CN102270822A - Robot for automatic deicing of transmission line - Google Patents

Robot for automatic deicing of transmission line Download PDF

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Publication number
CN102270822A
CN102270822A CN2011102457499A CN201110245749A CN102270822A CN 102270822 A CN102270822 A CN 102270822A CN 2011102457499 A CN2011102457499 A CN 2011102457499A CN 201110245749 A CN201110245749 A CN 201110245749A CN 102270822 A CN102270822 A CN 102270822A
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CN
China
Prior art keywords
lifting arm
transmission line
clamping
robot
box
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Granted
Application number
CN2011102457499A
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Chinese (zh)
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CN102270822B (en
Inventor
张屹
朱大林
曾俊平
覃进一
韩俊
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China Three Gorges University CTGU
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China Three Gorges University CTGU
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Priority to CN 201110245749 priority Critical patent/CN102270822B/en
Publication of CN102270822A publication Critical patent/CN102270822A/en
Application granted granted Critical
Publication of CN102270822B publication Critical patent/CN102270822B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention relates to a robot for the automatic deicing of a transmission line. In the invention, a first walking box and a second walking box are connected through a second screw and nut mechanism; a screw in the second screw and nut mechanism is installed on the first walking box; the lower end of a clamping device is connected with a first screw and nut mechanism through screw threads; the first walking box is connected with a first lifting arm device through a rotating device capable of enabling a device installed on the first lifting arm device to rotate at a certain angle; the second walking box is connected with a second lifting arm device through the rotating device capable of enabling the device installed on the second lifting arm device to rotate at a certain angle; deicing devices and walking devices for driving the whole device to walk are arranged on the first lifting arm device and the second lifting arm device; the first lifting arm device and the second lifting arm device are arranged at the two ends of the whole walking box; and the clamping device is arranged between the first lifting arm device and the second lifting arm device. The robot for the automatic deicing of the transmission line provided by the invention can reliably realize the deicing on a high voltage transmission line and can be convenient and reliable to clear obstacles.

Description

Be used for the transmission line ice self-removing robot
Technical field
The present invention relates to a kind of deicer of ultra-high-tension power transmission line, particularly a kind of be used for ultra-high-tension power transmission line be used for the transmission line ice self-removing robot.
Background technology
Along with China's rapid development of economy, superhigh pressure large capacity transmission circuit is built more and more, and the geographical environment that the circuit corridor is passed through is complicated more, as through large-area reservoir, lake and high and steep mountains, brings a lot of difficulties to line upkeep.The existing 500Vk extra high voltage network of China is counted roughly 270,000 kilometers, is the operation that guarantees that it is safe and reliable, regularly detects with maintenance very necessary.
In severe winter and season in the early spring, rime and glaze phenomenon often appear in China Yunnan-Guizhou Plateau, one band and area, Hubei and Hunan Provinces, Sichuan and Shanxi, cause coated by ice of overhead power transmission line, make that circuit is waved, flashover, burn, even broken string falls bar, electric network composition is destroyed, and safe operation is subjected to serious threat.The icing that took place in 2003~2005 years has just threatened the stable operation and the reliable power supply of electrical network, suffered icing disaster the most serious over nearly more than 50 years in 2008 again, disaster-stricken scope has provinces such as Hubei, Sichuan, Guizhou, Guangxi, Anhui, Jiangxi, Hunan and Zhejiang, the tens billion of units of direct economic loss, because of the loss that electric network from collapsing causes inestimable especially.In case of emergency hunting person can only be a part of icing circuit deicing seldom with hot stick or other similar insulating rod, and artificial deicing has very high danger.Therefore, to icing and anti-icing Study on Technology, the safe operation that improves power circuit had positive effect and using value.
In order to guarantee the reliability of electric power system, improve the efficient of deicing, to reduce the loss, surfaceman's safety is developed a kind of deicing high-voltage power transmission line robot and is carried out the ultra-high-tension power transmission line icing and administer operation, has become the focus of correlative study both at home and abroad at present.
Existing deicer exists insoluble technical problem to be obstacle detouring, promptly how to make the stockbridge damper on the device leap high voltage transmission line, wire clamp, and barriers such as insulator, and have the certain climbing ability.
ZL201010128239.9 discloses a kind of " along the robot of aerial high-voltage power transmission line automatic de-icing ", can be implemented in the task of deicing on the high voltage transmission line, and there is the problem of centre-of gravity shift in the problem of existence when being obstacle detouring, and obstacle detouring is reliable inadequately.
ZL200910301757.3 discloses a kind of " deicer for overhead transmission lines ", adopted telescopic arm to cooperate the structure of clamping device to realize obstacle detouring, the problem that exists is, because clamping device is positioned at two ends, structural redundancy has increased weight, and there is on the high voltage transmission line of an end ice and snow also remove, the clamping dyskinesia of clamping device, thus may cause the obstacle detouring failure; Adopt the structure of single stand, then body length is to guarantee enough strokes, needs length longer, has increased the volume of device; Clamping device adopts the electromagnetism clamping mode, and clamping force exists not enough, and obstacle detouring is unreliable.
Summary of the invention
Technical problem to be solved by this invention provides a kind of transmission line ice self-removing robot that is used for, and can be implemented in and realizes deicing and reliable obstacle detouring on the high voltage transmission line.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of transmission line ice self-removing robot that is used for, the first walking case is connected by the second bolt and nut mechanism with the second walking case, and the clamping device lower end is connected with the first bolt and nut mechanism by screw thread;
The first walking case is connected with the first lifting arm device by the whirligig that can make device mounted thereto and rotate to an angle, and second case of walking is connected with the second lifting arm device by the whirligig that can make device mounted thereto and rotate to an angle;
The first lifting arm device and/or the second lifting arm device are provided with deicer, and the first lifting arm device and the second lifting arm device are provided with the running gear that is used to drive whole device walking;
The first lifting arm device and the second lifting arm device are positioned at the position at whole walking case two ends, in the middle of clamping device is positioned at;
Also be provided with electric control gear on the walking case.
In the described clamping device, the column upper end is provided with first clamp jaw and second clamp jaw, connects by clamping screw between first clamp jaw and second clamp jaw, and the clamping device motor is connected with clamping screw by the clamping device gear train.
In the described clamping device, column lower end is provided with the screwed hole that cooperates with screw rod in the first bolt and nut mechanism.
In the described first lifting arm device and the second lifting arm device, connect by the elevating screw nut body between top box and the nowel;
Described running gear and deicer are installed on the top box.
Described top box is provided with box pin, and described nowel is provided with down box pin, and the middle part that following box pin passes top box chute and auxiliary depression bar is hinged, and last box pin and depression bar chute are slidingly matched.
In the described whirligig, the whirligig motor is connected with rotating shaft by the whirligig gear train;
Movable motor is connected with road wheel in the described running gear.
In the described deicer, the deicing motor with remove skates and be connected, remove the skates rear side and be provided with scraping slab and preventing the guide wheel of milling cutter damage high voltage transmission line of wedgewise.
In the described electric control gear, the operating grip module is electrically connected with the input of main control module by wireless mode, and trigger switch is electrically connected with the input of main control module, and the output of main control module is electrically connected with motor drive module.
Described trigger switch comprises travel switch and the optoelectronic switch that is installed on the whole device.
Described electric control gear adopts duplicate supply, and one of them power supply is the deicer power supply separately.
A kind of transmission line ice self-removing robot that is used for provided by the present invention, can realize the deicing on the high voltage transmission line reliably, and run into barrier, for example obstacle detouring that can be convenient and reliable behind stockbridge damper, wire clamp, the insulator etc. also is convenient to realize remote manual or control automatically by electric control gear.The concrete beneficial effect of various mechanism of the present invention and combination thereof is further described below.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples:
Fig. 1 is a front view of the present invention.
Fig. 2 is an end view of the present invention.
Fig. 3 is a vertical view of the present invention.
Fig. 4 is the stereogram of rotating mechanism among the present invention.
Fig. 5 is the vertical view of walking case among the present invention.
Fig. 6 is the stereogram of walking case among the present invention.
Fig. 7 is the stereogram of walking mechanism among the present invention.
Fig. 8 is the stereogram of lifting arm device among the present invention.
Fig. 9 is the stereogram of the nowel of lifting arm device among the present invention.
Figure 10 is the stereogram of the top box of lifting arm device among the present invention.
Figure 11 is the stereogram of clamping device among the present invention.
Figure 12 is the stereogram of deicer among the present invention.
Figure 13 is the circuit diagram of operating grip module among the present invention.
Figure 14 is the circuit diagram of motor drive module among the present invention.
Figure 15 is the circuit diagram of main control module among the present invention.
Embodiment
In Fig. 1-3, a kind of transmission line ice self-removing robot that is used for, the first walking case 71 is connected by the second bolt and nut mechanism 74 with the second walking case 72, screw rod in the second bolt and nut mechanism 74 is installed on the first walking case 71, the top of the second bolt and nut mechanism 74 also is provided with the first bolt and nut mechanism 73, and clamping device 3 lower ends are connected with the first bolt and nut mechanism 73 by screw thread; For reducing frictional force, part bolt and nut mechanism has adopted ball screw nut mechanism in this example.
The first walking case 71 is connected with the first lifting arm device 2 by the whirligig 1 that can make device mounted thereto and rotate to an angle, and second case 72 of walking is connected with the second lifting arm device 2' by the whirligig 1 that can make device mounted thereto and rotate to an angle;
The first lifting arm device 2 and/or the second lifting arm device 2' are provided with deicer 5, the first lifting arm devices 2 and the second lifting arm device 2' is provided with the running gear 4 that is used to drive whole device walking; Promptly for occasion, can be only deicer be installed at one end the lifting arm device, to alleviate whole weight without two-way operation.
The first lifting arm device 2 and the second lifting arm device 2' are positioned at the position at whole walking case 7 two ends, in the middle of clamping device 3 is positioned at.
In the described clamping device 3, column 31 upper ends are provided with first clamp jaw 34 and second clamp jaw 36, connect by clamping screw 35 between first clamp jaw 34 and second clamp jaw 36, clamping device motor 32 is connected with clamping screw 35 by clamping device gear train 33.First clamp jaw 34 and second clamp jaw 36 be provided with two kinds of schemes, one of be first clamp jaw 34 for fixing, and second clamp jaw 36 be activity.Another kind of scheme is that first clamp jaw 34 and second clamp jaw 36 all cooperate with column 31 upper ends by chute, promptly first clamp jaw 34 and second clamp jaw 36 all can only move in opposite directions along column 31 upper surfaces, and the clamping screw 35 that connects them adopts the two threaded screw rods of double end, the thread rotary orientation that is clamping screw 35 two ends is opposite, like this when clamping screw 35 unidirectional rotations, first clamp jaw 34 and second clamp jaw 36 are for deviating from motion in opposite directions or mutually.
In Figure 11, in the described clamping device 3, column 31 lower ends are provided with the screwed hole that cooperates with screw rod in the first bolt and nut mechanism 73.By this structure, the first walking case 71, can form relative motion between the second walking case 72 and the clamping device 3 along straight line, particularly when the motor when the first bolt and nut mechanism 73 rotates, can drive the screw rod operation of clamping device 3 along the first bolt and nut mechanism 73, increased the obstacle climbing ability of single unit system like this, in some occasion of skidding especially, can adopt clamping device 3 auxiliary walkings, after for example clamping device 3 clamps high voltage transmission line, the motor rotation of the first bolt and nut mechanism 73, walking case 7 integral body forward, unclamp the motor reverse rotation of clamping device 3, the first bolt and nut mechanisms 73 after putting in place, clamping device 3 is run to the other end, circulation according to this, thus overcome the position that some skid especially on the high voltage transmission line.The inboard of first clamp jaw 34 and second clamp jaw 36 all is provided with avoids the flexible material that skids, for example rubber.
Also be slidingly connected between the described clamping device 3 and the first walking case 71 by guide rail mechanism 76.Also be slidingly connected between the first walking case 71 and the second walking case 72 by guide rail mechanism.
In Fig. 1, Fig. 2, Fig. 8-Figure 10, among the described first lifting arm device 2 and the second lifting arm device 2', connect by elevating screw nut body 23 between top box 21 and the nowel 22.Rotating band movable wire thick stick rotation by lifting motor 24, thereby drive the top box 21 realization lifting actions that are connected with nut in the elevating screw nut body 23, for guaranteeing the smooth and reliable of elevating movement, preferably between top box 21 and nowel 22, the guide rail slide block mechanism is set.
Described running gear 4 and deicer 5 are installed on the top box 21.
In Fig. 2, described top box 21 is provided with box pin 29, and described nowel 22 is provided with down box pin 26, and it is hinged with the middle part of auxiliary depression bar 25 that following box pin 26 passes top box chute 27, and last box pin 29 is slidingly matched with depression bar chute 28.Adopt this structure, when top box 21 descends, auxiliary depression bar 25 can be to the direction rotation of road wheel 41, touch high voltage transmission line up to auxiliary depression bar 25, and, make the friction between high voltage transmission line and the road wheel 41 reliable to its certain pressure of exerting pressure, avoided skidding, the effect of auxiliary depression bar 25 also is and can prevents that another lifting arm road wheel of robot upwards is lifted away from high voltage transmission line when a lifting arm lifting obstacle detouring.In the race of road wheel 41, all be provided with the elastomeric material that increases frictional force.Assisting depression bar 25 and high voltage transmission line position contacting to be provided with the nylon material of less friction, promptly can avoid damaging high voltage transmission line, also reduced the frictional force of 25 pairs of high voltage transmission lines of auxiliary depression bar.The scheme of optimizing is with the high voltage transmission line position contacting roller to be set at auxiliary depression bar 25.
In Fig. 4, in the described whirligig 1, whirligig motor 12 is connected with rotating shaft 11 by whirligig gear train 13.Whirligig motor 12 drives rotating shaft 11 according to control signal and rotates to an angle, thereby drive the first lifting arm device 2 mounted thereto and the second lifting arm device 2' rotates to an angle, thereby the top that makes running gear 4 on the first lifting arm device 2 and the second lifting arm device 2' and deicer 5 leave high voltage transmission line, be Rotate 180 ° in this example, do not form interference thereby make between running gear 4 and deicer 5 and the barrier.
In Fig. 7, movable motor 42 is connected with road wheel 41 by reducing gear in the described running gear 4.Movable motor 42 rotations drive road wheel 41 rotations, walk thereby be implemented on the high voltage transmission line.Reducing gear all places motor internal herein.
In Figure 12, in the described deicer 5, deicing motor 51 with remove skates 52 and be connected,, remove skates (52) rear side and be provided with scraping slab 53 and playing the guide wheel 6 that position-limiting action prevents milling cutter damage high voltage transmission line of wedgewise.The slab of scraping that employing " U " shape is also arranged after except that skates 52 ice sheet being broken, by the slab of scraping of " U " shape the ice of both sides is wiped off, but the problem that exists is comparatively to require great effort, and makes road wheel 41 occur skidding easily.Adopted the deicing mode of optimizing according to the more crisp characteristic of ice sheet in this example, at first above ice sheet, open a groove by removing skates 52, enter in the groove by the slab 53 of scraping of overlooking wedgewise then, with the slab 53 scraped of wedge shape ice sheet is cracked, thereby break ice sheet with less power.
The guide wheel 6 that is provided with has the effect that removes skates 52 damage high voltage transmission lines that prevents deicer 5, this is because after the high voltage transmission line load-bearing, the crooked amplitude of possibility is bigger, this also is the reason of shortening self length why the present invention need try one's best, bigger crooked amplitude may cause removing skates 52 damage high voltage transmission lines, for avoiding this situation to occur, between running gear 4 and deicer 5, be provided with guide wheel 6 near the position of removing skates 52, the lower edge of this guide wheel 6 is a little less than the lower end of removing skates 52, thereby make lower end and high voltage transmission line remain certain distance, avoid damaging high voltage transmission line except that skates 52.
Also be provided with electric control gear 8 on the walking case.Be that electric control gear 8 is installed on the first walking case 71 or the second walking case 72.
In Figure 13-Figure 15, in the described electric control gear 8, the operating grip module is electrically connected with the input of main control module by wireless mode, and trigger switch is electrically connected with the input of main control module, and the output of main control module is electrically connected with motor drive module.Concrete principle is: the operating grip module converts switching signal to digital signal and sends to main control module by wireless mode, after main control module receives the signal of operating grip module, converting control signal to sends in the motor drive module, drive each motor operation, thereby driven by motor mechanical mechanism of the present invention is realized various functions, when each mechanical structure arrives preposition, the trigger switch action, be travel switch and the optoelectronic switch in this example, main control module sends new instruction again to motor drive module after collecting the signal of trigger switch.The a plurality of control commands that realize obstacle detouring can be combined into by single order by programming, the signal that sends when touching barrier by the single control button input instruction of manual input or by the trigger switch that is located at the device front end starts this program, thereby realizes manually or automatically controlling.
In this example, operating grip module master chip adopts ATMEGA16L-8AC, motor drive module adopts the light-coupled isolation mode to drive, two-way chip for driving MC33886, and adopt gate circuit to realize electrical interlocks, thereby improve the security performance of single unit system, the main control module master chip adopts ATMEGA16L-8AC.
Described trigger switch comprises travel switch and the optoelectronic switch that is installed on the whole device.It is that the travel switch of KW4-0Z-B123013L1 and optoelectronic switch that model is ITR8102 are controlled the robot motion that the present invention adopts model.The upper and lower case relative position stroke of the first walking case 71, second walking case 72, clamping device 3 and the first lifting arm device 2 and the second lifting arm device 2' adopts travel switch control; The arm anglec of rotation that drives whirligig 1 adopts optoelectronic switch control.Wherein travel switch relatively is installed in each mechanism default extreme position in service; Optoelectronic switch then is to be realized cooperating with two optoelectronic switches by the contact plate that is installed on the rotating shaft 11, thereby obtains the position signalling of mechanism's rotation.
Described electric control gear 8 adopts duplicate supply, and one of them power supply is separately deicer 5 power supplies.
Ice detachment of the present invention
When robot when not running into barrier such as stockbridge damper, insulator, do not need to start the obstacle detouring function, directly deicing gets final product.Concrete ice detachment is as follows:
Initial condition: the first lifting arm device 2 and the second lifting arm device 2' are in contraction state; Be in open configuration between first clamp jaw 34 of clamping device 3 and second clamp jaw 36;
Position with the drive motors place of the first bolt and nut mechanism 73 in this example is the rear, and the first lifting arm device 2 is installed on the first walking case 71.
Start the deicing motor 51 on the second lifting arm device 2', remove skates 52 fast rotational and begin deicing, start the first lifting arm device 2 and the second lifting arm device 2' and go up movable motor 42, road wheel 41 rotations, in the process of advancing, remove skates 52 cutting icing, make crack of ice cube embrittlement, the slab 53 scraped of wedge shape makes ice cracking along the crack, thereby removes icing.
Obstacle detouring process under the barrier is arranged
When in the present invention is advancing process, running into barrier such as stockbridge damper, insulator, need to start the obstacle detouring function.Concrete obstacle detouring process is as follows:
Initial condition: the first lifting arm device 2 and the second lifting arm device 2' are in contraction state; Be in open configuration between first clamp jaw 34 of clamping device 3 and second clamp jaw 36; Proceed to the second lifting arm device 2' apart from the about 10mm of barrier this moment, the operating grip module is sent clamping device displacement motor 77 rotations that instruction drives the first bolt and nut mechanism 73, clamping device 3 is to the direction operation of the second lifting arm device 2', triggering travel switch until near the second lifting arm device 2' time stops, the operating grip module is sent instruction and is driven lifting motor 24 operations, the first lifting arm device 2 and the second lifting arm device 2' are contracted to when clamping device can clip to high voltage transmission line and stop, the operating grip module is sent clamping device motor 32 operations that instruction drives clamping device 3, first clamp jaw 34 and second clamp jaw 36 clamp high voltage transmission line, be triggered until travel switch, clamping device motor 32 is out of service.
The operating grip module is sent lifting motor 24 operations that instruction drives the second lifting arm device 2', elevating screw nut body 23 drives top box 21 and rises, running gear 4 on the top box 21 and deicer 5 all rise thereupon and leave high voltage transmission line, auxiliary simultaneously depression bar 25 also unclamps, and stops when top box 21 touching travel switches.
The operating grip module is sent whirligig motor 12 operations in the whirligig 1 that instruction drives second lifting arm device 2' below, rotating shaft 11 rotations, drive the whole Rotate 180 of the second lifting arm device 2' °, leave the high voltage transmission line top, on rotating shaft 11, be provided with contact plate, this contact plate cooperates with two optoelectronic switches of 180 ° of installations of distance on circumference, promptly when rotating shaft 11 Rotate 180s °, contact plate promptly cuts off the light path of one of them optoelectronic switch, thereby this optoelectronic switch sends signal, after main control module receives switching signal, transmit control signal the operation of the device motor 12 that stops the rotation.
The operating grip module is sent walking case motor 75 operations that instruction drives the second bolt and nut mechanism 74, drive the second walking case 72 and stretch out the cut-through thing forward, whirligig motor 12 operations in the whirligig 1 of second lifting arm device 2' below, rotating shaft 11 rotation drives the whole Rotate 180 of the second lifting arm device 2' and ° gets back to the high voltage transmission line top.The stopping of walking case motor 75, whirligig motor 12 repeats no more by trigger switch control herein.
The operating grip module is sent lifting motor 24 inverted runnings that instruction drives the second lifting arm device 2', elevating screw nut body 23 drives top box 21 and descends, running gear 4 on the top box 21 and deicer 5 all drop on the high voltage transmission line thereupon, and auxiliary simultaneously depression bar 25 also compresses high voltage transmission line.
The operating grip module is sent clamping device motor 32 inverted runnings that instruction drives clamping device 3, and first clamp jaw 34 and second clamp jaw 36 unclamp high voltage transmission line, stop when touching travel switch.
The lifting motor 24 that the operating grip module is sent the instruction driving first lifting arm device 2 and the second lifting arm device 2' moves simultaneously, the top box 21 of the first lifting arm device 2 and the second lifting arm device 2' is risen simultaneously, be that clamping device 3 falls thereupon, avoid 36 pairs of obstacle detourings of first clamp jaw 34 and second clamp jaw to form and interfere.
The operating grip module is sent the running gear 4 that instruction drives on the first lifting arm device 2 and the second lifting arm device 2' and move simultaneously, and walking case 7 integral body are advanced, until the first lifting arm device 2 apart from apart from the about 10mm of barrier.This moment, clamping device 3 cleared the jumps.
The operating grip module is sent clamping device displacement motor 77 operations that instruction drives the first bolt and nut mechanism 73, drives clamping device 3 to the direction near the second lifting arm device 2'.Before once when the second lifting arm device 2' because the second lifting arm device 2' does not also stretch out, and after the present second lifting arm device 2' stretched out, the space of the second lifting arm device 2' originally is just empty came out, so that clamping device 3 can continue is close.
The lifting motor 24 that the operating grip module is sent the instruction driving first lifting arm device 2 and the second lifting arm device 2' moves simultaneously, and the top box 21 of the first lifting arm device 2 and the second lifting arm device 2' is descended simultaneously, and promptly clamping device 3 rises thereupon.
Clamping device motor 32 operations of clamping device 3, first clamp jaw 34 and second clamp jaw, 36 move toward one another clamp high voltage transmission line until clamping device 3.
The operating grip module is sent the top box 21 that instruction drives the first lifting arm device 2 and is risen, and Rotate 180 ° makes running gear 4 and deicer 5 on the first lifting arm device 2 leave the high voltage transmission line top.
The operating grip module is sent the walking case motor 75 of the instruction driving second bolt and nut mechanism 74 and the drive motors of the first bolt and nut mechanism 73 rotates simultaneously, the first walking case 71 is to the direction operation of the second walking case 72, the first lifting arm device 2 on the first walking case 71 surmounts obstacles, whirligig 1 Rotate 180 of the first lifting arm device, 2 belows ° drives the first lifting arm device 2 and gets back to the high voltage transmission line top.
The operating grip module is sent lifting motor 24 inverted runnings that instruction drives the first lifting arm device 2, elevating screw nut body 23 drives top box 21 and descends, running gear 4 on the top box 21 and deicer 5 all drop on the high voltage transmission line thereupon, and auxiliary simultaneously depression bar 25 also compresses high voltage transmission line.
Realize whole obstacle detouring of the present invention by above-mentioned steps.In practical work process, the present invention finishes the deicing task of high voltage transmission line by the cooperation of deicing action and obstacle detouring action.The mode of describing in this example for manually controlling, but programming passed through, above-mentioned manual command combination by the trigger switch triggering that is located at whole device the place ahead, thereby can be finished the whole obstacle detouring action of organizing, realize crossing obstacle automatically.Even if false triggering appears in the trigger switch in this whole device the place ahead, also can forced interruption.
Through practical test, the present invention can remove the icing on the high voltage transmission line, obstacle climbing ability is reliable, the tolerance of adverse circumstances is stronger to external world, can realize voluntarily obstacle detouring and does not need manually its side from barrier to be transported to opposite side, and is safe and reliable, greatly reduced labour intensity, can not restrictedly on high voltage transmission line, worked by external environment, applied range, high efficiency.

Claims (10)

1. robot that is used for transmission line ice self-removing, it is characterized in that: the first walking case (71) is connected by the second bolt and nut mechanism (74) with the second walking case (72), and clamping device (3) lower end is connected with the first bolt and nut mechanism (73) by screw thread;
The first walking case (71) is connected with the first lifting arm device (2) by the whirligig (1) that device mounted thereto is rotated to an angle, and the second walking case (72) is connected with the second lifting arm device (2') by the whirligig (1) that device mounted thereto is rotated to an angle;
The first lifting arm device (2) and/or the second lifting arm device (2') are provided with deicer (5), and the first lifting arm device (2) and the second lifting arm device (2') are provided with the running gear (4) that is used to drive whole device walking;
The first lifting arm device (2) and the second lifting arm device (2') are positioned at the position at whole walking case (7) two ends, in the middle of clamping device (3) is positioned at;
Also be provided with electric control gear (8) on the walking case.
2. a kind of transmission line ice self-removing robot that is used for according to claim 1, it is characterized in that: in the described clamping device (3), column (31) upper end is provided with first clamp jaw (34) and second clamp jaw (36), connect by clamping screw (35) between first clamp jaw (34) and second clamp jaw (36), clamping device motor (32) is connected with clamping screw (35) by clamping device gear train (33).
3. a kind of transmission line ice self-removing robot that is used for according to claim 1 and 2 is characterized in that: in the described clamping device (3), column (31) lower end is provided with the screwed hole that cooperates with screw rod in the first bolt and nut mechanism (73).
4. a kind of transmission line ice self-removing robot that is used for according to claim 1, it is characterized in that: in the described first lifting arm device (2) and the second lifting arm device (2'), connect by elevating screw nut body (23) between top box (21) and the nowel (22);
Described running gear (4) and deicer (5) are installed on the top box (21).
5. a kind of transmission line ice self-removing robot that is used for according to claim 4, it is characterized in that: described top box (21) is provided with box pin (29), described nowel (22) is provided with down box pin (26), it is hinged with the middle part of auxiliary depression bar (25) that following box pin (26) passes top box chute (27), and last box pin (29) is slidingly matched with depression bar chute (28).
6. a kind of transmission line ice self-removing robot that is used for according to claim 1 is characterized in that: in the described whirligig (1), whirligig motor (12) is connected with rotating shaft (11) by whirligig gear train (13);
Movable motor (42) is connected with road wheel (41) in the described running gear (4).
7. a kind of transmission line ice self-removing robot that is used for according to claim 1, it is characterized in that: in the described deicer (5), deicing motor (51) with remove skates (52) and be connected, remove skates (52) rear side and be provided with scraping slab (53) and preventing the guide wheel (6) of milling cutter damage high voltage transmission line of wedgewise.
8. a kind of transmission line ice self-removing robot that is used for according to claim 1, it is characterized in that: in the described electric control gear (8), the operating grip module is electrically connected with the input of main control module by wireless mode, trigger switch is electrically connected with the input of main control module, and the output of main control module is electrically connected with motor drive module.
9. a kind of transmission line ice self-removing robot that is used for according to claim 8, it is characterized in that: described trigger switch comprises travel switch and the optoelectronic switch that is installed on the whole device.
10. a kind of transmission line ice self-removing robot that is used for according to claim 8 is characterized in that: described electric control gear (8) adopts duplicate supply, and one of them power supply is separately deicer (5) power supply.
CN 201110245749 2011-08-25 2011-08-25 Robot for automatic deicing of transmission line Expired - Fee Related CN102270822B (en)

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CN102270822A true CN102270822A (en) 2011-12-07
CN102270822B CN102270822B (en) 2013-10-02

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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CN101752818A (en) * 2010-03-19 2010-06-23 湖北省电力公司宜昌夷陵区供电公司 Driving mechanism for automatically deicing robot along overhead high voltage transmission line

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CN101527441A (en) * 2009-04-22 2009-09-09 邵威 Deicer for overhead transmission lines
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CN105932628A (en) * 2016-04-30 2016-09-07 马鞍山市翔宇机械自动化科技有限公司 Deicing line inspection robot
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CN107508241B (en) * 2017-09-14 2019-12-20 国网山东省电力公司莱芜供电公司 High altitude multiconductor cable snow removing device

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