarantee straight line moving fast as driving wheel when deicing robot is walked, simultaneously can under the traction of deicing robot self gravitation, roll icing, to walk and roll function like this is incorporated in the mechanism, simplify running deicing mechanism, made structure compact more.
2, the radius that rolls anti-cutting plate in radius and the milling cutting insert group of walking rolling wheel mechanism is all greater than the minimum milling radius of milling cutting insert group, blade can not touch cable when walking the rolling wheel hanging wire like this, after icing comes off fully on the cable, anti-cutting plate contacts with cable earlier in the milling cutting insert group, and such double insurance can prevent fully that milling cutting insert from damaging ultra-high-tension power transmission line and gold utensil in ice detachment.
3, lifting motor can drive elevating lever through reduction gearing mechanism and moves up and down, elevating lever then can make and knock motor, knock power transmission shaft and stamp moves up and down, when deicing robot runs into obstacle detouring, stamp is moved down along guide rail, deicing robot just can be finished the action of off-line and obstacle detouring smoothly, therefore the present invention not only can guarantee deicing robot straight line moving apace, and possesses very strong obstacle climbing ability.
4, the guide rail upper end is provided with positive stop, has limited and has knocked the scope that the motor base top shoe moves upward, thereby prevented stamp damage cable.
5, U type bracing frame exceeds the milling wheel mechanism on direct of travel, and U type bracing frame contacts obstacle earlier and prevents milling cutting insert damage gold utensil when running into obstacle in circuit the place ahead.
Description of drawings
Fig. 1 is a main TV structure schematic diagram of the present invention;
Fig. 2 is the structural representation of milling wheel mechanism of the present invention and walking rolling wheel mechanism;
Fig. 3 is a side-looking structural representation of the present invention;
Fig. 4 is walking of the present invention and de-icing work principle schematic;
Fig. 5 is that the present invention meets the view when hindering;
Fig. 6 is the view after striking mechanism of the present invention descends;
Fig. 7 is that the present invention finishes off-line post exercise view.
Each label is represented among the figure:
1, support; 2, milling wheel mechanism; 3, striking mechanism; 4, walking rolling wheel mechanism; 11, U type bracing frame; 12, supporting bracket; 21, milling motor; 22, milling power transmission shaft; 23, milling cutting insert group; 24, anti-cutting plate; 31, knock motor; 32, knock power transmission shaft; 33, stamp; 34, lifting motor; 35, reduction gearing mechanism; 36, elevating lever; 37, guide rail; 38, slide block; 39, positive stop; 41, roll motor; 42, roll power transmission shaft; 43, roll wheel body.
Embodiment
As shown in Figures 1 to 4, the combined type running deicing mechanism of high-voltage transmission line online deicing robot of the present invention, comprise support 1, milling wheel mechanism 2, striking mechanism 3 and walking rolling wheel mechanism 4, support 1 comprises U type bracing frame 11 and supporting bracket 12, U type bracing frame 11 is fixed in supporting bracket 12 tops, U type bracing frame 11 and supporting bracket 12 are provided with a plurality of connecting holes, be used for by the mechanical arm that securing member is fixed in the present invention high-voltage transmission line online deicing robot is installed, milling wheel mechanism 2 and walking rolling wheel mechanism 4 are installed on the U type bracing frame 11, U type bracing frame 11 exceeds milling wheel mechanism 2 on direct of travel, U type bracing frame 11 contacts the place ahead obstacle earlier when circuit the place ahead runs into obstacle, prevents the milling cutting insert damage gold utensil in the milling wheel mechanism 2.Striking mechanism 3 is installed on the supporting bracket 12, milling wheel mechanism 2 is arranged on the same direct of travel with walking rolling wheel mechanism 4, striking mechanism 3 is located at milling wheel mechanism 2 and walking rolling wheel mechanism 4 belows, and beating point, milling point and roll and a little be positioned at same plane, guarantee that three kinds of mechanisms act on the same cable simultaneously, can bring into play milling simultaneously, roll, knock the advantage of these three kinds of mechanical deicing's modes, beating point is at milling point with between rolling a little, make the combination of three kinds of deicing modes reach best deicing effect, greatly improve the deicing efficiency and the deicing degree of high-voltage transmission line online deicing robot.
In the present embodiment, milling wheel mechanism 2 comprises milling motor 21, milling power transmission shaft 22 and milling cutting insert group 23, milling power transmission shaft 22 is supported on the U type bracing frame 11 by bearing, milling motor 21 is installed on the U type bracing frame 11, milling motor 21 outputs link to each other with milling power transmission shaft 22, milling cutting insert group 23 is installed on the milling power transmission shaft 22, milling cutting insert group 23 is made up of a plurality of blades that the milling radius reduces in the middle of two side direction gradually, therefore, the blade of both sides can be removed cable both sides icing, and the blade of middle minor radius is used to remove the icing of cable top; Be provided with anti-cutting plate 24 in the middle of the milling cutting insert group 23, the radius R 2 that rolls radius R 1 and anti-cutting plate 24 of walking rolling wheel mechanism 4 is all greater than the minimum milling radius R 3 of milling cutting insert group 23, blade can not touch cable when walking rolling wheel mechanism 4 hanging wires like this, after icing comes off fully on the cable, anti-cutting plate 24 contacts with cable earlier in the milling cutting insert group 23, and such double insurance can prevent fully that milling cutting insert from damaging ultra-high-tension power transmission line and gold utensil in ice detachment; In addition, also be provided with the protective plate of radius size between adjacent two blades between adjacent two blades in the milling cutting insert group 23, when cable has produced certain radial vibration, this protective plate also can play certain protective action, prevent cable directly with milling cutting insert group 23 in the blade of side touch; Can realize climb cutting and upmilling by 21 rotatings of control milling motor, therefore milling cutting insert group 23 not only can be cut icing, its cutter tooth also has the effect of choosing ice, can destroy the icing structure of a bit of distance in milling cutting insert group 23 fronts, the deicing effect is better than single climb cutting mode, thereby strengthens the deicing effect of milling wheel mechanism 2.
In the present embodiment, striking mechanism 3 comprises and knocks motor 31, knock power transmission shaft 32, stamp 33, lifting motor 34, reduction gearing mechanism 35, elevating lever 36 and the guide rail 37 that is fixed on the supporting bracket 12, the base of lifting motor 34 is fixed on the supporting bracket 12, the output of lifting motor 34 links to each other with reduction gearing mechanism 35 inputs, reduction gearing mechanism 35 outputs link to each other with elevating lever 36, the base that knocks motor 31 is fixed on the elevating lever 36, and the base that knocks motor 31 is provided with slide block 38, slide block 38 places in the guide rail 37, knocking power transmission shaft 32 is connected in and knocks motor 31 outputs, stamp 33 is provided with two, and all is connected in by the Flexible Connector of being made by the elastic resin material and knocks on the power transmission shaft 32.Knock motor 31 drivings and knock power transmission shaft 32 rotations, under the rotation of knocking power transmission shaft 32 drives, stamp 33 constantly knocks the suspension icing that residues in transmission of electricity cable below after 2 deicing of milling wheel mechanism, and the vibration that Flexible Connector produces in the time of can reducing stamp 33 bump icing is to knocking the influence of motor 31; Lifting motor 34 can drive elevating lever 36 through reduction gearing mechanism 35 and move up and down, 36 of elevating levers can make and knock motor 31, knock power transmission shaft 32 and stamp 33 moves up and down, when deicing robot runs into obstacle detouring, stamp 33 is moved down along guide rail 37, deicing robot just can be finished the action of off-line and obstacle detouring smoothly, therefore the present invention not only can guarantee deicing robot straight line moving apace, and possesses very strong obstacle climbing ability; Guide rail 37 upper ends are provided with positive stop 39, and positive stop 39 has limited the scope that the base top shoe 38 that knocks motor 31 moves upward, thereby prevents that stamp 33 from damaging cable because of rising too high.
In the present embodiment, walking rolling wheel mechanism 4 comprises and rolls motor 41, rolls power transmission shaft 42 and roll wheel body 43, rolling power transmission shaft 42 is supported on the U type bracing frame 11, roll motor 41 outputs and roll power transmission shaft 42 and be connected, rolling wheel body 43 is installed in and rolls on the power transmission shaft 42, the wheel face that rolls wheel body 43 adopts tooth Shape Design, rolls the effect of icing with enhancing.The walking rolling wheel mechanism 4 of combined type running deicing mechanism can guarantee straight line moving fast as driving wheel when deicing robot is walked, simultaneously can under the traction of deicing robot self gravitation, roll icing, to walk and roll function like this is incorporated in the mechanism and has simplified running deicing mechanism, make structure compact more, can finish the deicing task of various complexity smoothly.Milling wheel mechanism 2, striking mechanism 3 and walking rolling wheel mechanism 4 all adopt independently motor-driven, therefore, when carrying out de-icing work, can reasonably select icing on working group's incompatible removing high voltage power transmission cable of these three kinds of mechanisms according to different task situations.
Below in conjunction with Fig. 5 to Fig. 7 the operation principle of obstacle detouring of the present invention is described in detail:
In the combined type running deicing mechanism obstacle detouring process of high-voltage transmission line online deicing robot of the present invention, milling wheel mechanism 2, striking mechanism 3 and walking rolling wheel mechanism 4 all quit work (as shown in Figure 5), lifting motor 34 rotates and drives elevating lever 36 descending motions by reduction gearing mechanism 35, because knocking the base of motor 31 is fixed on the elevating lever 36, can drive during elevating lever 36 descending motions and knock motor 31, knock power transmission shaft 32 and stamp 33 and move to correct position (as shown in Figure 6) along guide rail 37 toward elevating lever 36 descent directions, whole then combined type running deicing mechanism is under the driving of deicing robot mechanical arm stretching mechanism, move to correct position to the ascent direction of mechanical arm and finish off-line campaign (as shown in Figure 7), last whole combined type running deicing mechanism can be finished the obstacle detouring action of various complexity under the drive of deicing robot mechanical arm.
Claims (7)
1. the combined type running deicing mechanism of a high-voltage transmission line online deicing robot, it is characterized in that: comprise support (1) and be installed in milling wheel mechanism (2) on the support (1), striking mechanism (3) and walking rolling wheel mechanism (4), described milling wheel mechanism (2) is arranged on the same direct of travel with walking rolling wheel mechanism (4), striking mechanism (3) is located at milling wheel mechanism (2) and walking rolling wheel mechanism (4) below, described milling wheel mechanism (2) comprises milling motor (21), milling power transmission shaft (22) and milling cutting insert group (23), described milling power transmission shaft (22) is supported on the support (1), described milling motor (21) is installed on the support (1), the output of milling motor (21) links to each other with milling power transmission shaft (22), described milling cutting insert group (23) is installed on the milling power transmission shaft (22), milling cutting insert group (23) is made up of a plurality of blades that the milling radius reduces in the middle of two side direction gradually, be provided with anti-cutting plate (24) in the middle of the milling cutting insert group (23), the radius (R2) that rolls radius (R1) and anti-cutting plate (24) of described walking rolling wheel mechanism (4) is all greater than the minimum milling radius (R3) of milling cutting insert group (23).
2. the combined type running deicing mechanism of high-voltage transmission line online deicing robot according to claim 1, it is characterized in that: described striking mechanism (3) comprises and knocks motor (31), knock power transmission shaft (32), stamp (33), lifting motor (34), reduction gearing mechanism (35), elevating lever (36) and be fixed in guide rail (37) on the support (1), the base of described lifting motor (34) is fixed on the support (1), the output of lifting motor (34) links to each other with reduction gearing mechanism (35) input, reduction gearing mechanism (35) output links to each other with elevating lever (36), the described base that knocks motor (31) is fixed on the elevating lever (36), and the base that knocks motor (31) is provided with slide block (38), described slide block (38) places in the guide rail (37), the described power transmission shaft (32) that knocks is connected in and knocks motor (31) output, and described stamp (33) is installed in and knocks on the power transmission shaft (32).
3. the combined type running deicing mechanism of high-voltage transmission line online deicing robot according to claim 2 is characterized in that: be provided with positive stop (39) on the described guide rail (37).
4. according to the combined type running deicing mechanism of claim 2 or 3 described high-voltage transmission line online deicing robots, it is characterized in that: described walking rolling wheel mechanism (4) comprises and rolls motor (41), rolls power transmission shaft (42) and roll wheel body (43), the described power transmission shaft (42) that rolls is supported on the support (1), describedly roll motor (41) output and roll power transmission shaft (42) and be connected, the described wheel body (43) that rolls is installed in and rolls on the power transmission shaft (42).
5. the combined type running deicing mechanism of high-voltage transmission line online deicing robot according to claim 4, it is characterized in that: the described wheel face that rolls wheel body (43) is provided with the profile of tooth lines.
6. the combined type running deicing mechanism of high-voltage transmission line online deicing robot according to claim 5, it is characterized in that: described support (1) comprises U type bracing frame (11) and supporting bracket (12), described U type bracing frame (11) is fixed in supporting bracket (12) top, described milling power transmission shaft (22) and the described power transmission shaft (42) that rolls all are supported on the U type bracing frame (11), and the base of described lifting motor (34) is fixed on the supporting bracket (12).
7. the combined type running deicing mechanism of high-voltage transmission line online deicing robot according to claim 6, it is characterized in that: described U type bracing frame (11) exceeds milling wheel mechanism (2) on direct of travel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103105146A CN101707341B (en) | 2009-11-26 | 2009-11-26 | Combined type running deicing mechanism of online deicing robot of high-voltage transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103105146A CN101707341B (en) | 2009-11-26 | 2009-11-26 | Combined type running deicing mechanism of online deicing robot of high-voltage transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101707341A CN101707341A (en) | 2010-05-12 |
| CN101707341B true CN101707341B (en) | 2011-08-31 |
Family
ID=42377543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009103105146A Active CN101707341B (en) | 2009-11-26 | 2009-11-26 | Combined type running deicing mechanism of online deicing robot of high-voltage transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101707341B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227066B (en) * | 2011-03-29 | 2013-06-12 | 重庆市电力公司检修分公司 | Apparatus used for walking on quad bundled conductors and method for spanning spacers |
| CN102227075B (en) * | 2011-03-29 | 2013-03-20 | 重庆市电力公司检修分公司 | Rapid deicing apparatus of four bundled conductors |
| CN102570372B (en) * | 2012-02-17 | 2014-09-17 | 国家电网公司 | Electrified lead deicer |
| CN103317496B (en) * | 2013-06-20 | 2016-06-08 | 国家电网公司 | A kind of electric line foreign matter removes robot |
| CN103457226B (en) * | 2013-09-30 | 2016-06-08 | 林建辉 | Pneumatic rotary deicer |
| CN104078884A (en) * | 2014-06-25 | 2014-10-01 | 国家电网公司 | Two-purpose electrified wire ice removal device |
| CN104269774B (en) * | 2014-09-18 | 2016-08-17 | 国家电网公司 | Deicer for power transmission line |
| CN104362568B (en) * | 2014-12-08 | 2017-06-30 | 北华大学 | A kind of high-tension line deicing robot |
| CN105449614A (en) * | 2015-12-17 | 2016-03-30 | 张广德 | Deicing platform for high-voltage line |
| CN105762748A (en) * | 2015-12-17 | 2016-07-13 | 李福军 | Deicing platform for high-voltage line |
| CN105610085A (en) * | 2015-12-17 | 2016-05-25 | 张广德 | High voltage line deicing method |
| CN105356404A (en) * | 2015-12-17 | 2016-02-24 | 李勇妹 | Dynamic deicing robot for electric transmission line |
| CN106655054B (en) * | 2016-11-16 | 2019-01-25 | 国家电网公司 | A kind of suspension type power cable snow-removing device |
| CN108173226A (en) * | 2016-12-07 | 2018-06-15 | 长沙鲁维湘机电科技有限公司 | A kind of power transmission line deicer |
| CN110912065A (en) * | 2019-12-30 | 2020-03-24 | 广东电网有限责任公司 | Ice breaking device for removing ice coated on high-voltage line |
| CN111193236B (en) * | 2020-03-10 | 2021-08-06 | 国网浙江建德市供电有限公司 | Overhead line defroster |
| CN112600151B (en) * | 2020-12-21 | 2022-06-24 | 国网河南省电力公司内乡县供电公司 | Laborsaving electric power defroster |
| CN112847487A (en) * | 2021-01-08 | 2021-05-28 | 海默机器人(黄石)有限公司 | Mica plate longitudinal cutting plate cutting machine with adjustable spacing |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1350291A1 (en) * | 2000-12-07 | 2003-10-08 | Protura AS | Means and method for removing extraneous matter like ice/snow an overhead line |
| CN101202430A (en) * | 2007-12-17 | 2008-06-18 | 长庆石油勘探局 | Remote-control electrodynamic mechanical type line de-icing system |
| CN101299523A (en) * | 2008-03-13 | 2008-11-05 | 汤靖邦 | Deicing robot for transmission distribution line |
| CN101533997A (en) * | 2009-01-22 | 2009-09-16 | 甘肃电力科学研究院 | Ice coating removal equipment for high-tension transmission line |
| CN101567538A (en) * | 2008-04-21 | 2009-10-28 | 国网北京电力建设研究院 | Stump-jump multi-divided conductor deicing robot |
-
2009
- 2009-11-26 CN CN2009103105146A patent/CN101707341B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1350291A1 (en) * | 2000-12-07 | 2003-10-08 | Protura AS | Means and method for removing extraneous matter like ice/snow an overhead line |
| CN101202430A (en) * | 2007-12-17 | 2008-06-18 | 长庆石油勘探局 | Remote-control electrodynamic mechanical type line de-icing system |
| CN101299523A (en) * | 2008-03-13 | 2008-11-05 | 汤靖邦 | Deicing robot for transmission distribution line |
| CN101567538A (en) * | 2008-04-21 | 2009-10-28 | 国网北京电力建设研究院 | Stump-jump multi-divided conductor deicing robot |
| CN101533997A (en) * | 2009-01-22 | 2009-09-16 | 甘肃电力科学研究院 | Ice coating removal equipment for high-tension transmission line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101707341A (en) | 2010-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101707341B (en) | Combined type running deicing mechanism of online deicing robot of high-voltage transmission line | |
| CN101950939B (en) | Iron tower deicing machine | |
| CN206117087U (en) | Novel transmission line deicing device | |
| CN111755984B (en) | High-voltage transmission and distribution line cable obstacle removing device | |
| CN101567540B (en) | Deicing device for high-voltage power transmission cable | |
| CN101309001B (en) | Cable deicing robot | |
| CN204538627U (en) | A kind of transmission line deicer | |
| CN101533997B (en) | Ice coating removal equipment for high-tension transmission line | |
| CN102684126B (en) | Deicing device of high-voltage power transmission line | |
| CN201994593U (en) | Inspection or de-icing robot of power transmission line | |
| CN101777743A (en) | Intelligent robot for removing ice in high-voltage transmission line | |
| CN102136696A (en) | Transmission line patrolling or deicing robot | |
| CN102227076B (en) | Robot used for automatically deicing high tension transmission line | |
| CN101572396B (en) | Impact deicing mechanism of overhead line deicing robot | |
| CN104269774B (en) | Deicer for power transmission line | |
| CN201868822U (en) | Deicing machine for overhead transmission line | |
| CN115395468B (en) | Marching type cable deicing device | |
| CN201413972Y (en) | Deicing device for high-voltage transmission cable | |
| CN114928014A (en) | Electric power transmission cable deicing industrial robot | |
| CN201388029Y (en) | Impact de-icer | |
| CN111162497B (en) | Single-motor-driven high-voltage wire mechanical deicing robot | |
| CN201821069U (en) | Deicing device for pylon | |
| CN109861151A (en) | A kind of deicing robot along aerial condutor traveling deicing | |
| CN101572395B (en) | Line hanging driving mechanism of deicing robot | |
| CN105490204A (en) | Deicing bird-driving dual role device for high voltage lines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |