CN102228876A - Remote control automatic coating robot for preventing icing on transmission line - Google Patents

Remote control automatic coating robot for preventing icing on transmission line Download PDF

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Publication number
CN102228876A
CN102228876A CN2011101849093A CN201110184909A CN102228876A CN 102228876 A CN102228876 A CN 102228876A CN 2011101849093 A CN2011101849093 A CN 2011101849093A CN 201110184909 A CN201110184909 A CN 201110184909A CN 102228876 A CN102228876 A CN 102228876A
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CN
China
Prior art keywords
remote control
transmission line
hairbrush
robot
coating
Prior art date
Application number
CN2011101849093A
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Chinese (zh)
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CN102228876B (en
Inventor
何守印
张立燕
张雪强
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北京深浪电子技术有限公司
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Priority to CN 201110184909 priority Critical patent/CN102228876B/en
Publication of CN102228876A publication Critical patent/CN102228876A/en
Application granted granted Critical
Publication of CN102228876B publication Critical patent/CN102228876B/en

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Abstract

The invention discloses a remote control automatic coating robot for preventing icing on a transmission line. The robot comprises a trolley body, a control system, a power module, a brush system and a coating system, wherein the upper part of the trolley body is provided with a driving roller and a driven roller; the brush system is arranged on the front of the trolley body; the coating system is arranged on the rear of the trolley body; and the control system is provided with a remote control receiving module. The robot can walk on the transmission line, and can control dual electric spray guns of the trolley body of the robot on the line through a wireless remote control device under the line to automatically coat an anti-icing coating on the surface of an earth wire.

Description

The Remote Control Automatic spray robot of preventing ice coating in electric transmission line
Technical field
The present invention relates to a kind of preventing ice coating in electric transmission line robot, relate in particular to the Remote Control Automatic spray robot of a kind of preventing ice coating in electric transmission line.
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, and have become the subject matter that present electrical network faces.
Multiple de-icing method is arranged in the prior art, as: heating ice-melting method, mechanical deicing's method etc.
Realize the deicing of transmission line of electricity under the prerequisite that the heating ice-melting method need disconnect with electrical network, and, mostly need large-scale supporting deicing device, if accident occurs on the high mountain, vehicle is difficult to pass through, and the operational maintenance of these devices and safeguard it also is a problem;
Mechanical deicing's method mainly is to beat by external force, though simple, can only be icing circuit, lightning conducter and insulator deicing seldom, speed is slow, workload is big and uneconomical, and casualties easily takes place.
Summary of the invention
The purpose of this invention is to provide a kind of can on transmission line of electricity, the walking, and can be to the Remote Control Automatic spray robot of preventing ice coating in electric transmission line of lead wire and earth wire surface spraying antiicing coating.
The objective of the invention is to be achieved through the following technical solutions:
The Remote Control Automatic spray robot of preventing ice coating in electric transmission line of the present invention, comprise car body, the top of described car body is provided with active roller and return idler, comprise control system, power module, hairbrush system and paint finishing, described hairbrush system is located at the front portion of described car body, described paint finishing is located at the rear portion of described car body, and described control system is provided with the remote control receiver module.
As seen from the above technical solution provided by the invention, the Remote Control Automatic spray robot of preventing ice coating in electric transmission line provided by the invention, owing to comprise control system, power module, hairbrush system and paint finishing, the hairbrush system is located at the front portion of car body, paint finishing is located at the rear portion of car body, and control system is provided with the remote control receiver module.Can on transmission line of electricity, walk, and can spray antiicing coating automatically to the lead wire and earth wire surface by two electric spray guns of robot car body on the wireless remote controller control line under the line.
Description of drawings
The structural representation of the Remote Control Automatic spray robot of preventing ice coating in electric transmission line that Fig. 1 provides for the embodiment of the invention.
Among the figure: 1, lead, 2, spray gun, 3, control system, 4, active roller, 5, the hairbrush motor, 6, hairbrush, 7, voltage inverter, 8, battery, 9, car body, 10, air pump, 11, hold the material pond.
The specific embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is described in further detail.
The Remote Control Automatic spray robot of preventing ice coating in electric transmission line of the present invention, its preferable specific embodiment be as shown in Figure 1:
Comprise car body, the top of described car body is provided with active roller and return idler, comprise control system, power module, hairbrush system and paint finishing, described hairbrush system is located at the front portion of described car body, described paint finishing is located at the rear portion of described car body, and described control system is provided with the remote control receiver module.
Described hairbrush system comprises two hairbrush and hairbrush drive motors, and the axis of the following race of described active roller and return idler passes the slit between described two hairbrush.Described paint finishing comprises spray gun, the air pump that two spouts are relative and holds the material pond that the axis of the following race of described active roller and return idler passes the space between the relative spray gun of described two spouts.Like this, when robot is suspended on the lead by active roller and return idler, lead can pass when passing the axis of following race of active roller and return idler two between the hairbrush the slit and the space between the relative spray gun of two spouts.
Described spray gun and hold material and be provided with the coating reflux between the pond.
Described power module comprises battery and voltage inverter, described battery is connected respectively with voltage inverter with described motor-drive circuit, described voltage inverter is connected with described air pump, and described motor-drive circuit is connected respectively with the hairbrush drive motors with the drive motors of described active roller.
The specific embodiment of the Remote Control Automatic spray robot of preventing ice coating in electric transmission line of the present invention, can on transmission line of electricity, walk, and can spray antiicing coating automatically to the lead wire and earth wire surface by two electric spray guns of robot car body on the wireless remote controller control line under the line;
Among the present invention, in order to increase the adhesive force on antiicing coating and lead wire and earth wire surface, be provided with hairbrush system to lead wire and earth wire surface automatically grinding, increase the grinding efficiency of lead wire and earth wire surface dirt dust by the rotating speed of control hairbrush, thereby make antiicing coating and lead wire and earth wire surface that bigger adhesive force be arranged, guarantee to have better anti-icing effect;
At spray gun with hold material and increased the coating reflux between the pond, both guaranteed the thickness requirement of jeting surface coating, save antiicing coating again, do not waste coating;
Whole system is finished by controlled in wireless under programme-control, thereby has guaranteed that the car body speed of service, the spray efficiency of two spray guns and the harmonious orderly of hairbrush polishing carry out.
Use the present invention, coat higher heat conductivity in conductive line surfaces, and have lower capillary hydrophobic and hate ice property coating, reduce the adhesive force between ice and the lead, icing is come off easily by robot.Can overcome the difficulty that heating ice-melting method and mechanical deicing's method are brought, thereby the long-term operation and the electrical network that guarantee the transmission line of electricity safety and stability are powered reliably.
Below by specific embodiment structure of the present invention and operation principle are described in detail:
As shown in Figure 1, mainly comprise car body, control system, power module (battery, voltage inverter), hold parts such as material pond, spray gun, air pump and hairbrush, each functional module is interrelated, forms whole spraying robot robot system.
Below each functional module is introduced respectively in detail:
Car body: car body is the skeleton of deicing robot on the line, is the installation carrier of each functional module; Car body is suspended on the electric wire by two scroll wheels (main scroll wheel and from scroll wheel), is the beaer of whole system;
Power module: power module comprises battery and voltage inverter, and battery is the energy storage element of deicing robot on the line, and it offers control system with a 24V direct current part, is used for driving direct current generator; In addition, battery offers voltage inverter with the 24V direct current, and voltage inverter output 220V alternating current drives air pump.
Control system: control system is by comprising parts such as master board, motor-drive circuit, remote control receiver module and sensor.Master board receives the instruction that remote controller sends, and carries out corresponding action, such as advance on the line, retreat, air pump is opened and close, hairbrush rotates and other functions.Sensor is used for detecting each position signalling, avoids the car body misoperation.
The hairbrush system: the hairbrush system comprises hairbrush and hairbrush drive motors.Electric wire is positioned in the middle of two hairbrush, and the hairbrush motor is according to the instruction rotation of control panel, to remove attached to the dust on the electric wire and other dirts, for the coating spraying is got ready.
Paint finishing: paint finishing comprises spray gun, air pump, holds material pond and pipeline etc.Air pump receiving control system instruction, the 220V alternating current that the attrition voltage inverter provides provides the pressed gas of 60PSI, coating is drawn out when pressed gas flows through spray gun, is sprayed on the electric wire.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.

Claims (6)

1. Remote Control Automatic spray robot of preventing ice coating in electric transmission line, comprise car body, the top of described car body is provided with active roller and return idler, it is characterized in that, comprise control system, power module, hairbrush system and paint finishing, described hairbrush system is located at the front portion of described car body, and described paint finishing is located at the rear portion of described car body, and described control system is provided with the remote control receiver module.
2. the Remote Control Automatic spray robot of preventing ice coating in electric transmission line according to claim 1, it is characterized in that, described hairbrush system comprises two hairbrush and hairbrush drive motors, and the axis of the following race of described active roller and return idler passes the slit between described two hairbrush.
3. the Remote Control Automatic spray robot of preventing ice coating in electric transmission line according to claim 2, it is characterized in that, described paint finishing comprises spray gun, the air pump that two spouts are relative and holds the material pond that the axis of the following race of described active roller and return idler passes the space between the relative spray gun of described two spouts.
4. the Remote Control Automatic spray robot of preventing ice coating in electric transmission line according to claim 3 is characterized in that, described spray gun and hold material and be provided with the coating reflux between the pond.
5. the Remote Control Automatic spray robot of preventing ice coating in electric transmission line according to claim 3 is characterized in that described control system also comprises master board, motor-drive circuit, sensor.
6. the Remote Control Automatic spray robot of preventing ice coating in electric transmission line according to claim 5, it is characterized in that, described power module comprises battery and voltage inverter, described battery is connected respectively with voltage inverter with described motor-drive circuit, described voltage inverter is connected with described air pump, and described motor-drive circuit is connected respectively with the hairbrush drive motors with the drive motors of described active roller.
CN 201110184909 2011-07-01 2011-07-01 Remote control automatic coating robot for preventing icing on transmission line CN102228876B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201110184909 CN102228876B (en) 2011-07-01 2011-07-01 Remote control automatic coating robot for preventing icing on transmission line

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201110184909 CN102228876B (en) 2011-07-01 2011-07-01 Remote control automatic coating robot for preventing icing on transmission line

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CN102228876A true CN102228876A (en) 2011-11-02
CN102228876B CN102228876B (en) 2013-09-18

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102637488A (en) * 2012-04-18 2012-08-15 山西省电力公司太原供电分公司 Insulation spraying device of overhead bare wire
CN103184404A (en) * 2011-12-31 2013-07-03 上海沪能防腐隔热工程技术有限公司 Movable automatic metal spraying apparatus
CN103611645A (en) * 2013-12-09 2014-03-05 常州韩清机电科技有限公司 Extrusion type automatic high-viscosity insulating varnish spraying teleoperator for overhead power transmission line
CN103611652A (en) * 2013-11-17 2014-03-05 国家电网公司 Insulating paint spraying device of overhead bare wire power transmission line
CN103944102A (en) * 2014-03-29 2014-07-23 国家电网公司 Overhead transmission line cleaning robot
CN103934139A (en) * 2014-03-29 2014-07-23 国家电网公司 Insulating varnish automatic spray painting robot for overhead transmission line
CN104600622A (en) * 2014-12-20 2015-05-06 张萍 Intelligent barrier cleaning device for high-voltage power transmission line of power grid
CN103094871B (en) * 2013-02-05 2015-06-17 桂林电子科技大学 Anticing device of power transmission line and application method
CN105470901A (en) * 2015-12-16 2016-04-06 桂林电子科技大学 Outdoor overhead power transmission line deicing robot
CN105709974A (en) * 2016-04-22 2016-06-29 国网福建省电力有限公司 Automatic spraying equipment for overhead power transmission line
CN105728239A (en) * 2016-04-22 2016-07-06 泉州智勇达电气有限责任公司 Automatic spraying robot for overhead transmission line
CN103611645B (en) * 2013-12-09 2016-11-30 常州韩清机电科技有限公司 Squash type overhead power transmission line high-viscosity insulating paint sprays teleoperator automatically
CN106786302A (en) * 2016-12-16 2017-05-31 张萍 A kind of power line cables ice-removing and snow-cleaning equipment for power domain
CN106890759A (en) * 2017-03-06 2017-06-27 南通中港涂装设备有限公司 Round-the-clock Anti-icing of Transmission Lines paint spraying robot
CN106994425A (en) * 2017-03-23 2017-08-01 西北工业大学 A kind of automatic painting device for C/C material surfaces
CN110420780A (en) * 2019-07-19 2019-11-08 国网上海市电力公司 A kind of walking mechanism for overhead bare conductor coating unit
CN111570134A (en) * 2020-04-28 2020-08-25 湖北工业大学 Anti-icing cable intelligent spraying robot convenient to hoist and mount counterpoint
CN111786346A (en) * 2020-07-31 2020-10-16 苗竹 Communication cable for high-tolerance laying

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CN101304168A (en) * 2008-03-27 2008-11-12 浙江科技学院 Method for preventing ice and snow calamity of overhead transmission line
CN101320899A (en) * 2008-03-28 2008-12-10 张福生 Deicing machine for aerial cable
US20090250449A1 (en) * 2008-04-02 2009-10-08 The Trustees Of Dartmouth College System And Method For Deicing Of Power Line Cables
CN101557089A (en) * 2008-04-09 2009-10-14 国网北京电力建设研究院 Conducting wire deicing method and device for high-voltage transmission line
US20100225546A1 (en) * 2007-05-14 2010-09-09 Kazufumi Ogawa Icing and snow accretion preventive insulator, electric wire, and antenna, method for manufacturing them, and transmission line tower using them
CN202146840U (en) * 2011-07-01 2012-02-22 北京深浪电子技术有限公司 Ice-covering-proof remote control automatic spraying robot of transmission line

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100225546A1 (en) * 2007-05-14 2010-09-09 Kazufumi Ogawa Icing and snow accretion preventive insulator, electric wire, and antenna, method for manufacturing them, and transmission line tower using them
CN101304168A (en) * 2008-03-27 2008-11-12 浙江科技学院 Method for preventing ice and snow calamity of overhead transmission line
CN101320899A (en) * 2008-03-28 2008-12-10 张福生 Deicing machine for aerial cable
US20090250449A1 (en) * 2008-04-02 2009-10-08 The Trustees Of Dartmouth College System And Method For Deicing Of Power Line Cables
CN101557089A (en) * 2008-04-09 2009-10-14 国网北京电力建设研究院 Conducting wire deicing method and device for high-voltage transmission line
CN202146840U (en) * 2011-07-01 2012-02-22 北京深浪电子技术有限公司 Ice-covering-proof remote control automatic spraying robot of transmission line

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103184404A (en) * 2011-12-31 2013-07-03 上海沪能防腐隔热工程技术有限公司 Movable automatic metal spraying apparatus
CN102637488A (en) * 2012-04-18 2012-08-15 山西省电力公司太原供电分公司 Insulation spraying device of overhead bare wire
WO2013155653A1 (en) * 2012-04-18 2013-10-24 山西省电力公司太原供电分公司 Insulation spraying device for overhead bare wire
CN102637488B (en) * 2012-04-18 2014-01-15 国家电网公司 Insulation spraying device of overhead bare wire
CN103094871B (en) * 2013-02-05 2015-06-17 桂林电子科技大学 Anticing device of power transmission line and application method
CN103611652A (en) * 2013-11-17 2014-03-05 国家电网公司 Insulating paint spraying device of overhead bare wire power transmission line
CN103611645A (en) * 2013-12-09 2014-03-05 常州韩清机电科技有限公司 Extrusion type automatic high-viscosity insulating varnish spraying teleoperator for overhead power transmission line
CN103611645B (en) * 2013-12-09 2016-11-30 常州韩清机电科技有限公司 Squash type overhead power transmission line high-viscosity insulating paint sprays teleoperator automatically
CN103944102A (en) * 2014-03-29 2014-07-23 国家电网公司 Overhead transmission line cleaning robot
CN103934139A (en) * 2014-03-29 2014-07-23 国家电网公司 Insulating varnish automatic spray painting robot for overhead transmission line
CN103944102B (en) * 2014-03-29 2016-08-17 国家电网公司 Overhead transmission line cleaning robot
CN104600622A (en) * 2014-12-20 2015-05-06 张萍 Intelligent barrier cleaning device for high-voltage power transmission line of power grid
CN104600622B (en) * 2014-12-20 2017-04-05 佛山市诚电电力工程有限公司 Electrical network ultra-high-tension power transmission line intelligence barrier clearing device
CN105470901A (en) * 2015-12-16 2016-04-06 桂林电子科技大学 Outdoor overhead power transmission line deicing robot
CN105470901B (en) * 2015-12-16 2017-08-08 桂林电子科技大学 Outdoor overhead transmission line deicing robot
CN105709974B (en) * 2016-04-22 2018-06-15 国网福建省电力有限公司 A kind of overhead transmission line automatic spraying equipment
CN105728239A (en) * 2016-04-22 2016-07-06 泉州智勇达电气有限责任公司 Automatic spraying robot for overhead transmission line
CN105709974A (en) * 2016-04-22 2016-06-29 国网福建省电力有限公司 Automatic spraying equipment for overhead power transmission line
CN106786302A (en) * 2016-12-16 2017-05-31 张萍 A kind of power line cables ice-removing and snow-cleaning equipment for power domain
CN106786302B (en) * 2016-12-16 2018-05-22 亓富军 A kind of power line cables ice-removing and snow-cleaning equipment for power domain
CN106890759A (en) * 2017-03-06 2017-06-27 南通中港涂装设备有限公司 Round-the-clock Anti-icing of Transmission Lines paint spraying robot
CN106994425A (en) * 2017-03-23 2017-08-01 西北工业大学 A kind of automatic painting device for C/C material surfaces
CN106994425B (en) * 2017-03-23 2019-01-25 西北工业大学 A kind of automatic painting device for C/C material surface
CN110420780A (en) * 2019-07-19 2019-11-08 国网上海市电力公司 A kind of walking mechanism for overhead bare conductor coating unit
CN111570134A (en) * 2020-04-28 2020-08-25 湖北工业大学 Anti-icing cable intelligent spraying robot convenient to hoist and mount counterpoint
CN111786346A (en) * 2020-07-31 2020-10-16 苗竹 Communication cable for high-tolerance laying

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