CN107528281B - Wire deicing system for high-voltage power transmission and transformation project - Google Patents
Wire deicing system for high-voltage power transmission and transformation project Download PDFInfo
- Publication number
- CN107528281B CN107528281B CN201710918009.4A CN201710918009A CN107528281B CN 107528281 B CN107528281 B CN 107528281B CN 201710918009 A CN201710918009 A CN 201710918009A CN 107528281 B CN107528281 B CN 107528281B
- Authority
- CN
- China
- Prior art keywords
- deicing
- bottom plate
- self
- driving
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 59
- 230000009466 transformation Effects 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 118
- 238000010438 heat treatment Methods 0.000 claims description 22
- 230000006835 compression Effects 0.000 claims description 16
- 238000007906 compression Methods 0.000 claims description 16
- 238000004321 preservation Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 11
- 239000011490 mineral wool Substances 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000001788 irregular Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 description 24
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 4
- 230000010405 clearance mechanism Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000003075 superhydrophobic effect Effects 0.000 description 2
- 230000001066 destructive effect Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000037023 motor activity Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a wire deicing system for high-voltage power transmission and transformation engineering, which comprises a carrier loader, wherein the rear part of the carrier loader is provided with a carriage, a goods shelf is arranged in the carriage, a plurality of self-propelled deicing devices are arranged in the goods shelf, the rear part of the carriage is provided with a control room, the control room is internally provided with a control platform, the top part of the carriage is provided with an unmanned aerial vehicle, the lower part of the unmanned aerial vehicle is provided with a fixing mechanism corresponding to the self-propelled deicing devices, the control platform is in signal connection with the unmanned aerial vehicle and the self-propelled deicing devices, the self-propelled deicing devices comprise a travelling mechanism, the travelling mechanism is provided with a deicing mechanism, and the deicing mechanism is provided with an air release adjusting mechanism. The ability to efficiently remove line icing can also be addressed in extreme events while ensuring safety.
Description
Technical Field
The invention relates to the technical field of power transmission line deicing, in particular to a wire deicing system for high-voltage power transmission and transformation engineering.
Background
The medium of the near transmission power grid for remote transmission of electric power generally adopts a high-voltage line to improve the efficiency of electric power transmission, however, when the temperature reaches below zero, water is formed into ice to generate destructive power to the line, an iron tower and an iron tower foundation, great inconvenience is brought to the life and work of people, and huge loss is caused to the regional economic development. Due to the particularity of the high-voltage line, the traditional manual deicing mode is adopted, so that the deicing efficiency is low, and casualties are easily caused.
In the prior art, one scheme for deicing the high-voltage line is that a super-hydrophobic coating is coated on the high-voltage line when a power transmission grid is built, and the anti-icing and icing capacity of the high-voltage line is greatly improved by 50-60% when the high-voltage line is subjected to a low-temperature freezing rain and snow disaster, so that the safety accidents of a power system are reduced. Although the mode achieves a certain anti-icing effect, the anti-icing and icing capacity is limited, and the whole high-voltage line is coated with the super-hydrophobic coating, so that the economic cost is very high.
In the prior art, some deicing control schemes for inspection robots of high-voltage lines exist, but due to the fact that power transmission grid equipment is too many and the structure is complex, the environment where the high-voltage lines are located is generally severe, and the structural design of the robots is unreasonable, the robot deicing schemes in the prior art are difficult to apply in large batches and can only stay in a laboratory stage; meanwhile, the lack of on-site electronic ice layer measuring equipment causes the deicing effect not to meet the requirements of power supply management departments.
The invention with the publication number of 102280847B belongs to the technical field of a wire icing removing tool and a method for removing icing by using the tool, and discloses a power line deicer and a method for deicing by using the deicer. But the method and the structure thereof need manual participation, and the efficiency is very slow. The invention with the publication number of 106025984A relates to a deicing device for a power transmission line, which comprises a vehicle body, wherein a lifter is connected above the vehicle body, a supporting part is arranged above the lifter, and a deicing device and an ice breaking device are arranged on the supporting part. Although the invention has good deicing effect, the use is inconvenient, and the vehicle body needs to be started along with a line.
Disclosure of Invention
In view of the above, the present invention provides a wire deicing system for high voltage power transmission and transformation engineering, so as to solve the problems in the prior art.
In order to solve the technical problems, the invention provides a wire deicing system for high-voltage power transmission and transformation engineering, which comprises a carrier loader, wherein the rear part of the carrier loader is provided with a carriage, a goods shelf is arranged in the carriage, a plurality of self-propelled deicing devices are arranged in the goods shelf, the rear part of the carriage is provided with a control room, a control cabinet is arranged in the control room, the top of the carriage is provided with an unmanned aerial vehicle, the lower part of the unmanned aerial vehicle is provided with a fixing mechanism corresponding to the self-propelled deicing devices, the control cabinet is in signal connection with the unmanned aerial vehicle and the self-propelled deicing devices, each self-propelled deicing device comprises a travelling mechanism, and each travelling mechanism is;
furthermore, the traveling mechanism comprises a bottom plate, L-shaped supports are arranged above two ends of the bottom plate, an installation rod is arranged at the top end of each L-shaped support downwards, pulleys are arranged on the installation rods and the L-shaped supports, a telescopic mechanism is arranged on the bottom plate below the installation rods, an installation block is arranged at the upper end of the telescopic mechanism, a vertical stop rod is arranged on the installation block, an installation hole is formed in the middle of the installation block, a rotating shaft parallel to a central shaft of the pulley is arranged in the installation hole through a bearing, a driving wheel matched with the pulley is arranged on the rotating shaft, the rotating shaft is in transmission connection with a first driving mechanism arranged on the bottom plate, the first driving mechanism is connected with a controller arranged on the bottom plate, and the controller is in signal connection with the console;
the utility model discloses a wind-proof pendulum's adjustment mechanism, including the adjustment of setting on the bottom plate, the adjustment mechanism is in including setting up the groove is accomodate in the regulation on the bottom plate, through first accommodate motor activity setting the first regulation pole of accomodating the inslot is adjusted, sets up the second of first regulation pole lower extreme is adjusted the motor, sets up the second regulation pole on second regulation motor output shaft, sets up the third regulation motor of second regulation pole lower extreme sets up the third regulation pole on third regulation motor output shaft, sets up the regulating plate of third regulation pole lower extreme.
And the bottom plate is provided with an MEMS gyroscope and an MEMS accelerometer.
Furthermore, a servo motor is adopted as the first driving mechanism, a driving gear is arranged on the first driving mechanism, and a driven gear matched with the driving gear is arranged at the end part of the rotating shaft.
Furthermore, the pulley and the driving wheel are made of rubber, and irregular bulges are arranged on the surfaces of the pulley and the driving wheel.
Further, fixed establishment includes the couple that the unmanned aerial vehicle below set up, L type support upper end corresponds the couple sets up the link, unmanned aerial vehicle's below set up with control cabinet signal connection's camera.
Furthermore, deicing mechanism includes icicle clearance mechanism and icicle clearance mechanism, icicle clearance mechanism includes the stand that the bottom plate front end set up, the stand upper end sets up the launching tube, the launching tube end sets up compression spring, compression spring front end is connected and is set up the knock-rod, the launching tube sets up the fixed slot, set up on the knock-rod and pass the slider of fixed slot, the slider with when fixed slot front end contacts, the knock-rod stretches out the launching tube, corresponds the slider is in set up second actuating mechanism on the bottom plate, second actuating mechanism includes the driving motor who sets up on the bottom plate, driving motor's driving shaft is vertical upwards, the upper end of driving shaft set up with slider matched with actuating lever, driving motor is connected with the controller.
Furthermore, an ultrasonic transmitter and an ultrasonic receiver are arranged at the front end of the transmitting barrel and are connected with the controller.
Further, the ice film removing mechanism comprises a clearance groove arranged in the middle of the bottom plate, telescopic vertical rods are arranged on two sides of the bottom plate upwards, hydraulic push rods are arranged on the telescopic vertical rods inwards, an arc-shaped cover body is arranged at the front ends of the hydraulic push rods, the two arc-shaped cover bodies are matched with each other to wrap the power transmission line, heating resistance wires are arranged on the outer layers of the arc-shaped cover bodies, a heat preservation layer is arranged on the outer sides of the heating resistance wires, and the telescopic vertical rods, the hydraulic push rods and the heating resistance wires are in signal connection with the controller.
Furthermore, the heat preservation adopts the rock wool finished piece, the front end of the arc cover body set up with the protection baffle that the arc cover body is connected.
Further, the control cabinet adopts the industrial computer, the controller adopts the singlechip, the control cabinet with the controller passes through the GPRS module and communicates.
A deicing method based on a wire deicing system for high-voltage power transmission and transformation engineering comprises the following steps:
s1, enabling the carrier vehicle to move along the power transmission line, and placing a self-propelled deicing device on each power transmission line;
s2, controlling the unmanned aerial vehicle to lift the self-propelled deicing device through the console, wherein the telescopic mechanism on the bottom plate of the self-propelled deicing device is in a contracted state;
s3, hanging the power transmission line below the pulley, controlling the extension of the telescopic mechanism by the console to enable the stop lever to be in butt joint with the mounting rod, and enabling the driving wheel to be propped against the lower side of the power transmission line;
s4, the console sends a working instruction to the controller, the controller controls the second driving mechanism to drive the sliding block to enable the ejector rod to extrude the compression spring, the compression spring collects energy and then ejects the ejector rod to hit the icicles hung on the power transmission line, and the icicles are broken;
s5, the specific positions of the icicles can be monitored by the ultrasonic generator and the ultrasonic receiver in the icicles removing process, so that the distance between the transmitting barrel and the icicles is more appropriate, and the striking force and frequency are better;
s6, extending the telescopic vertical rod, enabling the two arc-shaped cover bodies to be pushed together by the hydraulic push rod to wrap the power transmission line, and enabling the ice layer sliding block on the surface of the power transmission line to fall from the clearance groove on the bottom plate through the work of the heating resistance wire;
s7, when the MEMS gyroscope and the MEMS accelerometer monitor that deflection occurs, the device is balanced and stable by adjusting the posture of the adjusting plate;
and S8, returning the carrier vehicle to the place where the first self-propelled deicing device is placed after the self-propelled deicing device is placed, and withdrawing the self-propelled deicing devices with finished deicing one by one.
The invention provides a wire deicing system for high-voltage power transmission and transformation engineering, which comprises a carrier loader, wherein the rear part of the carrier loader is provided with a carriage, a goods shelf is arranged in the carriage, a plurality of self-propelled deicing devices are arranged in the goods shelf, the rear part of the carriage is provided with a control room, a control console is arranged in the control room, the top of the carriage is provided with an unmanned aerial vehicle, the lower part of the unmanned aerial vehicle is provided with a fixing mechanism corresponding to the self-propelled deicing devices, the control console is in signal connection with the unmanned aerial vehicle and the self-propelled deicing devices, each self-propelled deicing device comprises a. Set up a plurality of self-propelled defroster on the carrier loader, the staff controls unmanned aerial vehicle in the control room and promotes defroster through fixed establishment, and send to the one end of the circuit between two pole towers, then start defroster, clear up this section, the staff can directly place defroster and do not need to control one by one at every section like this, wait for behind the defroster to remove ice to accomplish and withdrawing defroster one by one, work efficiency is high, and owing to be provided with and put out wind pendulum adjustment mechanism, can get rid of the circuit at the efficient and cover ice and also can solve in extreme incident, the security has been ensured simultaneously.
Running gear includes the bottom plate, the top at bottom plate both ends sets up L type support, the top of L type support sets up the installation pole downwards, set up the pulley on installation pole and the L type support, the below of installation pole sets up telescopic machanism on the bottom plate, telescopic machanism's upper end sets up the installation piece, set up vertical pin on the installation piece, set up the mounting hole in the middle of the installation piece, set up the pivot parallel with the pulley center pin through the bearing in the mounting hole, set up the drive wheel with pulley matched with in the pivot, the pivot is connected with the first actuating mechanism transmission that sets up on the bottom plate, first actuating mechanism is connected with the controller that sets up on the bottom plate, controller and control cabinet signal connection. Be used for setting up the mechanism of each deicing on the bottom plate, L type support sets up the pulley with the cooperation of installation pole, lifts by crane self-propelled defroster to transmission line at unmanned aerial vehicle after, goes into the below of pulley with the circuit card, then telescopic machanism rises, drives pin and drive wheel simultaneously and rises, and the pin docks with installation pole lower extreme, and the preventing device drops from the circuit, and drive wheel extrusion circuit lower surface, like this the drive wheel rotate, alright drive whole device. The drive wheel drives through first actuating mechanism, and when elevating system did not extend, pivot and first actuating mechanism did not dock, after elevating system extended, the driven gear of the tip of pivot and the driving gear butt joint on the first actuating mechanism, first actuating mechanism alright rotate with the drive pivot like this to realize the walking of device. The pulley and the driving wheel are made of rubber, so that the friction force between the wheel and the line can be ensured, and the device can conveniently walk on the line with water.
The fixing mechanism comprises a hook arranged below the unmanned aerial vehicle, the upper end of the L-shaped support corresponds to the hook and is provided with a hanging ring, and the lower side of the unmanned aerial vehicle is provided with a camera connected with a control console signal. Fixing mechanism penetrates the link on the L type support through unmanned aerial vehicle's couple, lifts by crane defroster, and the camera passes through the cloud platform and installs in unmanned aerial vehicle's below, can observe it when hanging defroster toward the circuit and establish, convenient operation.
The deicing mechanism comprises an icicle clearing mechanism and an ice film clearing mechanism, the icicle clearing mechanism comprises an upright post arranged at the front end of a bottom plate, a launching tube is arranged at the upper end of the upright post, a compression spring is arranged at the tail end of the launching tube, a top stick is connected and arranged at the front end of the compression spring, a fixing groove is formed in the launching tube, a sliding block penetrating through the fixing groove is arranged on the top stick, the top stick extends out of the launching tube when the sliding block is contacted with the front end of the fixing groove, a second driving mechanism is arranged on the bottom plate corresponding to the sliding block, the second driving mechanism comprises a driving motor arranged on the bottom plate, a driving shaft of the driving motor is vertically upward, a driving rod matched with. The ice-coated circuit comprises an ice layer wrapping the circuit and an ice column below the circuit, the ice column is cut off in a necessary mode in the walking process of the deicing device, and therefore the ice column removing mechanism is arranged at the front end of the bottom plate. The top rod can not directly fly out of the launching tube due to the sliding block, and then the driving rod rotates to stir the sliding block again to perform the next working cycle.
In addition, an adjusting mechanism for preventing wind pendulum is arranged on the bottom plate, the adjusting mechanism comprises an adjusting accommodating groove arranged on the bottom plate, a first adjusting rod is accommodated through the adjusting accommodating groove, the first adjusting rod is movably connected with the adjusting accommodating groove through a first adjusting motor and is arranged at the lower end of a second adjusting motor, a second adjusting rod arranged on an output shaft of the second adjusting motor, a third adjusting motor arranged at the lower end of the second adjusting rod, a third adjusting rod arranged on an output shaft of the third adjusting motor, and an adjusting plate arranged at the lower end of the third adjusting rod. The adopted adjusting motor is a stepping motor, so that rapid adjustment can be realized, and the MEMS gyroscope and the MEMS accelerometer are arranged on the bottom plate, so that balance adjustment is realized.
The launching tube front end sets up ultrasonic transmitter and ultrasonic receiver, and ultrasonic transmitter and ultrasonic receiver are connected with the controller, and the position of icicle apart from the bottom plate can be monitored in ultrasonic transmitter and ultrasonic receiver's cooperation, is convenient for adjust the launching tube to most suitable position like this for impact force when the top rod is ejecting is the biggest, and is better to the effect of cleaing away of icicle.
The ice film clearing mechanism comprises a clearance groove arranged in the middle of a bottom plate, telescopic vertical rods are upwards arranged on two sides of the bottom plate, a hydraulic push rod is inwards arranged on each telescopic vertical rod, an arc-shaped cover body is arranged at the front end of each hydraulic push rod, the two arc-shaped cover bodies are matched with each other to wrap a power transmission line, heating resistance wires are arranged on the outer layers of the arc-shaped cover bodies, a heat preservation layer is arranged on the outer sides of the heating resistance wires, and the telescopic vertical rods, the hydraulic push rods and. The ice film removing mechanism removes the ice layer on the line, and is realized in a heating mode, so that the deicing device is convenient to install and detach from the line, the arc-shaped cover body is realized through the hydraulic push rod and the telescopic vertical rod, and the condition that the power transmission line enters the lower part of the pulley from one side of the L-shaped support is not influenced. The structure of the arc cover body is that the cylindrical barrel separates the barrel along the plane at axis place, and the arc cover body is the same with the structure of half barrel, like this two arc cover bodies can dock and constitute a barrel including wrapping up the circuit together, the outside of the arc cover body sets up the heating resistor silk, and set up the heat preservation in the outside, the cover body can adopt the copper product finished piece, the addendum of heating resistor silk transmits the surface to the circuit, alright melt thin ice, drop from the clearance groove in the middle of the bottom plate, realize cleaing away to thin ice.
The heat preservation adopts the rock wool finished piece, and the front end of the arc cover body sets up the protection baffle who is connected with the arc cover body. Rock wool has high temperature resistant and heat preservation function, prevents that the heat from the outside from running off, guarantees the maximum utilization of electric energy. The protection baffle adopts the same material with the arc cover body, the arc cover body front end bending outward promptly can, avoid the ice sheet to cause the destruction to the rock wool after being cut.
The console adopts an industrial personal computer, the controller adopts a single chip microcomputer, and the console and the controller are communicated through a GPRS module.
According to the invention, the ice coating of the power transmission line can be automatically cleaned, the deicing device is arranged on each section of the power transmission line by the worker through the unmanned aerial vehicle and then is collected, the efficiency is very high, the manpower investment is very small, the hidden danger of large-scale line ice coating can be dealt with, and the effect is very good.
Drawings
FIG. 1 is a schematic structural diagram of a wire deicing system for high-voltage power transmission and transformation engineering according to the present invention;
FIG. 2 is a schematic structural diagram of the traveling mechanism of the present invention;
FIG. 3 is a schematic view of another embodiment of the traveling mechanism of the present invention and a structure of the traveling mechanism connected to an unmanned aerial vehicle;
FIG. 4 is a schematic structural diagram of the icicle removing mechanism according to the present invention;
FIG. 5 is a schematic structural diagram of a second driving mechanism according to the present invention;
FIG. 6 is a schematic structural view of an ice film removing mechanism according to the present invention;
FIG. 7 is a schematic structural view of a baffle of the present invention;
fig. 8 is a schematic structural diagram of the adjusting mechanism of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
The embodiment I of the invention provides a wire deicing system for a high-voltage power transmission and transformation project, which comprises a carrier loader 1, wherein a carriage 5 is arranged at the rear part of the carrier loader 1, a goods shelf 4 is arranged in the carriage 5, a plurality of self-propelled deicing devices 3 are arranged in the goods shelf 4, a control room 7 is arranged at the rear part of the carriage 5, a control board 6 is arranged in the control room 7, an unmanned aerial vehicle 2 is arranged at the top part of the carriage 5, a fixing mechanism is arranged at the lower part of the unmanned aerial vehicle 2 corresponding to the self-propelled deicing devices 3, the control board 6 is in signal connection with the unmanned aerial vehicle 2 and the self-propelled deicing devices 3, the self-propelled deicing devices 3 comprise a travelling mechanism, and the travelling mechanism is provided with a deicing mechanism.
An adjusting mechanism 44 for preventing wind from swinging is arranged on the bottom plate 21, the adjusting mechanism 44 comprises an adjusting and accommodating groove arranged on the bottom plate, a first adjusting rod 442 movably arranged in the adjusting and accommodating groove through a first adjusting motor 441, a second adjusting motor 443 arranged at the lower end of the first adjusting rod 442, a second adjusting rod 446 arranged on the output shaft of the second adjusting motor 443, a third adjusting motor 444 arranged at the lower end of the second adjusting rod 446, a third adjusting rod 446 arranged on the output shaft of the third adjusting motor 444, and an adjusting plate 445 arranged at the lower end of the third adjusting rod 446.
A MEMS gyroscope 45 and a MEMS accelerometer 46 are disposed on the base plate.
A safety support 43 is provided on the base plate.
This platform includes the carrier loader, and the carrier loader rear portion sets up the carriage, sets up goods shelves in the carriage, sets up a plurality of self-propelled defroster in the goods shelves, and the carriage rear portion sets up the control room, sets up the control cabinet in the control room, and the carriage top sets up unmanned aerial vehicle, and the unmanned aerial vehicle lower part corresponds self-propelled defroster and sets up fixed establishment, the control cabinet with unmanned aerial vehicle, self-propelled defroster signal connection, self-propelled defroster include running gear, set up deicing mechanism on the running gear. Set up a plurality of self-propelled defroster on the carrier loader, the staff control unmanned aerial vehicle in the control room promotes defroster through fixed establishment, and send to the one end of the circuit between two pole towers, then start defroster, clear up this section, the staff can directly place defroster and do not need to control one by one at every section like this, wait for after putting defroster to remove ice to accomplish and withdrawing defroster one by one, work efficiency is high, cover ice to the circuit and can solve in extreme incident.
Example two
As shown in fig. 2 and fig. 3, the present embodiment is different from the first embodiment in that:
the running mechanism comprises a bottom plate 21, L-shaped brackets 8 are arranged above two ends of the bottom plate 21, the top end of the L-shaped bracket 8 is downwards provided with a mounting rod 9, the mounting rod 9 and the L-shaped bracket 8 are provided with pulleys 10, a telescopic mechanism 20 is arranged on the bottom plate 21 below the mounting rod 9, a mounting block 15 is arranged at the upper end of the telescopic mechanism 20, a vertical stop lever 13 is arranged on the mounting block 15, a mounting hole 16 is arranged in the middle of the mounting block 15, a rotating shaft 18 parallel to the central shaft of the pulley 10 is arranged in the mounting hole 16 through a bearing 17, a driving wheel 19 matched with the pulley 10 is arranged on the rotating shaft 18, the rotating shaft 18 is in transmission connection with a first driving mechanism 11 arranged on the bottom plate 21, the first driving mechanism 11 is connected with a controller arranged on the bottom plate 21, and the controller is in signal connection with the console 6.
The first driving mechanism 11 adopts a servo motor, a driving gear 12 is arranged on the first driving mechanism 11, and a driven gear 14 matched with the driving gear 12 is arranged at the end part of the rotating shaft 18.
The pulley 10 and the driving wheel 19 are made of rubber, and irregular bulges are arranged on the surfaces of the pulley 10 and the driving wheel 19.
Fixing mechanism includes couple 23 that 2 below of unmanned aerial vehicle set up, 8 upper ends of L type support correspond couple 23 sets up link 22, 2 below of unmanned aerial vehicle set up with 6 signal connection's of control cabinet camera 24.
Running gear includes the bottom plate, the top at bottom plate both ends sets up L type support, the top of L type support sets up the installation pole downwards, set up the pulley on installation pole and the L type support, the below of installation pole sets up telescopic machanism on the bottom plate, telescopic machanism's upper end sets up the installation piece, set up vertical pin on the installation piece, set up the mounting hole in the middle of the installation piece, set up the pivot parallel with the pulley center pin through the bearing in the mounting hole, set up the drive wheel with pulley matched with in the pivot, the pivot is connected with the first actuating mechanism transmission that sets up on the bottom plate, first actuating mechanism is connected with the controller that sets up on the bottom plate, controller and control cabinet signal connection. Be used for setting up the mechanism of each deicing on the bottom plate, L type support sets up the pulley with the cooperation of installation pole, lifts by crane self-propelled defroster to transmission line at unmanned aerial vehicle after, goes into the below of pulley with the circuit card, then telescopic machanism rises, drives pin and drive wheel simultaneously and rises, and the pin docks with installation pole lower extreme, and the preventing device drops from the circuit, and drive wheel extrusion circuit lower surface, like this the drive wheel rotate, alright drive whole device. The drive wheel drives through first actuating mechanism, and when elevating system did not extend, pivot and first actuating mechanism did not dock, after elevating system extended, the driven gear of the tip of pivot and the driving gear butt joint on the first actuating mechanism, first actuating mechanism alright rotate with the drive pivot like this to realize the walking of device. The pulley and the driving wheel are made of rubber, so that the friction force between the wheel and the line can be ensured, and the device can conveniently walk on the line with water.
The fixing mechanism comprises a hook arranged below the unmanned aerial vehicle, the upper end of the L-shaped support corresponds to the hook and is provided with a hanging ring, and the lower side of the unmanned aerial vehicle is provided with a camera connected with a control console signal. Fixing mechanism penetrates the link on the L type support through unmanned aerial vehicle's couple, lifts by crane defroster, and the camera passes through the cloud platform and installs in unmanned aerial vehicle's below, can observe it when hanging defroster toward the circuit and establish, convenient operation.
EXAMPLE III
As shown in fig. 4 to 7, the present embodiment is different from the first embodiment in that:
the deicing mechanism comprises an ice column removing mechanism and an ice film removing mechanism, the ice column removing mechanism comprises an upright post 28 arranged at the front end of the bottom plate 21, the upper end of the upright post 28 is provided with a launching tube 25, the tail end of the launching tube 25 is provided with a compression spring 30, the front end of the compression spring 30 is connected with a top stick 26, the launching tube 25 is provided with a fixing groove 27, the top stick 26 is provided with a sliding block 29 which passes through the fixing groove 27, when the sliding block 29 is contacted with the front end of the fixing groove 27, the top stick 26 extends out of the launching tube 25, a second driving mechanism is arranged on the bottom plate corresponding to the slide block 29, the second driving mechanism comprises a driving motor 34 arranged on the bottom plate 21, a driving shaft 35 of the driving motor 34 is vertically upward, a driving rod 33 matched with the sliding block 29 is arranged at the upper end of the driving shaft 35, and the driving motor 34 is connected with a controller.
The front end of the transmitting barrel 25 is provided with an ultrasonic transmitter 31 and an ultrasonic receiver 32, and the ultrasonic transmitter 31 and the ultrasonic receiver 32 are connected with the controller.
The ice film removing mechanism comprises a clearance groove 36 arranged in the middle of the bottom plate 21, telescopic vertical rods 41 arranged on two sides of the bottom plate 21 upwards, hydraulic push rods 40 arranged inwards on the telescopic vertical rods 41, arc-shaped cover bodies 39 arranged at the front ends of the hydraulic push rods 40, the two arc-shaped cover bodies 39 are matched with each other to wrap the power transmission line, heating resistance wires 38 are arranged on the outer layers of the arc-shaped cover bodies 39, heat preservation layers 37 are arranged on the outer sides of the heating resistance wires 38, and the telescopic vertical rods 41, the hydraulic push rods 40 and the heating resistance wires 38 are in signal connection with the controller.
The heat-insulating layer 37 is made of rock wool, and a protective baffle 42 connected with the arc-shaped cover body 39 is arranged at the front end of the arc-shaped cover body 39.
The control console 6 adopts an industrial personal computer, the controller adopts a single chip microcomputer, and the control console 6 communicates with the controller through a GPRS module.
The deicing mechanism comprises an icicle clearing mechanism and an ice film clearing mechanism, the icicle clearing mechanism comprises an upright post arranged at the front end of a bottom plate, a launching tube is arranged at the upper end of the upright post, a compression spring is arranged at the tail end of the launching tube, a top stick is connected and arranged at the front end of the compression spring, a fixing groove is formed in the launching tube, a sliding block penetrating through the fixing groove is arranged on the top stick, the top stick extends out of the launching tube when the sliding block is contacted with the front end of the fixing groove, a second driving mechanism is arranged on the bottom plate corresponding to the sliding block, the second driving mechanism comprises a driving motor arranged on the bottom plate, a driving shaft of the driving motor is vertically upward, a driving rod matched with. The ice-coated circuit comprises an ice layer wrapping the circuit and an ice column below the circuit, the ice column is cut off in a necessary mode in the walking process of the deicing device, and therefore the ice column removing mechanism is arranged at the front end of the bottom plate. The top rod can not directly fly out of the launching tube due to the sliding block, and then the driving rod rotates to stir the sliding block again to perform the next working cycle.
The launching tube front end sets up ultrasonic transmitter and ultrasonic receiver, and ultrasonic transmitter and ultrasonic receiver are connected with the controller, and the position of icicle apart from the bottom plate can be monitored in ultrasonic transmitter and ultrasonic receiver's cooperation, is convenient for adjust the launching tube to most suitable position like this for impact force when the top rod is ejecting is the biggest, and is better to the effect of cleaing away of icicle.
The ice film clearing mechanism comprises a clearance groove arranged in the middle of a bottom plate, telescopic vertical rods are upwards arranged on two sides of the bottom plate, a hydraulic push rod is inwards arranged on each telescopic vertical rod, an arc-shaped cover body is arranged at the front end of each hydraulic push rod, the two arc-shaped cover bodies are matched with each other to wrap a power transmission line, heating resistance wires are arranged on the outer layers of the arc-shaped cover bodies, a heat preservation layer is arranged on the outer sides of the heating resistance wires, and the telescopic vertical rods, the hydraulic push rods and. The ice film removing mechanism removes the ice layer on the line, and is realized in a heating mode, so that the deicing device is convenient to install and detach from the line, the arc-shaped cover body is realized through the hydraulic push rod and the telescopic vertical rod, and the condition that the power transmission line enters the lower part of the pulley from one side of the L-shaped support is not influenced. The structure of the arc cover body is that the cylindrical barrel separates the barrel along the plane at axis place, and the arc cover body is the same with the structure of half barrel, like this two arc cover bodies can dock and constitute a barrel including wrapping up the circuit together, the outside of the arc cover body sets up the heating resistor silk, and set up the heat preservation in the outside, the cover body can adopt the copper product finished piece, the addendum of heating resistor silk transmits the surface to the circuit, alright melt thin ice, drop from the clearance groove in the middle of the bottom plate, realize cleaing away to thin ice.
The heat preservation adopts the rock wool finished piece, and the front end of the arc cover body sets up the protection baffle who is connected with the arc cover body. Rock wool has high temperature resistant and heat preservation function, prevents that the heat from the outside from running off, guarantees the maximum utilization of electric energy. The protection baffle adopts the same material with the arc cover body, the arc cover body front end bending outward promptly can, avoid the ice sheet to cause the destruction to the rock wool after being cut.
The console adopts an industrial personal computer, the controller adopts a single chip microcomputer, and the console and the controller are communicated through a GPRS module.
Example four
The embodiment provides a deicing method based on a wire deicing system for high-voltage power transmission and transformation engineering, which comprises the following steps:
s1, enabling the carrier vehicle to move along the power transmission line, and placing a self-propelled deicing device on each section of power transmission line;
s2, controlling the unmanned aerial vehicle to lift the self-propelled deicing device through the console, wherein the telescopic mechanism on the bottom plate of the self-propelled deicing device is in a contracted state;
s3, hanging the power transmission line below the pulley, controlling the extension of the telescopic mechanism by the console to enable the stop lever to be in butt joint with the mounting rod, and enabling the driving wheel to be propped against the lower side of the power transmission line;
s4, the console sends a working instruction to the controller, the controller controls the second driving mechanism to drive the sliding block to enable the ejector rod to extrude the compression spring, the compression spring collects energy and then ejects the ejector rod to hit the icicles hung on the power transmission line, and the icicles are broken;
s5, the specific positions of the icicles can be monitored by the ultrasonic generator and the ultrasonic receiver in the icicles removing process, so that the distance between the transmitting barrel and the icicles is more appropriate, and the striking force and frequency are better;
s6, extending the telescopic vertical rod, enabling the two arc-shaped cover bodies to be pushed together by the hydraulic push rod to wrap the power transmission line, and enabling the ice layer sliding block on the surface of the power transmission line to fall from the clearance groove on the bottom plate through the work of the heating resistance wire;
s7, when the MEMS gyroscope and the MEMS accelerometer monitor that deflection occurs, the device is balanced and stable by adjusting the posture of the adjusting plate;
and S8, returning the carrier vehicle to the place where the first self-propelled deicing device is placed after the self-propelled deicing device is placed, and withdrawing the self-propelled deicing devices with finished deicing one by one.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (3)
1. The utility model provides a wire deicing system for high voltage transmission and transformation engineering which characterized in that: the self-propelled deicing device comprises a carrier loader, wherein a carriage is arranged at the rear part of the carrier loader, a goods shelf is arranged in the carriage, a plurality of self-propelled deicing devices are arranged in the goods shelf, a control room is arranged at the rear part of the carriage, a control console is arranged in the control room, an unmanned aerial vehicle is arranged at the top part of the carriage, a fixing mechanism is arranged at the lower part of the unmanned aerial vehicle corresponding to the self-propelled deicing devices, the control console is in signal connection with the unmanned aerial vehicle and the self-propelled deicing devices, each self-propelled deicing device comprises a travelling mechanism, and a deicing;
the walking mechanism comprises a bottom plate, L-shaped supports are arranged above two ends of the bottom plate, mounting rods are arranged at the top ends of the L-shaped supports downwards, pulleys are arranged on the mounting rods and the L-shaped supports, telescopic mechanisms are arranged on the bottom plate below the mounting rods, mounting blocks are arranged at the upper ends of the telescopic mechanisms, vertical stop rods are arranged on the mounting blocks, mounting holes are formed in the middles of the mounting blocks, rotating shafts parallel to central shafts of the pulleys are arranged in the mounting holes through bearings, driving wheels matched with the pulleys are arranged on the rotating shafts, the rotating shafts are in transmission connection with first driving mechanisms arranged on the bottom plate, the first driving mechanisms are connected with a controller arranged on the bottom plate, and the controller is in signal connection with the control console;
the wind-proof pendulum adjusting mechanism comprises an adjusting accommodating groove arranged on the bottom plate, a first adjusting rod movably arranged in the adjusting accommodating groove through a first adjusting motor, a second adjusting motor arranged at the lower end of the first adjusting rod, a second adjusting rod arranged on an output shaft of the second adjusting motor, a third adjusting motor arranged at the lower end of the second adjusting rod, a third adjusting rod arranged on an output shaft of the third adjusting motor, and an adjusting plate arranged at the lower end of the third adjusting rod;
the deicing mechanism comprises an icicle clearing mechanism and an ice film clearing mechanism, the icicle clearing mechanism comprises an upright column arranged at the front end of a bottom plate, a launching tube is arranged at the upper end of the upright column, a compression spring is arranged at the tail end of the launching tube, the front end of the compression spring is connected with a jacking rod, the launching tube is provided with a fixed groove, a sliding block penetrating through the fixed groove is arranged on the jacking rod, the jacking rod extends out of the launching tube when the sliding block is contacted with the front end of the fixed groove, a second driving mechanism is arranged on the bottom plate corresponding to the sliding block, the second driving mechanism comprises a driving motor arranged on the bottom plate, a driving shaft of the driving motor is vertically upward, a driving rod matched with the sliding block is arranged at the upper end of the driving shaft, and the driving motor is connected;
the ice film removing mechanism comprises a clearance groove arranged in the middle of the bottom plate, telescopic vertical rods are upwards arranged on two sides of the bottom plate, a hydraulic push rod is inwards arranged on each telescopic vertical rod, an arc-shaped cover body is arranged at the front end of each hydraulic push rod, the two arc-shaped cover bodies are matched with each other to wrap the power transmission line, a heating resistance wire is arranged on the outer layer of each arc-shaped cover body, a heat preservation layer is arranged on the outer side of each heating resistance wire, and the telescopic vertical rods, the hydraulic push rods and the heating resistance wires are in signal connection with;
the heat-insulating layer is made of rock wool, and a protective baffle connected with the arc-shaped cover body is arranged at the front end of the arc-shaped cover body;
the pulley and the driving wheel are rubber parts, and irregular bulges are arranged on the surfaces of the pulley and the driving wheel; the bottom plate is provided with an MEMS gyroscope and an MEMS accelerometer;
the front end of the launching barrel is provided with an ultrasonic transmitter and an ultrasonic receiver, and the ultrasonic transmitter and the ultrasonic receiver are connected with the controller;
the deicing method based on the wire deicing system for the high-voltage power transmission and transformation project comprises the following steps:
s1, enabling the carrier vehicle to move along the power transmission line, and placing a self-propelled deicing device on each power transmission line;
s2, controlling the unmanned aerial vehicle to lift the self-propelled deicing device through the console, wherein the telescopic mechanism on the bottom plate of the self-propelled deicing device is in a contracted state;
s3, hanging the power transmission line below the pulley, controlling the extension of the telescopic mechanism by the console to enable the stop lever to be in butt joint with the mounting rod, and enabling the driving wheel to be propped against the lower side of the power transmission line;
s4, the console sends a working instruction to the controller, the controller controls the second driving mechanism to drive the sliding block to enable the ejector rod to extrude the compression spring, the compression spring collects energy and then ejects the ejector rod to hit the icicles hung on the power transmission line, and the icicles are broken;
s5, the specific positions of the icicles can be monitored by the ultrasonic generator and the ultrasonic receiver in the icicles removing process, so that the distance between the transmitting barrel and the icicles is more appropriate, and the striking force and frequency are better;
s6, extending the telescopic vertical rod, enabling the two arc-shaped cover bodies to be pushed together by the hydraulic push rod to wrap the power transmission line, and enabling the ice layer sliding block on the surface of the power transmission line to fall from the clearance groove on the bottom plate through the work of the heating resistance wire;
s7, when the MEMS gyroscope and the MEMS accelerometer monitor that deflection occurs, the device is balanced and stable by adjusting the posture of the adjusting plate;
and S8, returning the carrier vehicle to the place where the first self-propelled deicing device is placed after the self-propelled deicing device is placed, and withdrawing the self-propelled deicing devices with finished deicing one by one.
2. The system for deicing wires for high-voltage transmission and transformation engineering according to claim 1, wherein: the first driving mechanism adopts a servo motor, a driving gear is arranged on the first driving mechanism, and a driven gear matched with the driving gear is arranged at the end part of the rotating shaft.
3. The system for deicing wires for high-voltage transmission and transformation engineering according to claim 1, wherein: fixing mechanism includes the couple that the unmanned aerial vehicle below set up, L type support upper end corresponds the couple sets up the link, unmanned aerial vehicle's below set up with control cabinet signal connection's camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710918009.4A CN107528281B (en) | 2017-09-30 | 2017-09-30 | Wire deicing system for high-voltage power transmission and transformation project |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710918009.4A CN107528281B (en) | 2017-09-30 | 2017-09-30 | Wire deicing system for high-voltage power transmission and transformation project |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107528281A CN107528281A (en) | 2017-12-29 |
| CN107528281B true CN107528281B (en) | 2020-10-02 |
Family
ID=60684241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710918009.4A Active CN107528281B (en) | 2017-09-30 | 2017-09-30 | Wire deicing system for high-voltage power transmission and transformation project |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107528281B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108460953B (en) * | 2018-04-07 | 2020-10-30 | 中南林业科技大学 | Freezing disaster monitoring and early warning and forecasting system |
| CN108460954B (en) * | 2018-04-07 | 2020-10-02 | 中南林业科技大学 | Freezing disaster monitoring, early warning and forecasting method |
| CN112134236B (en) * | 2020-08-12 | 2021-10-29 | 国网新疆电力有限公司电力科学研究院 | Transmission line deicing snow melt device based on unmanned aerial vehicle |
| CN112271683B (en) * | 2020-11-23 | 2022-01-18 | 贵州电网有限责任公司 | High tension transmission line defroster |
| CN114498519B (en) * | 2022-02-24 | 2023-07-04 | 中北大学 | Composite deicing device for overhead transmission line |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001268760A (en) * | 2000-03-23 | 2001-09-28 | Koito Ind Ltd | Overhead line mounted of illuminator |
| CN1181706C (en) * | 1999-03-01 | 2004-12-22 | 达特茅斯学院理事会 | Methods and systems for removing ice from surfaces |
| CN104466865A (en) * | 2014-12-01 | 2015-03-25 | 国网上海市电力公司 | Hollow high-voltage wire hot fluid ice melting system |
| CN105356403A (en) * | 2015-11-30 | 2016-02-24 | 聂新华 | Anti-icing device for power transmission lines |
| CN205212324U (en) * | 2015-10-30 | 2016-05-04 | 徐州德坤电气科技有限公司 | Maintaining system is maintained in control of power transmission and transformation intelligent monitoring |
| CN106025984A (en) * | 2016-06-28 | 2016-10-12 | 国网山东省电力公司商河县供电公司 | Defroster for power transmission line |
| CN107039943A (en) * | 2017-05-19 | 2017-08-11 | 合肥尚强电气科技有限公司 | Intelligent deicing device for power transmission and transformation line |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204046108U (en) * | 2014-05-29 | 2014-12-24 | 国家电网公司 | Transmission line mechanical deicing device |
-
2017
- 2017-09-30 CN CN201710918009.4A patent/CN107528281B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1181706C (en) * | 1999-03-01 | 2004-12-22 | 达特茅斯学院理事会 | Methods and systems for removing ice from surfaces |
| JP2001268760A (en) * | 2000-03-23 | 2001-09-28 | Koito Ind Ltd | Overhead line mounted of illuminator |
| CN104466865A (en) * | 2014-12-01 | 2015-03-25 | 国网上海市电力公司 | Hollow high-voltage wire hot fluid ice melting system |
| CN205212324U (en) * | 2015-10-30 | 2016-05-04 | 徐州德坤电气科技有限公司 | Maintaining system is maintained in control of power transmission and transformation intelligent monitoring |
| CN105356403A (en) * | 2015-11-30 | 2016-02-24 | 聂新华 | Anti-icing device for power transmission lines |
| CN106025984A (en) * | 2016-06-28 | 2016-10-12 | 国网山东省电力公司商河县供电公司 | Defroster for power transmission line |
| CN107039943A (en) * | 2017-05-19 | 2017-08-11 | 合肥尚强电气科技有限公司 | Intelligent deicing device for power transmission and transformation line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107528281A (en) | 2017-12-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107528281B (en) | Wire deicing system for high-voltage power transmission and transformation project | |
| CN107623283B (en) | Application method of deicing device for high-voltage transmission line | |
| CN107800099B (en) | Deicing device for steel-cored aluminum stranded wire of high-voltage transmission line | |
| CN203690806U (en) | Power transmission line moving platform | |
| CN107994529B (en) | Combined intelligent snow melting and deicing device and method based on unmanned aerial vehicle | |
| CN109586232B (en) | Unmanned aerial vehicle system for deicing high-voltage and ultrahigh-voltage overhead transmission line and use method thereof | |
| CN103633581A (en) | Multifunctional aerial operation platform for power transmission line and use method of aerial operation platform | |
| CN107749605B (en) | Windage yaw prevention device for high-voltage transmission line | |
| CN203326531U (en) | Deicing robot for high-voltage transmission line | |
| CN207475146U (en) | A kind of high-tension line icing disaster remove device | |
| CN108556948B (en) | Safe and reliable intelligent security robot suitable for severe weather | |
| CN209748153U (en) | Deicing robot capable of walking along overhead conductor to remove ice | |
| CN103885447B (en) | A kind of automatic de-icing post robot system | |
| CN114233577A (en) | Liftable wind power generation device | |
| CN109861151B (en) | Deicing robot capable of deicing along overhead conductor | |
| CN105811300B (en) | A kind of radio communication type multifunctional large-scale transmission line overhauling device | |
| CN105162037B (en) | Electric overhead line de-icing device | |
| CN201413973Y (en) | Scissor deicer | |
| CN102655312B (en) | Patrol and barrier removal device for overhead line | |
| CN207559511U (en) | A kind of high-voltage cable deicer | |
| CN107528280A (en) | A kind of high-tension line deicing platform | |
| CN207532357U (en) | A kind of hanging and tracting type wall surface cleaning vehicle | |
| CN216923849U (en) | Safety monitoring equipment for power station equipment | |
| CN212431941U (en) | Unmanned aerial vehicle low-altitude early warning and defense system | |
| CN203707675U (en) | Overhead line mobile device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |