CN106911113B - Icing sweeping robot applied to overhead power transmission line - Google Patents
Icing sweeping robot applied to overhead power transmission line Download PDFInfo
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- CN106911113B CN106911113B CN201710309601.4A CN201710309601A CN106911113B CN 106911113 B CN106911113 B CN 106911113B CN 201710309601 A CN201710309601 A CN 201710309601A CN 106911113 B CN106911113 B CN 106911113B
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- deicing
- cable
- icing
- wall
- lower housing
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 19
- 238000010408 sweeping Methods 0.000 title claims abstract description 19
- 238000005452 bending Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 239000013536 elastomeric material Substances 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 3
- 210000000515 tooth Anatomy 0.000 description 33
- 239000002893 slag Substances 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 238000005336 cracking Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000007654 immersion Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 239000013078 crystal Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses the icing sweeping robots applied to overhead power transmission line, including upper shell and lower housing, it is on the side wall of homonymy in upper shell and lower housing and is respectively equipped with otic placode, two otic placodes are bolted, support plate is equipped in upper shell, support plate bottom is provided with multiple card adapter plates, U-shaped opening is provided in card adapter plate, cone there are two being set in the bottom of U-shaped opening, two stepper motors are internally provided in lower housing, stepper motor output terminal be equipped with connecting rod, on connecting rod outer wall be equipped with spiral, two spirals respectively with two circular cone mates；Connecting plate is additionally provided in support plate bottom, upper snap ring fixed connecting plate lower end is equipped with tooth band along the circumferential direction of deicing head, the gear coordinated with tooth band is equipped on the output terminal of driving motor on its external wall.The present invention using mechanical deicing substitute it is traditional it is artificial beat mode, while overhead line deicing efficiency is improved, considerably increase the safety reliability of overhead line deicing.
Description
Technical field
The present invention relates to power domains, and in particular to the icing sweeping robot applied to overhead power transmission line.
Background technology
Snow disaster causes State Grid Corporation of China's direct property loss up to 10,500,000,000 yuan, and power system restoration is rebuild after calamity and transformation needs
Substantial contribution is put into.Running conducting wire is generated heat due to conveying electric energy, is frozen initial stage, some ice can be by the heat of conducting wire
Melted, but since air temperature and humidity is highly beneficial to freezing, while the adhesion strength of sleet is stronger so that freeze speed
Degree has been more than ice-melt speed quickly, thus the icing on conducting wire also can be increasingly thicker, and the icing constantly aggravated holds wire tension
Continuous increase, accumulation will cause to a certain extent conducting wire reel off raw silk from cocoons, destruction of breaking, lead to line outage.For the circuit of stoppage in transit, due to
Conductive line surfaces temperature is very low, and icing will be more serious, it is easier to lead to the generation of broken string.
The increased mechanical load of wire icing institute be more than design permissible value to a certain extent when, cause to break, the thing of falling shaft tower
Therefore；Upper and lower or horizontally arranged conducting wire, because wire icing come off occur it is asynchronous jump wave, cause up and down or horizontal wire connect
It is near that phase fault tripping occurs.The de-icing work of high-voltage line is carried out mostly using artificial at present.Arctic weather, working at height are given
Artificial deicing brings very big security risk and difficulty of construction, and rely primarily on manpower deicing, and high pressure is climbed up by power worker
Being beaten along transmission tower iron hammer, pull rod, bamboo stick makes coating ice falling, but not only efficiency is low but also to power worker for this method
Life security causes great threat.
Invention content
Present invention aims at the icing sweeping robot provided applied to overhead power transmission line, replacement manually beats deicing
Mode improves the efficiency and security performance of overhead transmission line deicing.
The present invention is achieved through the following technical solutions：
Applied to the icing sweeping robot of overhead power transmission line, including the upper shell and lower housing being hinged, and in institute
It states upper shell and lower housing is on the side wall of homonymy and is respectively equipped with otic placode, two otic placodes are bolted, in upper casing
Body both ends have semicircular through-hole, semicircular aperture are had at lower housing both ends, and positioned at the logical of the same side
Hole collectively forms the import or export passed in and out for cable with aperture, and horizontal positioned support plate is equipped in the upper shell,
Support plate bottom interval is provided with multiple card adapter plates, be provided in card adapter plate for cable by U-shaped opening, and the court of U-shaped opening
It to lower housing described in face, sets that there are two cones in the bottom of U-shaped opening, two stepping electricity is internally provided in the lower housing
Machine, and connecting rod is equipped with, and spiral is equipped on its external wall along the axial direction of connecting rod in the output terminal of stepper motor, positioned at two connecting rods
Upper two spirals corresponding with same U-shaped opening respectively with two circular cone mates of the U-shaped opening bottom, in the U-shaped
Groove is provided on the bending section of opening, and rotation is provided with shaft on the two side of groove, idler wheel is fixed in the middle part of shaft, institute
State idler wheel locally protrude from after the groove with the cable outer circle wall upper-end contact；
Connecting plate, semicircular upper snap ring fixed connecting plate lower end, in lower housing are additionally provided in the support plate bottom
Semicircular lower snap ring is fixed with, arc groove is provided on the inner wall of upper snap ring and lower snap ring, and two arc grooves merge
It the annular groove of a closing is formed, further includes deicing head, the deicing head is hinged by two and section semicircular in shape is removed
Slab form, and deicing centriciput formed one for cable by cylindrical region, along deicing head circumferential direction on its external wall
It equipped with a circle tooth band, and opens there are one the connecting hole connected with arc groove in lower snap ring bottom, is fixed in the lower housing
Driving motor, and gear is connected on the output terminal of driving motor, the gear coordinates after running through connecting hole with tooth band.It is existing
Electric power networks in, the phenomenon that overhead line is susceptible to icing in winter, inventor designs a kind of ice removing machine for the problem
Device people, using mechanical deicing substitute it is traditional it is artificial beat mode, while overhead line deicing efficiency is improved, considerably increase
The safety reliability of overhead line deicing；When specifically used, directly upper shell is buckled on cable, i.e., the U-shaped in multiple card adapter plates
Opening directly and cable contact, then closes up lower housing and upper shell, using bolt will upper shell on lower casing body sidewall
Otic placode connection is fixed, while start stepper motor and driving motor, and deicing head starts quick between upper snap ring and lower snap ring
Rotation, while cause the spiral on connecting rod that relative motion directly occurs with cone, upper shell is with lower housing then along cable axis
Start to move, high-speed rotating deicing head carries out circumgyration incision to the icing being covered on cable outer wall, to realize mechanical deicing
Process.
Wherein, critical piece of the deicing head as cable deicing, by two be hinged except slab is formed, in upper shell
After being fixedly connected with lower housing, upper snap ring completes centering with lower snap ring and forms a closed cylindrical region, and deicing process is opened
Before beginning, two semicircular deicing sleeve-boards are located on cable outer wall first, so latter two non-articulated end for removing slab passes through
The mode of clamping connects, to form a cricoid complete deicing head, after deicing starts, the gear of driving motor output
Coordinate after across connecting hole with tooth band, deicing head is driven to carry out circular motion, to realize deicing purpose；It is uniform in support plate bottom
Be provided with multiple card adapter plates, and the U-shaped opening set in card adapter plate towards face lower housing bottom so that upper shell, lower casing
Contact point and contact surface between body and cable increase, and the part on the cable outer wall skimmed over by deicing head can be avoided to remain
Ice slag causes upper shell to be beated, with ensure it is robot stabilized moved along cable outer wall, and by deicing head be placed on upper snap ring with
In the cylindrical region formed described in lower snap ring, and using the mutual restriction between tooth band and arc groove, existed with reducing deicing head
The upward bounce amplitude of cable diameter along the line；Further, due to the driving part of robot interior, while the portion that own wt is larger
Part is arranged in lower housing so that the center of gravity of robot is in the axle center of cable hereinafter, even if occurring machine in ice detachment
People locally there is a situation where beat or encounter wind-force it is larger when, be still able to ensure robot will not integrally occur it is excessive
Overturning amount, and then ensure the deicing efficiency of robot, while prevented the safety accident that robot falls and causes after falling
Or property loss.Further, when U-shaped opening is placed on cable, the part of bending section and two vertical sections is
Meeting and cable contact, and card adapter plate is for cable outer wall, the hardness of card adapter plate is larger so that can occur between the two hard
Property contact, and the relatively poor cable outer wall of hardness is then easily damaged by scratch, in this regard, inventor be provided on bending section it is recessed
Slot, and idler wheel is rotatably arranged on by shaft on the side wall of groove, when card adapter plate does relative motion with cable, idler wheel and cable
The upper-end contact of outer wall, realization idler wheel and cable are in rolling contact, compared with sliding contact before, outside the smaller cable of intensity
Wall is not damaged, and then while the cleaning effect of raising cable icing, reduces the injury in itself to cable.
The extended segment for including ontology except slab and being connect with ontology, tooth band are arranged on the outer circle wall of ontology,
And along the direction of cable deicing, the spacing between the extended segment outer wall and body axis is successively decreased.Two are surrounded composition except slab
Deicing head, wherein, driving motor band moving teeth band and ontology move in a circle, and extended segment outer wall connect with body end and
Spacing between body axis is successively decreased so that except the end of slab forms a sharp portion, which can be in the same of rotation
When quickly cut in icing on cable outer wall, to accelerate the speed of cable part deicing.
Along the direction of cable deicing, ice-breaking cone is equipped on the side wall of the upper shell, and ice-breaking cone is located at deicing
Head top.For the serious part of path that freezes, ice-breaking is set to bore on the side wall of upper shell, and ice-breaking cone is located on deicing head
Side so that ice-breaking cone directly contacts, and carry out processing of cracking to the icing before deicing head is contacted with icing with the icing, and then
The integral strength of the relatively large icing of build is reduced, to reduce the live load of deicing head, accelerates the progress of cable deicing.
Two stepper motors are symmetrically distributed in the both sides of the driving motor.Preferably, two stepper motors with
And the weight of a driving motor, compared with robot interior remaining part, proportion is bigger than normal, and inventor is by two stepper motors
The both sides of driving motor are symmetricly set on, before the movement rotated freely with robot entirety for ensuring deicing head is non-interference
It puts so that the stress relative equilibrium at lower housing both ends, phenomena such as robot is avoided to be overturn in ice detachment.
Intermediate row teeth and two side toothrows, and two sides are provided on its outer circle wall along the circumferential direction of the idler wheel
Toothrow is symmetrically distributed in the both sides of the intermediate row teeth, and distance of the crown away from roller axis of the intermediate row teeth is h, the tooth of side toothrow
Distance of the point away from roller axis is H, and meets H>h.The idler wheel of setting can not only be reduced between card adapter plate and cable outer wall
Mutually loss can also be increased by intermediate row teeth and two side toothrows to the clear of the residual ice slag on cable outer wall to a certain extent
Reason, and distance of the crown of intermediate row teeth away from roller axis is less than distance of the crown away from roller axis of side toothrow so that rolling
It is distributed in ladder on the outer circle wall of wheel, and the residual ice slag of cable outer wall the top part is rolled by intermediate row teeth, and
Two side toothrows then roll the residual ice slag on cable two side, and between intermediate row teeth and side toothrow also there are
Gap so that the ice slag being grinded up is discharged along the gap, prevents from adhering to more ice crystal on idler wheel and increasing cable and U-shaped opening
Between gap.
The intermediate row teeth and two side toothrows are elastomeric material.Preferably, the middle row of elastomeric material
Tooth and two side toothrows can remain the flexible connection between cable outer wall, to ensure to scan in icing sweeping robot
Later cable stands intact.
Waterproof cover is further included, and the waterproof cover is fully wrapped around by the stepper motor, and opened on the side wall of waterproof cover
There is perforation, bearing is equipped in perforation, is extended outwardly after the output terminal of stepper motor and the bearing fit.Preferably, it is
The ice slag under stepper motor is scratched by card adapter plate in lower housing is avoided to influence, waterproof cover is set in lower housing, the waterproof cover
Stepper motor is fully wrapped around, to prevent the immersion of ice slag in lower housing.
Compared with prior art, the present invention it has the following advantages and advantages：
1st, the present invention is applied to the icing sweeping robot of overhead power transmission line, is manually struck using mechanical deicing's replacement is traditional
The mode of beating, while overhead line deicing efficiency is improved, considerably increases the safety reliability of overhead line deicing；
2nd, the present invention is applied to the icing sweeping robot of overhead power transmission line, for stepper motor in lower housing is avoided to be clamped
Ice slag under plate scratches is influenced, and waterproof cover is set in lower housing, the waterproof cover is fully wrapped around by stepper motor, to prevent down
The immersion of ice slag in housing；
3rd, the present invention is applied to the icing sweeping robot of overhead power transmission line, for the serious part of path that freezes, in upper casing
Ice-breaking is set to bore on the side wall of body, and ice-breaking cone is located above deicing head so that ice-breaking cone is straight before deicing head is contacted with icing
It connects and is contacted with the icing, and processing of cracking is carried out to the icing, and then reduce the integral strength of the relatively large icing of build, with
Reduce the live load of deicing head, accelerate the progress of cable deicing；
4th, the present invention is applied to the icing sweeping robot of overhead power transmission line, and two stepper motors are symmetricly set on driving
The both sides of motor, under the premise of the movement rotated freely with robot entirety for ensuring deicing head is non-interference so that lower casing
The stress relative equilibrium at body both ends, phenomena such as robot is avoided to be overturn in ice detachment.
Description of the drawings
Attached drawing described herein is used for providing further understanding the embodiment of the present invention, forms one of the application
Point, do not form the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structure diagram of card adapter plate；
Fig. 3 is the structure diagram of deicing head；
Fig. 4 is the sectional view of deicing head；
Fig. 5 is the side view of the present invention；
Fig. 6 is the structure diagram of idler wheel.
Label and corresponding parts title in attached drawing：
1- upper shells, 2- card adapter plates, 3- support plates, 4- cables, 5- connecting plates, the upper snap rings of 6-, 7- teeth band, 8- deicing head,
9- ice-breakings cone, 10- lower housings, 11- driving motors, 12- spirals, 13- connecting rods, 14- cones, 15- waterproof covers, 16- gears,
17- stepper motors, 18- otic placodes, 19- grooves, 20- shafts, 21- idler wheels, 22-U shapes opening, 23- sides toothrow, 24- intermediate row teeths.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment 1
As shown in Fig. 1~5, the present embodiment includes the upper shell 1 being hinged and lower housing 10, and in the upper shell 1
It is on the side wall of homonymy with lower housing 10 and is respectively equipped with otic placode 18, two otic placodes 18 are bolted, in upper shell 1
Both ends have semicircular through-hole, semicircular aperture are had at 10 both ends of lower housing, and positioned at the logical of the same side
Hole collectively forms the import or export passed in and out for cable 4 with aperture, and horizontal positioned support plate 3 is equipped in the upper shell 1,
3 bottom interval of support plate is provided with multiple card adapter plates 2, be provided in card adapter plate 2 for cable 4 by U-shaped opening 22, and U-shaped
Opening 22 towards lower housing described in face 10, set in the bottom of U-shaped opening 22 there are two cone 14, in the lower housing 10
Two stepper motors 17 are internally provided with, and connecting rod 13 is equipped with, and along connecting rod 13 axially at it in the output terminal of stepper motor 17
Outer wall is equipped with spiral 12, is opened respectively with the U-shaped with same 22 corresponding two spirals 12 of U-shaped opening on two connecting rods 13
Two cones 14 of 22 bottoms of mouth match, and groove 19 are provided on the bending section of the U-shaped opening 22, and in groove 19
Rotation is provided with shaft 20 on two side, and idler wheel 21 is fixed on 20 middle part of shaft, and 21 part of idler wheel protrudes from the groove
After 19 with the 4 outer circle wall upper-end contact of cable；
Connecting plate 5, semicircular upper 6 fixed connecting plate of snap ring, 5 lower end, in lower casing are additionally provided in 3 bottom of support plate
Semicircular lower snap ring is fixed in body 10, arc groove, and two arcs are provided on the inner wall of upper snap ring 6 and lower snap ring
Slot merges the annular groove for forming a closing, further includes deicing head 8, the deicing head 8 is hinged by two and section is in half
It is circular except slab is formed, and formed at the middle part of deicing head 8 one for cable 4 by cylindrical region, along the circumferential direction of deicing head 8
It is equipped with a circle tooth band 7 on its external wall, and is opened in lower snap ring bottom there are one the connecting hole connected with arc groove, in the lower casing
Driving motor 11 is fixed in body 10, and gear 16 is connected on the output terminal of driving motor 11, the gear 16 is through company
Kong Houyu teeth band 7 is connect to coordinate.In existing electric power networks, the phenomenon that overhead line is susceptible to icing in winter, inventor is directed to
The problem designs a kind of deicing robot, using mechanical deicing substitute it is traditional it is artificial beat mode, removed improving overhead line
While ice efficiency, the safety reliability of overhead line deicing is considerably increased；When specifically used, upper shell 1 is directly buckled into line
On cable 4, i.e., the U-shaped opening 22 in multiple card adapter plates 2 is directly contacted with cable 4, then closes up lower housing 10 and upper shell 1,
Upper shell 1 is connect fixation with the otic placode 18 on 10 side wall of lower housing using bolt, while starts stepper motor 17 and driving
Motor 11, deicing head 8 start quickly to rotate between upper snap ring 6 and lower snap ring, while so that the spiral 12 on connecting rod 13 is direct
Relative motion occurs with cone 14, upper shell 1 then starts to move with lower housing 10 along 4 axis of cable, high-speed rotating deicing
The first 8 pairs icings being covered on 4 outer wall of cable carry out circumgyration incision, to realize mechanical deicing's process.
Wherein, critical piece of the deicing head 8 as 4 deicing of cable, by two be hinged except slab is formed, in upper casing
After body 1 is fixedly connected with lower housing 10, upper snap ring 6 completes centering with lower snap ring and forms a closed cylindrical region, deicing
Before process starts, two semicircular deicing sleeve-boards are located on 4 outer wall of cable first, so latter two non-articulated for removing slab
End is connected by way of clamping, and to form a cricoid complete deicing head 8, after deicing starts, driving motor 11 exports
Gear 16 at end coordinates after passing through connecting hole with tooth band 7, deicing head 8 is driven to carry out circular motion, to realize deicing purpose；
3 bottom of support plate is evenly arranged with multiple card adapter plates 2, and the U-shaped opening 22 set in card adapter plate 2 towards face lower housing 10
Bottom so that contact point and contact surface between upper shell 1, lower housing 10 and cable 4 increase, and can avoid by deicing head 8
Part residual ice slag on 4 outer wall of cable skimmed over causes upper shell 1 to be beated, robot stabilized along 4 outer wall of cable to ensure
It is mobile, and deicing head 8 is placed in the cylindrical region formed described in upper snap ring 6 and lower snap ring, and utilize tooth band 7 and arc
Mutual restriction between slot, to reduce deicing head 8 in the bounce amplitude along cable 4 radially；Further, due in robot
The driving part in portion, while the larger component of own wt is arranged in lower housing 10 so that the center of gravity of robot is in cable 4
Axle center hereinafter, even if occur in ice detachment robot locally there is a situation where beat or encounter wind-force it is larger when,
It is still able to ensure that excessive overturning amount will not integrally occur for robot, and then ensure the deicing efficiency of robot, prevent simultaneously
The safety accident or property loss that robot falls and causes after falling.Further, U-shaped opening 22 is placed online
When on cable, the part of bending section and two vertical sections can be contacted with cable 4, and card adapter plate 2 relative to 4 outer wall of cable and
Speech, the hardness of card adapter plate 2 is larger so that it can occur hard contact between the two, and relatively poor 4 outer wall of cable of hardness then holds
Easily be damaged by scratch, in this regard, inventor is provided with groove 19 on bending section, and idler wheel 21 be rotatably arranged on by shaft 20 it is recessed
On the side wall of slot 19, when card adapter plate 2 does relative motion with cable 4, the upper-end contact of idler wheel 21 and 4 outer wall of cable realizes rolling
Wheel 21 is in rolling contact with cable 4, and compared with sliding contact before, smaller 4 outer wall of cable of intensity is not damaged, Jin Erti
While the cleaning effect of high cable icing, reduce to the injury of of cable 4 itself.
Wherein, the extended segment for including ontology except slab and being connect with ontology, tooth band 7 are arranged on the excircle of ontology
On wall, and along the direction of 4 deicing of cable, the spacing between the extended segment outer wall and body axis is successively decreased.Two are closed except slab
It encloses and forms deicing head 8, wherein, driving motor 11 moves in a circle with moving teeth band 7 and ontology, and what is connect with body end prolongs
It stretches the spacing section between outer wall and body axis to successively decrease so that except the end of slab forms a sharp portion, which can
While rotating quickly in the icing on incision 4 outer wall of cable, to accelerate the speed of the local deicing of cable 4.
Further, along the direction of 4 deicing of cable, ice-breaking is equipped on the side wall of the upper shell 1 and bores 9, and described broken
Ice piton 9 is located at 8 top of deicing head.For the serious part of path that freezes, ice-breaking is set to bore 9, and ice-breaking on the side wall of upper shell 1
Cone 9 is located at 8 top of deicing head so that ice-breaking cone 9 directly contacts, and this is covered before deicing head 8 is contacted with icing with the icing
Ice carries out processing of cracking, and then reduces the integral strength of the relatively large icing of build, to reduce the live load of deicing head 8,
Accelerate the progress of 4 deicing of cable.
In the present embodiment, circumferential along the idler wheel 21 is provided with intermediate row teeth 24 and two side rows on its outer circle wall
Tooth 23, and two side toothrows 23 are symmetrically distributed in the both sides of the intermediate row teeth 24, the crown of the intermediate row teeth 24 is away from idler wheel
The distance of 21 axis is h, and distance of the crown of side toothrow 23 away from 21 axis of idler wheel is H, and meets H>h.The idler wheel 21 of setting is not
The mutual loss between 4 outer wall of card adapter plate 2 and cable can be only reduced, it can also be one by intermediate row teeth 24 and two side toothrows 23
Determine in degree increase on 4 outer wall of cable residual ice slag cleaning, and the crown of intermediate row teeth 24 away from 21 axis of idler wheel away from
From be less than the crown of side toothrow 23 away from 21 axis of idler wheel with a distance from so that be distributed on the outer circle wall of idler wheel 21 in ladder, and
The residual ice slag of 4 outer wall the top part of cable is rolled by intermediate row teeth 24, and two side toothrows 23 are then to 4 both sides of cable
Residual ice slag on wall is rolled, and also there are gaps between intermediate row teeth 24 and side toothrow 23 so that the ice being grinded up
Slag is discharged along the gap, prevents from adhering to more ice crystal on idler wheel 21 and increasing the gap between cable 4 and U-shaped opening 22.
Preferably, the intermediate row teeth 24 of elastomeric material and two side toothrows 23 can remain and 4 outer wall of cable
Between flexible connection, to ensure that the cable 4 after icing sweeping robot is swept is excellent.
Preferably, the weight of two stepper motors 17 and a driving motor 11 and robot interior remaining part phase
Than proportion is bigger than normal, and two stepper motors 17 are symmetricly set on the both sides of driving motor 11 by inventor, is ensuring deicing head 8
The movement rotated freely with robot entirety it is non-interference under the premise of so that the stress relative equilibrium at 10 both ends of lower housing,
Phenomena such as robot is avoided to be overturn in ice detachment.
Preferably, by the ice slag under stepper motor 17 is scratched by card adapter plate 2 in lower housing 10 is avoided to be influenced, in lower casing
Setting waterproof cover 15 in body 10, the waterproof cover 15 is fully wrapped around by stepper motor 17, to prevent the immersion of ice slag in lower housing 10.
Above-described specific embodiment has carried out the purpose of the present invention, technical solution and advantageous effect further
It is described in detail, it should be understood that the foregoing is merely the specific embodiment of the present invention, is not intended to limit the present invention
Protection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (7)
1. applied to the icing sweeping robot of overhead power transmission line, including upper shell (1) and the lower housing (10) being hinged, and
Otic placode (18), two otic placodes (18) are respectively equipped on the upper shell (1) and the side wall of lower housing (10) in homonymy
It is bolted, semicircular through-hole is had at upper shell (1) both ends, semicircle is had at lower housing (10) both ends
The aperture of shape, and the through-hole positioned at the same side collectively forms the import or export passed in and out for cable (4) with aperture, feature exists
In：Horizontal positioned support plate (3) is equipped in the upper shell (1), bottom interval is provided with multiple clampings in support plate (3)
Plate (2), be provided in card adapter plate (2) for cable (4) by U-shaped opening (22), and U-shaped opening (22) towards under described in face
Housing (10) sets there are two cone (14) in the bottom of U-shaped opening (22), two steps is internally provided in the lower housing (10)
Stepper motor (17), and stepper motor (17) output terminal be equipped with connecting rod (13), and along connecting rod (13) axial direction on its external wall
Equipped with spiral (12), on two connecting rods (13) two spirals (12) corresponding with same U-shaped opening (22) respectively with the U-shaped
Two cones (14) of opening (22) bottom match, and groove (19) is provided on the bending section of the U-shaped opening (22), and
Rotation is provided with shaft (20) on the two side of groove (19), and idler wheel (21) is fixed in the middle part of shaft (20), the idler wheel
(21) part protrude from the groove (19) afterwards with the cable (4) outer circle wall upper-end contact；
It is additionally provided with connecting plate (5) in the support plate (3) bottom, semicircular upper snap ring (6) fixed connecting plate (5) lower end,
Semicircular lower snap ring is fixed in lower housing (10), arc groove is provided on the inner wall of upper snap ring (6) and lower snap ring, and
Two arc grooves merge the annular groove for forming a closing, further include deicing head (8), and the deicing head (8) is mutually cut with scissors by two
Connect and section semicircular in shape except slab is formed, and formed in the middle part of the deicing head (8) one for cable (4) by column area
Domain is equipped with a circle tooth band (7) on its external wall along the circumferential direction of deicing head (8), and open in lower snap ring bottom there are one and arc groove
The connecting hole of connection is fixed with driving motor (11), and on the output terminal of driving motor (11) in the lower housing (10)
Gear (16) is connected with, the gear (16) coordinates after connecting hole with tooth band (7).
2. the icing sweeping robot according to claim 1 applied to overhead power transmission line, it is characterised in that：The deicing
Plate includes ontology and the extended segment being connect with ontology, and tooth band (7) is arranged on the outer circle wall of ontology, and is removed along cable (4)
The direction of ice, the spacing between the extended segment outer wall and body axis are successively decreased.
3. the icing sweeping robot according to claim 1 applied to overhead power transmission line, it is characterised in that：Along cable
(4) direction of deicing is equipped with ice-breaking cone (9), and ice-breaking cone (9) is positioned at deicing head on the side wall of the upper shell (1)
(8) top.
4. the icing sweeping robot according to claim 1 applied to overhead power transmission line, it is characterised in that：Described in two
Stepper motor (17) is symmetrically distributed in the both sides of the driving motor (11).
5. the icing sweeping robot according to claim 1 applied to overhead power transmission line, it is characterised in that：Along the rolling
The circumferential direction of wheel (21) is provided with intermediate row teeth (24) and two side toothrows (23), and two side toothrows on its outer circle wall
(23) both sides of the intermediate row teeth (24) are symmetrically distributed in, distance of the crown of the intermediate row teeth (24) away from idler wheel (21) axis is
H, distance of the crown of side toothrow (23) away from idler wheel (21) axis is H, and meets H>h.
6. the icing sweeping robot according to claim 5 applied to overhead power transmission line, it is characterised in that：The middle row
Tooth (24) and two side toothrows (23) are elastomeric material.
7. the icing sweeping robot applied to overhead power transmission line according to claim 1~6 any one, feature exist
In：Waterproof cover (15) is further included, and the waterproof cover (15) is fully wrapped around by the stepper motor (17), and in waterproof cover (15)
Side wall on be provided with perforation, be equipped with bearing in perforation, the output terminal of stepper motor (17) with after the bearing fit to extension
It stretches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710309601.4A CN106911113B (en) | 2017-05-04 | 2017-05-04 | Icing sweeping robot applied to overhead power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710309601.4A CN106911113B (en) | 2017-05-04 | 2017-05-04 | Icing sweeping robot applied to overhead power transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106911113A CN106911113A (en) | 2017-06-30 |
| CN106911113B true CN106911113B (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710309601.4A Expired - Fee Related CN106911113B (en) | 2017-05-04 | 2017-05-04 | Icing sweeping robot applied to overhead power transmission line |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL233135B1 (en) * | 2017-10-16 | 2019-09-30 | Univ Warminsko Mazurski W Olsztynie | Device for manual deicing of electric tramway traction |
| CN111431120A (en) * | 2020-04-02 | 2020-07-17 | 王菊明 | Cable deicing equipment |
| CN113315073B (en) * | 2021-06-25 | 2023-01-24 | 国网山东省电力公司济宁市任城区供电公司 | Power equipment maintenance equipment |
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| Publication number | Publication date |
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| CN106911113A (en) | 2017-06-30 |
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