CN101572397B - Deicing mechanism of overhead line deicing robot - Google Patents
Deicing mechanism of overhead line deicing robot Download PDFInfo
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- CN101572397B CN101572397B CN2009100435835A CN200910043583A CN101572397B CN 101572397 B CN101572397 B CN 101572397B CN 2009100435835 A CN2009100435835 A CN 2009100435835A CN 200910043583 A CN200910043583 A CN 200910043583A CN 101572397 B CN101572397 B CN 101572397B
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- deicing
- ice
- opens ice
- awl
- robot
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Abstract
The invention discloses a deicing mechanism of an overhead line deicing robot, which is arranged at the front end of the overhead line deicing robot. The deicing mechanism is characterized in that thefront end of the deicing mechanism is provided with an ice skate pedestal; and the ice skate pedestal is provided with a combined ice skate which is used for deicing in the process of pushing the ove rhead line deicing robot. The deicing mechanism of the overhead line deicing robot also comprises an ice breaking awl sleeve, a retractable ice breaking awl arranged in the ice breaking awl sleeve, anice breaking awl pedestal, a cam, a spring and an ice breaking motor. The deicing mechanism has the advantages of simple structure, practicality, convenient assembly, disassembly and replacement, and good deicing effect, and can be suitable for overhead lines with different ice covering degrees.
Description
Technical field
The invention belongs to overhead line deicing robot research and engineering field, be specifically related to a kind of deicing mechanism of overhead line 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, and the method that adopts artificial deicing inefficiency not only, and power worker's life security has been caused great threat.Therefore, the novel alternative artificial deicing of de-icing method of research just becomes very urgent.
When using overhead line deicing robot to carry out the deicing operation, robot moves along overhead wire by wheeled driving mechanism.In this course, when robot sensor detects when on the circuit of the place ahead icing being arranged, its controller begins to start deicing mechanism, removes the circuit icing, finishes whole deicing action.Deicing mechanism requires can efficiently remove under the prerequisite of overhead wire icing, and its weight should be as far as possible little, and installation, dismounting, easy to maintenance.
Summary of the invention
The objective of the invention is to propose a kind of deicing mechanism of overhead line deicing robot, this mechanism structure is simple, and deicing is effective.
Technical solution of the present invention is as follows:
A kind of deicing mechanism of overhead line deicing robot, be installed on the front end of overhead line deicing robot, it is characterized in that, front end at described deicing mechanism is provided with the skates base, and the combination skates that are used for carrying out in the overhead line deicing robot progradation deicing are installed on described skates base.
The deicing mechanism of described overhead line deicing robot also comprises the tapered sleeve that opens ice, is installed on the interior telescopic awl that opens ice of tapered sleeve that opens ice, opens ice and bore base, cam, spring and the motor that opens ice; The described awl base that opens ice is installed on the front end of overhead line deicing robot, and the described tapered sleeve that opens ice, cam and the motor that opens ice are installed on this awl base that opens ice; The described motor that opens ice connects described cam and drives this cam rotation, and described spring is arranged in the described tapered sleeve that opens ice, and the described awl that opens ice is inserted in the described spring, and described upper end of opening ice awl has a projection that matches with described cam; The described awl that opens ice tilts with respect to overhead wire.
This deicer is arranged at the place ahead of the direction of motion of robot, is made up of combination skates, skates base, the awl that opens ice, the awl base that opens ice, cam, spring, the motor that opens ice.When the combination skates are not placed on the circuit in robot, according to the deicing requirement of circuit, suitable skates group is installed on the skates base by screw, the skates base is fixed on the front of deicing robot body.The awl that opens ice is installed in the awl base cavity pocket that opens ice, and forms certain angle with overhead wire.The awl that opens ice can produce slide relative in the tapered sleeve that opens ice, the awl base that opens ice is fixed on the front of deicing robot body.The deicing motor can be stirred the projection of the terebrantia of opening ice by coupled cam.
When deicing robot is worked, utilize the driving force of himself on overhead transmission line, when advancing, skates are pushed to icing.Because the physical characteristic of ice, as long as the power that applies is enough big, the icing on the overhead wire will burst apart.To detect the place ahead circuit icing blocked up when robot, and in the time of can't directly advancing, controller starts the motor that opens ice.The motor-driven that opens ice cam, the projection of the terebrantia that promotes to open ice moves up the awl that opens ice, thus the compression spring transforms motor power the elastic potential energy of spring.After motor rotated to an angle, the terebrantia projection that opens ice broke away from the double wedge of cam, and spring begins to reply, and it promotes to open ice to bore along the awl base cavity pocket that opens ice and moves, and the elastic potential energy of spring is converted into the kinetic energy of the awl that opens ice.Finish this with the awl front end high-speed impact circuit icing that opens ice at last and take turns the deicing action.When cam continues rotation and promotes to open ice the projection of terebrantia again, then enter the new action of opening ice of next round.When opening ice awl work, robot keeps actuating force to push ahead.
Advantage of the present invention and effect:
Characteristics of the present invention are simple in structure, practical, install, dismantle and change all to make things convenient for, and can adapt to the overhead wire of different icing degree, and deicing is effective.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention;
Fig. 2 is the structural front view of deicing of the present invention;
Fig. 3 is the left view of the structure of deicing of the present invention.
Label declaration:
1, overhead wire 2, combination skates
3, skates base 4, awl opens ice
5, open ice awl base 6, spring
7, cam 8, motor opens ice
9, projection 10, tapered sleeve opens ice
Embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Shown in Fig. 2 and 3, a kind of new deicing mechanism that is used for overhead line deicing robot deicing operation.This deicer is arranged at the front end of robot, is made up of combination skates 2, skates base 3, the awl 4 that opens ice, the awl base 5 that opens ice, spring 6, cam 7, the motor 8 that opens ice, the tapered sleeve 10 that opens ice.Make up the outside that skates 2 link to each other with skates base 3 and are fixed on the front panel of robot.The tapered sleeve 10 that opens ice is installed on the awl base 5 that opens ice, and spring 6 is arranged in the described tapered sleeve 10 that opens ice, and the awl 4 that opens ice is inserted in 4 springs 6, and the upper end of the awl 4 that opens ice has a projection 9 that matches with described cam 7; The awl 4 that opens ice forms certain included angle with overhead wire 1.The awl base 5 that opens ice is fixed in the outside of the front panel of robot.The motor 8 that opens ice can pass through coupled cam 7, stirs the projection of awl 4 afterbodys that open ice.
The course of work can be divided into two parallel threads.Thread 1 is constant operational mode, and robot works after starting automatically in this way.Deicing robot advances by actuating force during work, utilizes skates 2 extruding icing, deicing when advancing.Thread 2 is divided into 4 steps for triggering the circular flow mode.Step 1, when robot detects the place ahead circuit icing when thicker, controller starts the motor 8 that opens ice.Motor 8 driving cams 7 that open ice, cam 7 are stirred the projection of awl 4 afterbodys that open ice, and the awl 4 that opens ice is moved up, thereby make spring 6 produce deformation, motor power are transformed the elastic potential energy of spring.Step 2, after motor 8 rotated to an angle, the awl 4 afterbody projections that open ice broke away from the double wedge of cam 7, spring 6 begins to recover, it promotes to open ice and bores 4, making the awl 4 that opens ice along the awl base 5 cavity directions that open ice (i.e. oblique below, a left side among the figure) motion, the elastic potential energy of spring 6 is converted into the kinetic energy of the awl 4 that opens ice.Step 3, the awl 4 front end high-speed impact circuit icing that open ice by the extruding icing, destroy its structure, reach the purpose of removing or reducing the circuit icing.When cam 7 rotation and during the projection of awl 4 afterbodys that promote again to open ice, then enter step 1, the circulation of a beginning new round.Tail off when robot detects the place ahead circuit icing, when the deicing process was smooth, controller stopped thread 2, enters holding state, and spring 6 keeps relaxed states at this moment, and the motor 8 that opens ice does not start.
Claims (1)
1. the deicing mechanism of an overhead line deicing robot, be installed on the front end of overhead line deicing robot, it is characterized in that, front end at described deicing mechanism is provided with the skates base, and the combination skates that are used for carrying out in the overhead line deicing robot progradation deicing are installed on described skates base;
The deicing mechanism of described overhead line deicing robot also comprises the tapered sleeve that opens ice, is installed on the interior telescopic awl that opens ice of tapered sleeve that opens ice, opens ice and bore base, cam, spring and the motor that opens ice; The described awl base that opens ice is installed on the front end of overhead line deicing robot, and the described tapered sleeve that opens ice is installed on this awl base that opens ice with the motor that opens ice; The described motor that opens ice connects described cam and drives this cam rotation, and described spring is arranged in the described tapered sleeve that opens ice, and the described awl that opens ice is inserted in the described spring, and described upper end of opening ice awl has a projection that matches with described cam; The described awl that opens ice tilts with respect to overhead wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100435835A CN101572397B (en) | 2009-06-03 | 2009-06-03 | Deicing mechanism of overhead line deicing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100435835A CN101572397B (en) | 2009-06-03 | 2009-06-03 | Deicing mechanism of overhead line deicing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101572397A CN101572397A (en) | 2009-11-04 |
| CN101572397B true CN101572397B (en) | 2011-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100435835A Expired - Fee Related CN101572397B (en) | 2009-06-03 | 2009-06-03 | Deicing mechanism of overhead line deicing robot |
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| CN (1) | CN101572397B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101777743B (en) * | 2010-03-30 | 2011-11-30 | 湖南大学 | Intelligent robot for removing ice in high-voltage transmission line |
| CN105552787A (en) * | 2015-12-17 | 2016-05-04 | 李小春 | Multifunctional power supply line polling robot |
| CN110011261B (en) * | 2019-04-19 | 2023-12-05 | 桂林电子科技大学 | Symmetrical hammering type deicing mechanism of overhead line deicing robot |
| CN110311341B (en) * | 2019-06-24 | 2021-01-01 | 四川晟泰电力工程咨询有限公司 | Automatic overhead line deicing robot |
| CN112688264B (en) * | 2021-01-15 | 2022-11-11 | 国网江苏省电力有限公司盐城供电分公司 | Intelligent ice breaking vehicle capable of effectively coping with ice coating of high-altitude cable |
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2009
- 2009-06-03 CN CN2009100435835A patent/CN101572397B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN101572397A (en) | 2009-11-04 |
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| PB01 | Publication | ||
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20110413 Termination date: 20210603 |