CN107046255B - A kind of overhead transmission line de-icing method based on robot - Google Patents
A kind of overhead transmission line de-icing method based on robot Download PDFInfo
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- CN107046255B CN107046255B CN201710309604.8A CN201710309604A CN107046255B CN 107046255 B CN107046255 B CN 107046255B CN 201710309604 A CN201710309604 A CN 201710309604A CN 107046255 B CN107046255 B CN 107046255B
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- cable
- deicing
- lower housing
- upper shell
- wall
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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
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- 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
Abstract
The invention discloses a kind of overhead transmission line de-icing method based on robot, includes the following steps：Two semicircular deicing sleeve-boards are located on cable outer wall first, two are clamped except the non-articulated end of slab, upper shell is placed on cable, so that the U-shaped opening in multiple card adapter plates and cable contact, lower housing and upper shell are closed up, after upper shell is connected and fixed with lower housing, upper lantern ring forms a cylindrical region with lower collar, start stepper motor, driving motor, gear coordinates after passing through connecting hole with tooth band, deicing head is driven to carry out circular motion, deicing head starts quickly to rotate in cylindrical region, with cone relative motion occurs for spiral simultaneously, upper shell starts to move along cable axis, deicing head starts to carry out circumgyration incision to the icing on cable.The present invention by mechanical deicing substitute it is traditional it is artificial beat in the way of, while improving overhead line deicing efficiency, considerably increase the safety reliability of overhead line deicing.
Description
Technical field
The present invention relates to electric-power deicing fields, and in particular to a kind of overhead transmission line de-icing method based on robot.
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 makes wire tension hold
It is continuous to 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 is more than when designing permissible value to a certain extent, to cause broken string, the thing of falling shaft tower
Therefore；Upper and lower or horizontally arranged conducting wire, because wire icing fall off occur it is asynchronous jump wave, cause up and down or horizontal wire connect
It is close that phase fault tripping occurs.The de-icing work of high-voltage line mostly uses greatly artificial progress at present.Arctic weather, working at height are given
Artificial deicing brings prodigious security risk and difficulty of construction, and relies 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 a kind of overhead transmission line de-icing method based on robot is provided, quickly by covering on cable
Ice is removed, to ensure that the normal table of overhead transmission line works.
The present invention is achieved through the following technical solutions：
A kind of overhead transmission line de-icing method based on robot, includes the following steps：Upper shell is buckled into cable first
On, i.e., the U-shaped opening in multiple card adapter plates directly and cable contact, then closes up lower housing and upper shell, utilizes bolt will
Upper shell is connected and fixed with the otic placode on lower casing body sidewall, and upper lantern ring completes centering with lower collar and forms a closed column
Two semicircular deicing sleeve-boards before deicing process starts, are located on cable outer wall by region first, and so latter two removes slab
Non-articulated end connected by way of clamping, to form a cricoid complete deicing head, at the same start stepper motor with
And driving motor, the gear of driving motor output coordinate after connecting hole with tooth band, and deicing head is driven to carry out circumference fortune
Dynamic, deicing head starts quickly to rotate between upper lantern ring and lower collar, while the spiral on connecting rod is directly sent out with cone
Raw relative motion, upper shell then start to move with lower housing along cable axis, and high-speed rotating deicing head is to being covered in outside cable
Icing on wall carries out circumgyration incision, to realize mechanical deicing's process；
Wherein, it is on the side wall of homonymy in the upper shell and lower housing and is respectively equipped with otic placode, two otic placodes are logical
It crosses and is bolted, semicircular through-hole is had at upper shell both ends, semicircular aperture is had at lower housing both ends,
And the through-hole positioned at the same side collectively forms the import or export passed in and out for cable with aperture, and level is equipped in the upper shell
The support plate of placement is arranged at intervals with multiple card adapter plates in support plate bottom, be provided in card adapter plate for cable by U-shaped open
Mouthful, and U-shaped opening towards lower housing described in face, set that there are two cones in the bottom of U-shaped opening, in the lower housing
Portion is set there are two stepper motor, and is equipped with connecting rod in the output end of stepper motor, and is equipped on its external wall along the axial direction of connecting rod
Spiral, be located on two connecting rods two spirals corresponding with same U-shaped opening respectively with two cones of the U-shaped opening bottom
It matches, the limited block of rubber material is equipped on the two side of the U-shaped opening, circular arc is equipped in the limited block upper end
Section, and two arc sections and the bending section of the U-shaped opening constitute one and match with cable and in the clamping zone of major arc shape；
It is additionally provided with connecting plate, semicircular upper lantern ring fixed connecting plate lower end, in lower housing in the support plate bottom
It is fixed with semicircular lower collar, arc groove is provided on upper lantern ring and the inner wall of lower collar, and two arc grooves merge
A closed annular groove is constituted, further includes deicing head, the deicing head is hinged by two and section semicircular in shape is removed
Slab constitute, and deicing centriciput formed one for cable by cylindrical region, along deicing head circumferential direction on its external wall
It opens there are one the connecting hole being connected to arc groove equipped with a circle tooth band, and in lower collar bottom, is fixed in the lower housing
Driving motor, and gear is connected on the output end 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, by mechanical deicing substitute it is traditional it is artificial beat in the way of, while improving overhead line deicing efficiency, considerably increase
The safety reliability of overhead line deicing；Also, the bending section of U-shaped opening is directly contacted with cable outer wall, and in moving process
In relative motion can occur, and limited block is set on the two side of U-shaped opening, increases the contact surface of cable and robot interior
Product while to improve stability, realizes the flexible contact between card adapter plate and cable, card adapter plate is avoided to cause to scrape to cable
Wound.
In the U-shaped opening that support plate bottom is evenly arranged with multiple card adapter plates, and is arranged in card adapter plate towards under face
Housing bottom so that contact point and contact surface between upper shell, lower housing and cable increase, and can avoid being plunderred by deicing head
Part residual ice slag on the cable outer wall crossed causes upper shell to be beated, with ensure it is robot stabilized moved along cable outer wall,
And deicing head is placed in the cylindrical region constituted described in upper lantern ring and lower collar, and using between tooth band and arc groove
It mutually limits, to reduce the deicing head bounce amplitude upward in cable diameter along the line；Further, due to the driving portion of robot interior
Part, while the larger component of own wt is arranged in lower housing so that the center of gravity of robot is in the axle center of cable hereinafter, i.e.
Make to occur in ice detachment robot locally there is a situation where beat or encounter wind-force it is larger when, be still able to guarantee machine
Excessive overturning amount will not integrally occur for device people, and then ensure the deicing efficiency of robot, at the same prevented robot fall with
And the safety accident or property loss caused after falling.
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 the spacing between the direction of cable deicing, 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 the ontology extended segment outer wall that moves in a circle, and 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 cone is set on the side wall of upper shell, and ice-breaking cone is located on deicing head
Side so that ice-breaking cone is directly contacted with the icing before deicing head is contacted with icing, and carries out processing of cracking to the icing, in turn
The integral strength for reducing the relatively large icing of build accelerates the progress of cable deicing to reduce the live load of deicing head.
Further include the cleaning agency positioned at cable entrance, the cleaning agency includes two semicircular tail shells, and two
A tail shell is separately fixed on the side wall of the upper shell and lower housing homonymy, is evenly arranged in the inner wall of the tail shell more
The bristle of a plastic material.Due to that can carry out relative motion between robot and cable, and must assure that in the process cannot
Any damage is caused to cable outer wall so that during Robot Design outside upper shell, lower housing and deicing head and cable
There are gaps for meeting between circumferential wall, simultaneously as viscosity of the ice crystal on cable outer wall is larger, cause the line skimmed in deicing head
Still residual fraction ice slag on cable outer wall, and the residual ice slag can re-form round or ellipse cover in a short time
Ice forms the secondary icing of cable, greatly reduces the effect of robot deicing；In this regard, inventor sets in the entrance of cable
Tail shell there are two setting, and bristle is equipped on tail shell inner wall, during robot moves, bristle can be on cable outer wall
Remaining ice slag is cleared up so that is remained without any ice slag on the aerial line segment that robot skims over, is thoroughly avoided outside cable
Wall in a short time secondary icing the imagination occur, realize the maximizing the benefits of disposable deicing.
The thickness of the tail shell is incremented by along the direction of cable deicing, and the bristle in tail shell length radially along cable
Successively decrease in the direction of deicing.Further, local ageing is will appear after cable long-time use, i.e., on the outer circle wall of cable
It will appear the slight etch in part, rough tiny holes occur on local line section, and after ice slag is attached on the aperture,
Deicing head and bristle can not be removed totally, in this regard, the thickness of shell is arranged to along the direction of cable deicing by inventor
It is incremented by, bristle is arranged to successively decrease along the direction of cable deicing in the length of tail shell radially so that contacts the brush of ice slag at first
The length of hair is maximum, and the bristle is maximum to remaining generated applied stress when ice slag cleans, and can be bonded to part
Spend relatively high ice slag carry out it is disposable loose, and length gradually increase remaining bristle then continue it is opposite to the part bond degree
Higher ice slag is carried out secondary or is cleared up three times, and then ensures that the overhead line indefinite to service life can play best deicing
Effect.
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 avoiding robot from being overturn in ice detachment.
It is provided with multiple taps being connected to inside it in the lower housing bottom.It is also remained on the cable that deicing head skims over
Ice slag, and the remaining ice slag in part can be struck off by U-shaped opening, the ice slag of whereabouts can be deposited in lower housing, not only increase machine
The device people load of itself, also easily causes the short circuit of electric control element in lower housing, and therefore, inventor is provided in lower housing bottom
Multiple taps can direct out discharge, to ensure the efficiency and machine of cable deicing by the ice slag under scratching along tap
The safety that people uses.
Further include waterproof cover, and the waterproof cover is fully wrapped around by the stepper motor, and is opened on the side wall of waterproof cover
There is perforation, bearing is equipped in perforation, is extended outwardly after the output end of stepper motor and the bearing fit.Preferably, being
It avoids the ice slag under stepper motor is scratched by card adapter plate in lower housing from influencing, 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 having the following advantages and advantages：
1, a kind of overhead transmission line de-icing method based on robot of the present invention, directly buckles into upper shell on cable, i.e.,
U-shaped opening in multiple card adapter plates directly and cable contact, then closes up lower housing and upper shell, using bolt by upper shell
It is connected and fixed with the otic placode on lower casing body sidewall, while starting stepper motor and driving motor, deicing head starts in upper lantern ring
It is quickly rotated between lower collar, while making the spiral on connecting rod that relative motion directly occur with cone, upper shell is under
Shell then starts to move along cable axis, and high-speed rotating deicing head carries out rotary cutting to the icing being covered on cable outer wall
It cuts, to realize mechanical deicing's process；
2, a kind of overhead transmission line de-icing method based on robot of the present invention, is evenly arranged with multiple in support plate bottom
Card adapter plate, and the U-shaped opening being arranged in card adapter plate towards face lower housing bottom so that upper shell, lower housing and cable it
Between contact point and contact surface increase, part on the cable outer wall skimmed over by deicing head can be avoided to remain ice slag and caused
Shell is beated, with ensure it is robot stabilized moved along cable outer wall, and by deicing head be placed on upper lantern ring with described in lower collar
In the cylindrical region of composition, and using the mutual restriction between tooth band and arc groove, with reduce deicing head cable diameter along the line to
On bounce amplitude；
Two stepper motors are symmetricly set on drive by a kind of 3, overhead transmission line de-icing method based on robot of the present invention
The both sides of dynamic motor, under the premise of ensuring that the movement of deicing head rotated freely with robot entirety is non-interference so that under
The stress relative equilibrium at shell both ends, phenomena such as avoiding robot from being overturn in ice detachment.
Description of the drawings
Attached drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute 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 structural schematic diagram of card adapter plate；
Fig. 3 is the structural schematic diagram of deicing head；
Fig. 4 is the sectional view of deicing head；
Fig. 5 is the side view of the present invention.
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 lantern 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- taps, 19- tails shell, 20- bristles, 21-U shapes opening, 22- otic placodes, 23- limited blocks.
Specific implementation mode
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 following steps：Two semicircular deicing sleeve-boards are located at cable first
On outer wall, so latter two non-articulated end for removing slab is connected by way of clamping, to form a cricoid complete deicing
Head then buckles into upper shell on cable so that the U-shaped opening in multiple card adapter plates directly and cable contact, then by lower casing
Body closes up with upper shell, is connected and fixed upper shell and the otic placode on lower casing body sidewall using bolt, upper lantern ring and lower collar are complete
In in pairs and a closed cylindrical region is formed, while starting stepper motor and driving motor, driving motor output
Gear pass through connecting hole after coordinate with tooth band, drive deicing head to carry out circular motion, deicing head starts in cylindrical region fast
Speed rotation, while with cone relative motion occurs for spiral, upper shell then starts to move with lower housing along cable axis, and high speed is revolved
The deicing head turned carries out circumgyration incision to the icing being covered on cable outer wall, to realize mechanical deicing's process；
Wherein, it is on the side wall of homonymy in the upper shell 1 and lower housing 10 and is respectively equipped with otic placode 22, two ears
Plate 22 is bolted, and semicircular through-hole is had at 1 both ends of upper shell, and semicircle is had at 10 both ends of lower housing
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, in the upper shell
It is equipped with horizontal positioned support plate 3 in 1,3 bottom interval of support plate is provided with multiple card adapter plates 2, is provided with for line in card adapter plate 2
Cable 4 by U-shaped opening 21, and U-shaped opening 21 towards lower housing 10 described in face, be equipped with two in the bottom of U-shaped opening 21
A cone 14 is internally provided with two stepper motors 17 in the lower housing 10, and is equipped with and connects in the output end of stepper motor 17
Bar 13, and it is equipped with spiral 12 on its external wall along the axial direction of connecting rod 13, it is located at corresponding with same U-shaped opening 21 on two connecting rods 13
Two spirals 12 matched respectively with two cones 14 of 21 bottom of U-shaped opening, in the two side of the U-shaped opening 21
On be equipped with the limited block 23 of rubber material, be equipped with arc section, and two arc sections and the U-shaped in 23 upper end of the limited block
The bending section of opening 21 constitutes one and matches with cable 4 and in the clamping zone of major arc shape；
It is additionally provided with connecting plate 5, semicircular 6 fixed connecting plate of upper lantern ring, 5 lower end, in lower casing in 3 bottom of the support plate
It is fixed with semicircular lower collar in body 10, arc groove, and two arcs are provided on upper lantern ring 6 and the inner wall of lower collar
Slot, which merges, constitutes a closed annular groove, further includes deicing head 8, and the deicing head 8 is hinged by two and section is in half
It is circular except slab is constituted, and the middle part of deicing head 8 formed 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 opens in lower collar bottom that there are one the connecting holes being connected to arc groove, in the lower casing
It is fixed with driving motor 11 in body 10, and is connected with gear 16 on the output end of driving motor 11, the gear 16 is through company
Connect the cooperation of Kong Houyu teeth band 7.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, by mechanical deicing substitute it is traditional it is artificial beat in the way of, removed improving overhead line
While ice efficiency, the safety reliability of overhead line deicing is considerably increased；Also, the bending section of U-shaped opening 21 is directly and line
4 outer wall of cable contacts, and relative motion can occur in moving process, and limited block is arranged on the two side of U-shaped opening 21
23, increase the contact area of cable 4 and robot interior, while to improve stability, realizes between card adapter plate 2 and cable 4
Flexible contact, avoid card adapter plate 2 from causing to scratch to cable 4.
Wherein, the U-shaped opening 21 for being evenly arranged with multiple card adapter plates 2 in 3 bottom of support plate, and being arranged in card adapter plate 2
Towards 10 bottom of face lower housing so that contact point and contact surface between upper shell 1, lower housing 10 and cable 4 increase, energy
Enough avoiding the part on 4 outer wall of the cable skimmed over by deicing head 8 from remaining ice slag causes upper shell 1 to be beated, to ensure that robot is steady
Surely it is moved along 4 outer wall of cable, and deicing head 8 is placed in the cylindrical region constituted described in upper lantern ring 6 and lower collar, and
Using the mutual restriction between tooth band 7 and arc groove, to reduce deicing head 8 in the bounce amplitude along cable 4 radially；Further
Ground, due to the driving part of robot interior, while the larger component of own wt is arranged in lower housing 10 so that machine
The center of gravity of people is in the axle center of cable 4 hereinafter, even if occurring the locally generation bounce of robot in ice detachment or encountering wind
When the larger situation of power, it is still able to ensure that excessive overturning amount will not integrally occur for robot, and then ensure removing for robot
Ice efficiency, while having prevented safety accident or property loss that robot falls and causes after falling.
Further, the extended segment for including ontology except slab and being connect with ontology, tooth band 7 are arranged in the outer of ontology
In circumferential wall, and the spacing between the direction of 4 deicing of cable, the extended segment outer wall and body axis is successively decreased.Two deicing
Plate, which surrounds, constitutes deicing head 8, wherein driving motor 11 moves in a circle with moving teeth band 7 and ontology, and is connect with body end
Extended segment outer wall and body axis between spacing successively decrease so that except slab end formed a sharp portion, the sharp portion
It can quickly cut while rotating in the icing on 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, it is equipped with ice-breaking on the side wall of the upper shell 1 and bores 9, and is 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 on the side wall of upper shell 1 and bores 9, and ice-breaking
Cone 9 is located at 8 top of deicing head so that ice-breaking cone 9 is directly contacted with the icing before deicing head 8 is contacted with icing, and is covered to this
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.
The present embodiment further includes the cleaning agency positioned at 4 entrance of cable, and the cleaning agency includes two semicircular
Tail shell 19, and two tail shells 19 are separately fixed on the side wall of 10 homonymy of the upper shell 1 and lower housing, in the tail shell 19
Inner wall be evenly arranged with the bristles 20 of multiple plastic materials.Due to that can carry out relative motion between robot and cable 4, and
Must assure that and cannot cause any damage to 4 outer wall of cable during this so that during Robot Design upper shell 1, under
It can be there are gap, simultaneously as ice crystal is viscous on 4 outer wall of cable between shell 10 and deicing head 8 and 4 outer circle wall of cable
It spends larger, causes on 4 outer wall of cable that deicing head 8 skims over still residual fraction ice slag, and the residual ice slag can be in the short time
Round or ellipse icing is inside re-formed, that is, forms 4 two icings of cable, greatly reduces the effect of robot deicing
Fruit；In this regard, there are two tail shells 19 in the entrance setting of cable 4 by inventor, and bristle 20 is equipped on 19 inner wall of tail shell, in machine
During device people moves, bristle 20 can clear up remaining ice slag on 4 outer wall of cable so that the frame that robot skims over
Ceases to be busy Duan Shangwu any ice slag residuals, the imagination for thoroughly avoiding the secondary icing in a short time of 4 outer wall of cable occur, and realize one
The maximizing the benefits of secondary property deicing.
Further, it will appear local ageing after 4 long-time use of cable, i.e., can go out on the outer circle wall of cable 4
There are rough tiny holes on local line section in the slight etch in current situation portion, and after ice slag is attached on the aperture, deicing
First 8 and bristle 20 can not be removed totally, in this regard, the thickness of shell is arranged to along the direction of 4 deicing of cable by inventor
It is incremented by, bristle 20 is arranged to successively decrease along the direction of 4 deicing of cable in the length of tail shell 19 radially so that contacts ice slag at first
Bristle 20 length it is maximum, and generated applied stress is maximum when the bristle 20 cleans residual ice slag, can be right
Bond degree relatively high ice slag progress in part is disposable loose, and length gradually increases remaining bristle 20 and then continues to the part
The relatively high ice slag of bond degree is carried out secondary or is cleared up three times, and then ensures that the overhead line indefinite to service life can play
Best deicing effect.
Further, multiple taps 18 being connected to inside it are provided in 10 bottom of the lower housing.Deicing head 8 skims over
Cable 4 on also remain ice slag, and the remaining ice slag in part can be struck off by U-shaped opening 21, and the ice slag of whereabouts can be deposited in down
In shell 10, not only increases the load of robot itself, also easily cause the short circuit of electric control element in lower housing 10, therefore,
Inventor is provided with multiple taps 18 in 10 bottom of lower housing, and discharge can be directed out along tap 18 by the ice slag under scratching,
The safety used with the efficiency and robot that ensure 4 deicing of cable.
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 avoiding robot from being overturn in ice detachment.
Preferably, to avoid the ice slag under stepper motor 17 is scratched by card adapter plate 2 in lower housing 10 from being influenced, in lower casing
Waterproof cover 15 is set in body 10, and 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 implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode 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 (8)
1. a kind of overhead transmission line de-icing method based on robot, which is characterized in that include the following steps：First by two and half
Circular deicing sleeve-board is located on cable (4) outer wall, and so latter two non-articulated end for removing slab is connected by way of clamping, with
A cricoid complete deicing head (8) is formed, is then buckled into upper shell (1) on cable (4) so that multiple card adapter plates (2)
On U-shaped opening (21) directly contacted with cable (4), then lower housing (10) and upper shell (1) are closed up, will be upper using bolt
Shell (1) is connected and fixed with the otic placode (22) on lower housing (10) side wall, and upper lantern ring (6) completes centering with lower collar and forms one
A closed cylindrical region, while starting stepper motor (17) and driving motor (11), driving motor (11) output
Gear (16) coordinates after passing through connecting hole with tooth band (7), and deicing head (8) is driven to carry out circular motion, and deicing head (8) starts in column
Shape quickly rotates in region, while with cone (14) relative motion occurs for spiral (12), and upper shell (1) and lower housing (10) are then
Along cable (4), axis starts to move, and high-speed rotating deicing head (8) rotates the icing being covered on cable (4) outer wall
Cutting, to realize mechanical deicing's process；
Wherein, it is on the side wall of homonymy in the upper shell (1) and lower housing (10) and is respectively equipped with otic placode (22), described in two
Otic placode (22) is bolted, and semicircular through-hole is had at upper shell (1) both ends, distinguishes at lower housing (10) both ends
It is provided with semicircular aperture, and the through-hole positioned at the same side collectively forms the import or export passed in and out for cable (4) with aperture,
Horizontal positioned support plate (3) is equipped in the upper shell (1), bottom interval is provided with multiple card adapter plates in support plate (3)
(2), be provided in card adapter plate (2) for cable (4) by U-shaped opening (21), and U-shaped opening (21) towards lower casing described in face
Body (10) sets there are two cone (14) in the bottom of U-shaped opening (21), two steppings is internally provided in the lower housing (10)
Motor (17), and it is equipped with connecting rod (13) in the output end of stepper motor (17), and set on its external wall along the axial direction of connecting rod (13)
There is spiral (12), is located at two spirals (12) corresponding with same U-shaped opening (21) on two connecting rods (13) and is opened respectively with the U-shaped
Two cones (14) of mouth (21) bottom match, and rubber material is equipped on the two side of the U-shaped opening (21)
Limited block (23) is equipped with arc section, and the bending of two arc sections and the U-shaped opening (21) in the limited block (23) upper end
Section constitutes one and matches with cable and in the clamping zone of major arc shape；
It is additionally provided with connecting plate (5) in the support plate (3) bottom, semicircular upper lantern ring (6) fixed connecting plate (5) lower end,
It is fixed with semicircular lower collar in lower housing (10), arc groove is provided on upper lantern ring (6) and the inner wall of lower collar, and
Two arc grooves, which merge, constitutes a closed annular groove, further includes deicing head (8), the deicing head (8) is mutually cut with scissors by two
Connect and section semicircular in shape except slab is constituted, and formed in the middle part of the deicing head (8) one for cable (4) by column area
Domain, along deicing head (8) circumferential direction on its external wall be equipped with one circle tooth band (7), and lower collar bottom open there are one and arc groove
The connecting hole of connection is fixed with driving motor (11) in the lower housing (10), and on the output end of driving motor (11)
It is connected with gear (16), the gear (16) coordinates after running through connecting hole with tooth band (7).
2. a kind of overhead transmission line de-icing method based on robot according to claim 1, it is characterised in that：It is described to remove
Slab includes ontology and the extended segment that is connect with ontology, and tooth band (7) is arranged on the outer circle wall of ontology, and along cable (4)
The direction of deicing, the spacing between the extended segment outer wall and body axis are successively decreased.
3. a kind of overhead transmission line de-icing method based on robot according to claim 1, it is characterised in that：Along cable
(4) direction of deicing is equipped with ice-breaking cone (9) on the side wall of the upper shell (1), and ice-breaking cone (9) is located at deicing head
(8) top.
4. a kind of overhead transmission line de-icing method based on robot according to claim 1, it is characterised in that：Further include
Positioned at the cleaning agency of cable (4) entrance, the cleaning agency includes two semicircular tail shells (19), and two tail shells
(19) it is separately fixed on the side wall of the upper shell (1) and lower housing (10) homonymy, it is equal in the inner wall of the tail shell (19)
The even bristle (20) for being provided with multiple plastic materials.
5. a kind of overhead transmission line de-icing method based on robot according to claim 4, it is characterised in that：The tail
The thickness of shell (19) is incremented by along the direction of cable (4) deicing, and the bristle (20) is along tail shell (19) length radially
Successively decrease in the direction of cable (4) deicing.
6. a kind of overhead transmission line de-icing method based on robot according to claim 1, it is characterised in that：Two institutes
State the both sides that stepper motor (17) is symmetrically distributed in the driving motor (11).
7. a kind of overhead transmission line de-icing method based on robot according to claim 1, it is characterised in that：Described
Lower housing (10) bottom is provided with multiple taps (18) being connected to its inside.
8. a kind of overhead transmission line de-icing method based on robot according to claim 1~7 any one, feature
It is：Further include waterproof cover (15), and the waterproof cover (15) is fully wrapped around by the stepper motor (17), and in waterproof cover
(15) it is provided with perforation on side wall, bearing is equipped in perforation, the output end and the bearing fit of stepper motor (17) are backward
Outer extension.
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| CN201710309604.8A CN107046255B (en) | 2017-05-04 | 2017-05-04 | A kind of overhead transmission line de-icing method based on robot |
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| CN201710309604.8A CN107046255B (en) | 2017-05-04 | 2017-05-04 | A kind of overhead transmission line de-icing method based on robot |
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| CN107046255B true CN107046255B (en) | 2018-08-24 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108899854A (en) * | 2018-08-29 | 2018-11-27 | 国网河北省电力有限公司沧州供电分公司 | High-altitude de-icing of power transmission lines vehicle |
| CN108899855B (en) * | 2018-08-30 | 2024-04-09 | 上海西地众创空间管理有限公司 | Deicing robot and control method thereof |
| CN109728561B (en) * | 2019-03-13 | 2024-03-19 | 吕梁学院 | Deicing equipment for high-voltage cable |
| CN110649553B (en) * | 2019-09-12 | 2021-05-11 | 绍兴漫翱创腾智能机械股份有限公司 | Utilize mechanism to rotate high-voltage line descaling machine of clearance snow ponding on high-voltage line |
| CN110994520B (en) * | 2019-12-07 | 2020-12-15 | 国网内蒙古东部电力有限公司呼伦贝尔供电公司 | Real-time ice removing device for power grid line |
| CN113161920A (en) * | 2020-04-22 | 2021-07-23 | 北京春合隅林建筑工程有限公司 | High-altitude operation robot and method |
| CN113809713B (en) * | 2021-08-31 | 2023-07-04 | 贵州电网有限责任公司 | Deicing head for deicing cable |
| CN116316375B (en) * | 2022-12-14 | 2023-11-07 | 国网浙江省电力有限公司舟山供电公司 | Cable deicing robot |
| CN116885657B (en) * | 2023-09-06 | 2023-11-10 | 国网山西省电力公司太原供电公司 | Automatic deicing equipment for high-altitude cable |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201918685U (en) * | 2010-12-13 | 2011-08-03 | 青岛大学 | Obstacle-spanning deicing device for transmission line |
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
| CN202678898U (en) * | 2012-05-30 | 2013-01-16 | 哈尔滨工程大学 | Deicing robot for transmission line |
| RU2582587C1 (en) * | 2015-03-27 | 2016-04-27 | Федеральное Государственное Бюджетное Образовательное Учреждение Высшего Профессионального Образования "Приамурский Государственный Университет Имени Шолом-Алейхема" | Mobile apparatus for removal of ice from power transmission line wire |
| CN104882841B (en) * | 2015-06-29 | 2017-07-07 | 国网山东省电力公司滨州供电公司 | A kind of device for expelling ice and snow of transmission line of electricity |
| CN105244832B (en) * | 2015-09-25 | 2018-06-26 | 北京石油化工学院 | A kind of overhead power line ice removal |
| JP2017077146A (en) * | 2015-10-16 | 2017-04-20 | 中国電力株式会社 | Snow resistant ring removal device |
| CN106058771B (en) * | 2016-06-14 | 2018-06-22 | 国网河南省电力公司南阳供电公司 | A kind of distribution network overhead line deicer |
| CN106207927A (en) * | 2016-08-26 | 2016-12-07 | 李晓敏 | A kind of power transmission line anti-crushing by snow device |
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