CN101567538A - Stump-jump multi-divided conductor deicing robot - Google Patents
Stump-jump multi-divided conductor deicing robot Download PDFInfo
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- CN101567538A CN101567538A CN 200810104501 CN200810104501A CN101567538A CN 101567538 A CN101567538 A CN 101567538A CN 200810104501 CN200810104501 CN 200810104501 CN 200810104501 A CN200810104501 A CN 200810104501A CN 101567538 A CN101567538 A CN 101567538A
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Abstract
The invention provides a stump-jump multi-divided conductor deicing robot comprising a conductor crawling device used for crawling along a high-tension transmission line, a rotary deicing device arranged at the conductor crawling device and used for removing coated ice on the conductor by adopting rotary knocking force, a power plant used for supplying driving force for the conductor crawling device and the rotary deicing device, and a control device used for controlling the crawling of the conductor crawling device and the rotation of the rotary deicing device. The deicing robot is not only suitable for single conductor deicing but also more particularly suitable for the multi-divided conductor deicing, senses obstacles by a sensor and implements avoidance maneuvers, thereby being particularly suitable for independently crawling for a long time on the multi-divided conductor with a plurality of obstacles.
Description
Technical field
The present invention is about the protection field of high voltage transmission line, especially in regard to a kind of stump-jump multi-divided conductor deicing robot.
Background technology
In the winter time, when temperature below 0 ℃ the time, because precipitation or snowfall meeting cause transmission line or shaft tower to produce icing.The safe operation of electrical network in the icing serious threat of transmission line, and the power grid accident consequence that causes because of icing is very serious, and gently then the ice insulator sudden strain of a muscle repeats tripping operation, and deicing jumps causes that conductor galloping causes phase fault; Heavy then cause the badly damaged and lead brittle failure ground connection of gold utensil, shaft tower tilts even collapses etc.
China is one of the most serious country of powerline ice-covering in the world.Serious icing can cause transmission line machinery and electric property sharply to descend, thereby causes the generation of icing accident.Very serious powerline ice-covering accident all once took place in provinces such as China Hunan, Hubei, Guizhou, Jiangxi, Yunnan, Sichuan, Henan and Shaanxi.
The serious threat of icing accident the safe operation of China's electric power system, and caused enormous economic loss.According to incompletely statistics, since the fifties in last century, big and small icing accident takes place thousands of times in China's transmission line.Only 2003, because 110～500kV transmission line that icing causes trips 79 times, account for 3.27% of total accident, wherein the 500kV line tripping is 13 times; Because the unplanned stoppage in transit of 110～500kV circuit that icing causes 47 times accounts for 4.24% of total accident.In December, 2004～2005 year February, large tracts of land ice damage accident appears in China's Central China Power Grid, and only the Hunan Province just has more than 700 ten thousand people disaster-stricken, and direct economic loss is above 1,000,000,000 yuan.Southern area of China has suffered a snow disaster the most serious over 50 years at the beginning of 2008, and the direct economic loss of causing for the electric power transmission network reaches 10,500,000,000 yuans, needs 39,000,000,000 yuans at least and recover the impaired electrical network of snow disaster.
The de-icing method that uses the manual or automatic pressure of mechanical external force that icing is come off is called mechanical deicing's method.Develop the historical far away of mechanical de-icing method early than the deicing of other types, anti-icing method.There are 3 kinds to be de-icing method in the Mechanical Method, mainly comprise: " ad hoc " method, powerful vibration method and pulley spreading one-lick at transmission line.
A kind of mechanical deicing method is to adopt the lead robot to carry out deicing, and the lead robot adopts storage battery to drive, and can move forward and backward on lead with the current state to lead and patrol.Prior art generally is to increase a spatula deicer in the lead robot, removes icing on the lead by extruding icing on the direction of advancing in the lead robot.Because this deicer need adopt storage battery power supply, and the weight issue of storage battery and continuous working period make this scheme can not get extensive use.And this device will run into very big resistance when icing is very thick, need provide very big actuating force to move on lead, so deicing efficiency is low, it is slow to remove speed of icing.
And conducting wire deicing device of the prior art only is applicable to single conductor is carried out deicing, because the restriction of mechanical structure also can't detect obstacle and leaping over obstacles effectively, thereby has influenced actual deicing effect.Application number is 200510018836.5, and publication number is CN 1695908A, and denomination of invention is that " crawl mechanism of clearing robot for suspension insulators on high voltage line " merges therewith as prior art of the present invention.
Summary of the invention
The purpose of this invention is to provide a kind of stump-jump multi-divided conductor deicing robot, this robot walks on lead by the mode of creeping, and knocks icing on the lead by rotation deicing assembly.
In order to realize above goal of the invention, the embodiment of the invention provides a kind of stump-jump multi-divided conductor deicing robot, and described robot comprises: the lead crawling device is used for creeping along described ultra-high-tension power transmission line; The rotation deicer is installed on described lead crawling device, is used to adopt the icing on the rotopeening power removal lead; Power set are used to described lead crawling device and described rotation deicer that actuating force is provided; Control device is used for creeping and the rotation of described rotation deicer is controlled described lead crawling device.
Deicing robot simulated animal four limbs of the present invention move on lead, adopt rotation deicing assembly to carry out deicing simultaneously, can be applied to the deicing of single conductor and multiple fission conductor, and can effectively detect and across obstacle, have improved deicing efficiency.The deicing robot of present embodiment is particluarly suitable for doing on the multiple fission conductor of many obstacles long distance and independently creeps.
Description of drawings
Fig. 1 is a kind of systematic schematic diagram of embodiment of the invention conducting wire deicing robot;
Fig. 2 a is the front view of embodiment of the invention conducting wire deicing robot;
Fig. 2 b is the end view of embodiment of the invention conducting wire deicing robot;
Fig. 2 c is the stereogram of embodiment of the invention conducting wire deicing robot;
Fig. 3 a is the end view of the arm of creeping of embodiment of the invention conducting wire deicing robot;
Fig. 3 b is the mechanical construction drawing of the arm of creeping of embodiment of the invention conducting wire deicing robot;
Fig. 4 is the cutaway view of the arm of creeping of embodiment of the invention conducting wire deicing robot;
Fig. 5 is the mechanical construction drawing of the arm manipulator of creeping of embodiment of the invention conducting wire deicing robot;
Fig. 6 is a kind of work schematic diagram of the arm manipulator of creeping of embodiment of the invention conducting wire deicing robot;
Fig. 7 is another work schematic diagram of the arm manipulator of creeping of embodiment of the invention conducting wire deicing robot;
Fig. 8 a is the cut-away view of the arm manipulator of creeping of embodiment of the invention conducting wire deicing robot;
Fig. 8 b is the partial sectional view of the drive disk assembly among Fig. 8 a;
Fig. 9 runs into the schematic diagram of obstacle for the arm manipulator of creeping of embodiment of the invention conducting wire deicing robot;
Figure 10 knocks a kind of structure chart of assembly for present embodiment rotation deicer of the present invention;
Figure 11 is applied to a kind of work schematic diagram of single conductor for present embodiment deicing robot of the present invention;
Figure 12 is applied to the another kind work schematic diagram of single conductor for present embodiment deicing robot of the present invention;
Figure 13 is applied to the work schematic diagram of multiple fission conductor for present embodiment deicing robot of the present invention;
The control flow chart that Figure 14 creeps and moves for embodiment of the invention deicing robot.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer,, the present invention is described in further details below in conjunction with execution mode and accompanying drawing.At this, exemplary embodiment of the present invention and explanation thereof are used to explain the present invention, but not as a limitation of the invention.
Fig. 1 is a kind of systematic schematic diagram of the conducting wire deicing robot of the embodiment of the invention.As shown in the figure, this deicing robot 10 comprises: lead crawling device 101 is used for creeping along ultra-high-tension power transmission line; Rotation deicer 102 is installed on lead crawling device 101, is used to adopt the icing on the rotopeening power removal lead; Motor 103 is coupled with lead crawling device 101 and rotation deicer 102, is used to lead crawling device 101 and rotation deicer 102 that actuating force is provided; Control device 104 is used for creeping and the rotation of rotation deicer 102 is controlled lead crawling device 101.
The power resources of this deicing robot 10 are in fuel electric generator 105, drive motor 103 runnings by fuel electric generator 105, and with electrical power storage in storage battery 106.Storage battery 106 also can drive motor 103 running and for control device 104 provides electric power, also provides electric energy for the igniting once more of fuel engines 105 simultaneously.Constitute the power set of present embodiment in the present embodiment jointly by fuel electric generator 105, motor 103 and storage battery 106.
Fig. 2 a is the front view of present embodiment conducting wire deicing robot 10, and Fig. 2 b is the end view of deicing robot 10, Fig. 2 c be deicing robot 10 stereogram.Shown in Fig. 2 a-Fig. 2 c, the four limbs that lead crawling device 101 4 arms 202 of creeping comprising bracing frame 201 and relatively install in bracing frame 201 both sides wherein, these four arms of creeping can imitate animal are creeped on lead.Creeping the number of arm can also be more, so that this deicing robot 10 is more stably creeped on lead.Rotation deicer 102 comprises support arm 203 and knocks assembly 204, one end of this support arm 203 is installed in an end of bracing frame 201, the other end of this support arm 203 is equipped with motor, installs on the output shaft of this motor and knocks assembly 204 so that this rotation of knocking assembly 204 comes deicing by driven by motor.
Fig. 3 a is the end view of arm 202 of creeping, and Fig. 3 b is the mechanical construction drawing of arm 202 of creeping.Shown in Fig. 3 a and Fig. 3 b, this arm 202 of creeping comprises: the arm limbs 301 of creeping, the arm shoulder joint 302 of creeping that is connected with bracing frame 201 in arm limbs 301 the side setting of creeping near bracing frames 201, this arm shoulder joint 302 of creeping is fixedlyed connected with the motor output shaft in the bracing frame 201, and this arm of creeping can be rotated around this shoulder joint.At the end of arm limbs 301 near high voltage transmission line of creeping the rotary wrist joint 303 of creeping being set, fixedlys connected with the output shaft of built-in motor 307 in the wrist joint 303 of creeping, and the arm of creeping can be rotated around this wrist joint.This arm 202 of creeping also comprises the manipulator 304 that is connected with the wrist joint 303 of creeping, and is used for grasping and unclamps high voltage transmission line.In addition, also comprise the arm elevating mechanism 305 of creeping in the space of arm limbs 301 of creeping, this arm of creeping is moved up and down along the arm shoulder joint 302 of creeping, this elevating mechanism 305 is driven by built-in motor 306.Therefore, this arm 202 of creeping can be realized rotating, rotating and these three kinds of motion modes that move up and down around wrist joint around shoulder joint.By the creep action of these three kinds of motion mode simulated animals on lead.
Fig. 4 is the cutaway view of arm 202 of creeping.In order to realize the motion of above-described three kinds of modes, the elevating mechanism 305 of this arm of creeping is ball-screw, and the arm shoulder joint of creeping 302 is for being used to carry the ball bogey of ball in the ball-screw.Motors 401 in the bracing frame 201 are fixedlyed connected with the arm shoulder joint 302 of creeping by the output shaft of its decelerator 401 ', rotate around shoulder joint with the drive upper-arm circumference of creeping; Built-in motor 306 drives by decelerator 306 ' and is with 308 transmissions synchronously, drives the rotation of ball-screw 305 with 308 synchronously by this, thereby the arm of realizing creeping moves up and down along shoulder joint 302; Built-in motor 307 is fixedlyed connected with the wrist joint 303 of creeping by the output shaft of its decelerator 307 ', rotates around wrist joint with the drive upper-arm circumference of creeping.
Fig. 5 is the mechanical construction drawing of manipulator 304.Lead can effectively be firmly grasped and unclamp to the manipulator 304 of present embodiment, and existence that can also the disturbance of perception thing comes obstacle detouring and grasping lead once more with the action of readjusting the arm of creeping.This manipulator 304 comprises: wire positioning device is used to locate described high voltage transmission line; The lead hold down gag is oppositely arranged with described wire positioning device, is used for fixing and compresses described high voltage transmission line.In the present embodiment, the wire positioning device of manipulator 304 is a v-depression 501; The lead hold down gag comprises: the pressing plate 502 of fixedlying connected with rotating shaft 504, and the driven rotary by rotating shaft 504 is to the direction parallel with v-depression 501 and move downward to compress described high voltage transmission line; Or move upward and rotate to the direction vertical to unclamp described high voltage transmission line with described groove.In order to realize automatic control, this manipulator 304 also is included in the switching device 503 that V-type groove depression central authorities are provided with, and after the lead of putting into is pushed this switching device 503, compresses power transmission line by control device 104 control pressing plates 502.
The rotating shaft 504 that is connected with pressing plate 502 in the present embodiment is embedded in groove 501 inside, and this pressing plate 502 can move up and down around rotating shaft 504 rotations and along this rotating shaft 504.Fig. 6 is the situation of pressing plate direction perpendicular grooves, and Fig. 7 turn 90 degrees the situation of back parallel groove for pressing plate revolves.As Fig. 6-shown in Figure 7, lead enters groove 501, and push switch device 503, and this timed unit 104 receives this and pushes signal and control rotating shaft 504 and revolve and turn 90 degrees parallelly with groove, controls rotating shaft 504 then and moves downward, and makes pressing plate 502 compress lead.When manipulator need be regained, drive pressing plate by control device 104 control rotating shafts 504 equally and move upward, and rotate back to the position vertical with groove, make lead can break away from this groove 501.
Fig. 8 a is the cut-away view of manipulator 304, and shown in Fig. 8 a, rotating shaft 504 is fixedlyed connected with a sector gear; This manipulator is controlled by two sets of transmission mechanism, and the motor on the left side and gear are used to drive this sector gear and horizontally rotate, thereby driven rotary axle 504 horizontally rotates; The motor on the right and gear are used to drive this sector gear and move both vertically, thereby driven rotary axle 504 moves up and down, and the rotating shaft of two motors is vertical.Fig. 8 b is the partial sectional view of Fig. 8 a transmission mechanism.Shown in Fig. 8 a and Fig. 8 b,, can realize rotating shaft 504 mutually noninterfere that horizontally rotates and move both vertically by adopting sector gear to fixedly connected and adopting mutually perpendicular two motors of rotating shaft to drive this manipulator with this rotating shaft.
Fig. 9 runs into the schematic diagram of barrier for manipulator.Present embodiment also is provided with strong transducer (not shown) on the pressing plate of manipulator, after the lead push switch device 503, triggering pressing plate 502 revolves to the direction parallel with groove and turn 90 degrees.If in the process of rotation, run into barrier 901, then the power transducer should be met the barrier feedback information and be given control device 104, the action (as readjust step pitch, make the arm grasping forward or backward of creeping) that control device 104 is readjusted the arm of creeping clears the jumps 901.
Again with reference to Fig. 2 a-Fig. 2 c, the support arm 203 of rotation deicer 102 can adopt the mechanical structure that is similar to the arm 202 of creeping in the present embodiment.This support arm 203 comprises support arm limbs, support arm shoulder joint, support arm elevating mechanism and support arm wrist joint equally.Wherein: the support arm shoulder joint, be positioned at the side of support arm limbs near bracing frame, be connected with bracing frame, described support arm is rotated around described support arm shoulder joint; The support arm elevating mechanism is positioned at the support arm limbs, and the support arm limbs are moved up and down along the support arm shoulder joint; The support arm wrist joint and knocks assembly and is connected, and makes to knock assembly and rotate around the support arm wrist joint.
Therefore, this support arm 203 also can be realized rotating, move up and down and rotating around wrist joint around shoulder joint.Different is that the parts that are connected with the support arm wrist joint are for knocking assembly.This knocks assembly and is rotated to knock the icing on the lead under the built-in driven by motor of wrist joint.This knocks assembly can different shapes and structure, knocks as long as can be rotated.
A kind of assembly 204 that knocks of present embodiment comprises: stamp, knock deicing by the action edge that the simulation club knocks perpendicular to the direction of lead.One end of stamp is fixedly connected on the axle of motor, and stamp is that the center is rotated with the axle of motor; Or stamp longitudinally the centre position be fixedly connected on motor the axle on, stamp with motor the axle be that the center is rotated.Consider the complexity of lead locus and icing, can also flexibly connect the more piece stub in the end of stamp.
In order to make the deicing effect better, this knocks assembly 204 and comprises the opposite stamp of at least two group direction of rotation in the present embodiment, and its rotating diameter is greater than the distance of its pivot and lead.Stamp can effectively be dodged after knocking ice coating wire, knocks lead subsequently once more, and the hardness of stamp material can select to be lower than conductor material hardness, damage wires when effectively preventing to knock.Figure 10 is the structure that the another kind of present embodiment knocks assembly, comprising: rotating disk and and the more piece stub that flexibly connects of the edge of this rotating disk, wherein, the center of rotating disk is connected with motor output shaft.
Figure 11-Figure 13 creeps on lead for the deicing robot of present embodiment and the work schematic diagram of deicing.Figure 11 is applied to the work schematic diagram of single conductor for this deicing robot, and this support arm vertically supported this and knocked assembly this moment; Figure 12 is similarly the work schematic diagram that is applied to single conductor, and different is that this support arm has rotated an angle, can knock the icing on other leads like this.Figure 13 is applied to the work schematic diagram of multiple fission conductor for deicing robot, and this support arm can be adjusted height up and down, as, the pivot that knocks assembly is adjusted to the division center of circle more effectively to knock the icing on the multiple conducting wires.
The control flow that Figure 14 creeps and moves for the deicing robot of present embodiment.This flow process is controlled the drive motors of each arm of creeping by control device 104, thereby but realizes the deicing robot of present embodiment obstacle detouring by the creep concrete action of arm of drive motors control.As shown in the figure, the posture of creeping of the deicing robot simulated animal of present embodiment, the arm of creeping is divided into 1,3 arms and 2,4 arms of diagonally opposing corner direction.In 1,3 arm grasping leads, unclamp 2,4 arms, 2,4 arm withdrawals, forward swing, stretching, extension and grasping lead; Treat to unclamp 1,3 arms once more behind 2, the 4 arm grasping leads, 1,3 arm withdrawals, forward swing, stretching, extension and grasping lead repeat to finish the action of creeping successively then, up to arriving target.
When creeping arm grasping lead, if pressing plate can not run into barrier with regard to bit representation, then control device pressing plate is resetted and the step pitch of creeping of adjusting the arm of creeping with grasping lead again.The control device of present embodiment can adopt Electric Machine Control special chip TMS320LF2407.
Above-described embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is the specific embodiment of the present invention; and be not intended to limit the scope of the invention; within the spirit and principles in the present invention all, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1, a kind of stump-jump multi-divided conductor deicing robot is characterized in that, described robot comprises:
The lead crawling device is used for creeping along described ultra-high-tension power transmission line;
The rotation deicer is installed on described lead crawling device, is used to adopt the icing on the rotopeening power removal lead;
Power set are used to described lead crawling device and described rotation deicer that actuating force is provided;
Control device is used for creeping and the rotation of described rotation deicer is controlled described lead crawling device.
2, stump-jump multi-divided conductor deicing robot according to claim 1 is characterized in that, at least four arms of creeping that described lead crawling device comprises bracing frame and installs relatively in the support frame as described above both sides; The described arm of creeping comprises: the arm limbs of creeping, the arm shoulder joint of creeping, creep arm elevating mechanism and manipulator;
The described arm shoulder joint of creeping is positioned at the described arm limbs of creeping near a side of support frame as described above, is connected with support frame as described above, makes the described upper-arm circumference of creeping around the described arm shoulder joint rotation of creeping;
The described arm elevating mechanism of creeping is positioned at the described arm limbs of creeping, and the described arm limbs of creeping are moved up and down along the described arm shoulder joint of creeping;
Described manipulator is positioned at the described arm limbs of creeping near a side of described high voltage transmission line, is used for grasping or unclamps described high voltage transmission line.
3, stump-jump multi-divided conductor deicing robot according to claim 2 is characterized in that, the described arm of creeping also comprises: the wrist joint of creeping;
The described wrist joint of creeping is positioned at the described arm limbs of creeping near a side of described high voltage transmission line, is connected with described manipulator, makes described manipulator around the described wrist joint rotation of creeping.
4, stump-jump multi-divided conductor deicing robot according to claim 2 is characterized in that,
The described arm elevating mechanism of creeping is a ball-screw;
The described arm shoulder joint of creeping is the ball load carrier in the described ball-screw.
5, stump-jump multi-divided conductor deicing robot according to claim 2 is characterized in that, described manipulator comprises:
Wire positioning device is used to locate described high voltage transmission line;
The lead hold down gag is oppositely arranged with described wire positioning device, is used for fixing and compresses described high voltage transmission line.
6, stump-jump multi-divided conductor deicing robot according to claim 5 is characterized in that,
Described wire positioning device is a v-depression;
Described lead hold down gag comprises: the pressing plate of fixedlying connected with rotating shaft, and the driven rotary by rotating shaft is to the direction parallel with described v-depression and move downward to compress described high voltage transmission line; Or move upward and rotate to the direction vertical to unclamp described high voltage transmission line with described groove.
7, stump-jump multi-divided conductor deicing robot according to claim 6 is characterized in that,
The depression central authorities of described v-depression are provided with switching device, are used for the pressure of real-time sensing lead and pass to described control device;
Described control device judges whether put into lead in the described v-depression according to described force value, then controls described pressing plate when putting into lead in judging described groove and compresses described lead.
8, stump-jump multi-divided conductor deicing robot according to claim 1 is characterized in that, described power set comprise motor; Described rotation deicer comprises: knock assembly; Described center of knocking assembly is connected with the output shaft of described motor.
9, stump-jump multi-divided conductor deicing robot according to claim 8 is characterized in that, the described assembly that knocks comprises:
Rotating disk of fixedlying connected and the more piece stub that flexibly connects with described rotating disk edge with described motor output shaft; Or
Swingle of fixedlying connected and the more piece stub that flexibly connects with the end of described swingle with described motor output shaft.
10, stump-jump multi-divided conductor deicing robot according to claim 8 is characterized in that, described rotation deicer also comprises: support arm connects support frame as described above and the described assembly that knocks; Described support arm comprises: support arm limbs, support arm shoulder joint, support arm elevating mechanism and support arm wrist joint;
Described support arm shoulder joint is positioned at the side of described support arm limbs near support frame as described above, is connected with support frame as described above, and described support arm is rotated around described support arm shoulder joint;
Described support arm elevating mechanism is positioned at described support arm limbs, and described support arm limbs are moved up and down along described support arm shoulder joint;
Described support arm wrist joint is connected with the described assembly that knocks, and the described assembly that knocks is rotated around described support arm wrist joint.
11, stump-jump multi-divided conductor deicing robot according to claim 1 is characterized in that, described power set comprise motor, fuel electric generator and storage battery;
Described fuel electric generator provides electric energy for described charge in batteries and for described motor;
Described storage battery provides electric energy for described motor, control device and fuel electric generator.
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| CN2008101045019A CN101567538B (en) | 2008-04-21 | 2008-04-21 | Stump-jump multi-divided conductor deicing robot |
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| CN2008101045019A CN101567538B (en) | 2008-04-21 | 2008-04-21 | Stump-jump multi-divided conductor deicing robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101707341B (en) * | 2009-11-26 | 2011-08-31 | 湖南大学 | Combined type running deicing mechanism of online deicing robot of high-voltage transmission line |
| CN102227075A (en) * | 2011-03-29 | 2011-10-26 | 重庆市电力公司超高压局 | Rapid deicing apparatus of four bundled conductors |
| CN102227066A (en) * | 2011-03-29 | 2011-10-26 | 重庆市电力公司超高压局 | Apparatus used for walking on quad bundled conductors and method for spanning spacers |
| CN102412526A (en) * | 2011-11-17 | 2012-04-11 | 北京国网富达科技发展有限责任公司 | Portable robot system for comprehensive maintenance of power circuit and obstacle-crossing method for portable robot system |
| CN103138219A (en) * | 2011-11-22 | 2013-06-05 | 北京林业大学 | Automatic deicing machine of high-voltage transmission line |
| CN108808552A (en) * | 2018-06-25 | 2018-11-13 | 国网四川省电力公司广元供电公司 | Polling transmission line equipment based on mobile intelligent terminal |
| CN109659891A (en) * | 2018-12-15 | 2019-04-19 | 华南理工大学 | The deicing mechanism and its adaptive regulation method of function are adaptively adjusted with position |
| CN115360665A (en) * | 2022-08-09 | 2022-11-18 | 国网四川省电力公司内江供电公司 | Ice melting device and method for load section of power distribution network power transmission line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2132998Y (en) * | 1992-07-31 | 1993-05-12 | 董剑 | Maintenance test instrument for overhead cable |
| CA2299662A1 (en) * | 2000-02-22 | 2001-08-22 | Serge Montambault | Remote controlled inspection and intervention vehicle for high tension power system |
| CN1317110C (en) * | 2005-06-03 | 2007-05-23 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
| CN201181828Y (en) * | 2008-04-21 | 2009-01-14 | 国网北京电力建设研究院 | Obstacle-detouring multi-fission wire deicing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101707341B (en) * | 2009-11-26 | 2011-08-31 | 湖南大学 | Combined type running deicing mechanism of online deicing robot of high-voltage transmission line |
| CN102227075A (en) * | 2011-03-29 | 2011-10-26 | 重庆市电力公司超高压局 | Rapid deicing apparatus of four bundled conductors |
| CN102227066A (en) * | 2011-03-29 | 2011-10-26 | 重庆市电力公司超高压局 | 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 |
| 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 |
| CN102412526A (en) * | 2011-11-17 | 2012-04-11 | 北京国网富达科技发展有限责任公司 | Portable robot system for comprehensive maintenance of power circuit and obstacle-crossing method for portable robot system |
| CN103138219A (en) * | 2011-11-22 | 2013-06-05 | 北京林业大学 | Automatic deicing machine of high-voltage transmission line |
| CN108808552A (en) * | 2018-06-25 | 2018-11-13 | 国网四川省电力公司广元供电公司 | Polling transmission line equipment based on mobile intelligent terminal |
| CN109659891A (en) * | 2018-12-15 | 2019-04-19 | 华南理工大学 | The deicing mechanism and its adaptive regulation method of function are adaptively adjusted with position |
| CN109659891B (en) * | 2018-12-15 | 2024-04-16 | 华南理工大学 | Deicing mechanism with position self-adaptive adjustment function and self-adaptive adjustment method thereof |
| CN115360665A (en) * | 2022-08-09 | 2022-11-18 | 国网四川省电力公司内江供电公司 | Ice melting device and method for load section of power distribution network power transmission line |
| CN115360665B (en) * | 2022-08-09 | 2024-02-23 | 国网四川省电力公司内江供电公司 | Ice melting device and method for load section of power transmission line of power distribution network |
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