CN107742868A - A kind of power transmission line inspection deicing robot - Google Patents
A kind of power transmission line inspection deicing robot Download PDFInfo
- Publication number
- CN107742868A CN107742868A CN201711038403.5A CN201711038403A CN107742868A CN 107742868 A CN107742868 A CN 107742868A CN 201711038403 A CN201711038403 A CN 201711038403A CN 107742868 A CN107742868 A CN 107742868A
- Authority
- CN
- China
- Prior art keywords
- power transmission
- transmission line
- walking mechanism
- deicing
- line inspection
- 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.)
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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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of power transmission line inspection deicing robot, it is characterised in that：Including inspection machine human body, the body includes body（1）, the body（1）Pass through pre-walking mechanism（5）, middle walking mechanism（6）And rear walking mechanism（7）Support and be arranged on power transmission line；Each walking mechanism includes support arm（4）And road wheel（2）, the support arm（4）Upper end and body（1）It is flexibly connected, lower end is provided with road wheel（2）；The body（1）On be provided with ice melting agent case（8）, ice melting agent case deicing device（8）Connect deicing device（9）.Obstacle detouring of the present invention is simple in construction, easy to operate, and obstacle detouring is fast, and except ice structure, integrated machinery opens ice and ice-melt, except speed of icing is fast；Quick obstacle detouring and deicing, routing inspection efficiency height can be realized.
Description
Technical field
The present invention relates to power transmission line detection field, especially a kind of power transmission line inspection deicing robot.
Background technology
In China's most area, there is substantial amounts of snowfall every year, cause shape on the power transmission line of substantial amounts of ultra-high-tension power transmission line
Into icing, these icing cause serious harm to the cable and shaft tower of ultra-high-tension power transmission line, and particularly in recent years, high pressure is defeated
The icing of electric line causes cable breakage and shaft tower collapses, and causes the power failure of large area, the safety of serious threat power network is surely
Fixed operation, it is great to cause loss to the economic construction in China and the life of the people.
Powerline ice-covering domestic at present removes work and also uses artificial de-icing method mostly, using manually being struck with rod rod
The mode deicing hit, so need more personnel's inputs and resources to put into and do not reach required efficiency, it is also difficult to ensure
The life security of deicing personnel；Or the method using high-voltage line ice-melt, but high-voltage line ice-melt excessively expends energy, and apply
The energy expenditure of mechanical means deicing is much smaller than great current deicing.Large current ice-melting method efficiency is higher, but costly, and operation is multiple
It is miscellaneous, there is considerable influence safely to system.
Mechanical deicing method is to directly act on power transmission line ice sheet by mechanical device, generally use oscillatory type, compaction type,
The modes of action such as shovel, strike, mechanical deicing method cost is low, pollution-free, but in order to avoid damaging power transmission line, can only often remove
Away from accumulated ice more than power transmission line certain altitude, it is left and the compact ice sheet of power transmission line, it is difficult to thorough cleaning.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of power transmission line inspection deicing robot,
It is integrated with the function of inspection obstacle detouring and deicing, during obstacle detouring, without out of service, obstacle detouring is simple, improves routing inspection efficiency；
In deicing, by the rotation of ice breaking tooth, mechanical deicing is carried out, ice melting agent is sprayed in mechanical deicing, the resistance opened ice can be reduced
Power, accelerates deicing, and and can enough by ice sheet thorough cleaning, effectively carries out deicing.
The technical solution adopted by the present invention is as follows：
A kind of power transmission line inspection deicing robot of the present invention, including inspection machine human body, the body include body, the machine
Body is arranged on power transmission line by the support of pre-walking mechanism, middle walking mechanism and rear walking mechanism；Each walking mechanism is equal
Including support arm and road wheel, the support arm upper end is connected with body activities, and lower end is provided with road wheel, and the road wheel is set
Put and drive body to be moved along power transmission line on power transmission line；The support arm lower end can be along putting before power transmission line bearing of trend or backward
It is dynamic, lift road wheel and depart from power transmission line；Ice melting agent case, the connection ice-melt of ice melting agent case deicing device are provided with the body
Device.
Further, support arm upper end is rotatably connected on body by swinging axle, and swinging axle is connected with oscillating motor, institute
Stating oscillating motor drives support arm to swing forward or backward；Road wheel is arranged on support arm lower end, drive shaft by drive shaft
It is connected with motor, the motor drives road wheel to rotate.
Further, body top, top and/or the both sides can open.
Further, mechanical arm is additionally provided with the body, mechanical arm includes trunk arm, two are connected on trunk arm
Branch arm, branch arm connect deicing device respectively；Pipeline, the pipeline communication ice melting agent case ice-melt dress are provided with the mechanical arm
Put and charging aperture.
Further, the deicing device includes two C-channels, and two C-channels are merged into annular canister；C-channel includes inwall
And outer wall；It is cavity structure between inner and outer wall, is contained with ice melting agent；Inwall is provided with several through holes, and outer wall is provided with
Charging aperture；Inwall is provided with ice breaking tooth.
Further, the inwall radius of the C-channel is equal to, the radius of power transmission line and the length sum of ice breaking tooth.
Further, rotary shaft is provided with the annular canister, rotates axis connection motor；Motor driven annular canister rotates.
Further, control cabinet is provided with the body, the control cabinet is located at organism bottom, set in the control cabinet
There is controller, the controller is connected with oscillating motor and motor.
Further, placed obstacles in the body detection sensor, the sensor and the controller being arranged in body
It is connected；The obstacle detecting sensor is arranged at the top of body, and it includes front end obstacle detecting sensor, middle part obstacle detection passes
Sensor, rear end obstacle detecting sensor；The front end obstacle detecting sensor is arranged in front of pre-walking mechanism, the middle part barrier
Detection sensor is hindered to be arranged between pre-walking mechanism and middle walking mechanism；The rear end obstacle detecting sensor is arranged on middle row
Walk between mechanism and rear walking mechanism.
Further, it is additionally provided with charging device in the body, current transformer that the charging device includes being sequentially connected,
Current rectifying and wave filtering circuit, impact protection circuit, battery and battery management module.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Compared with prior art, originally
The obstacle detouring of invention is simple in construction, easy to operate, while obstacle detouring efficiency high；Deicer combines machinery and opened ice and ice-melt, can
It is rapidly performed by deicing.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is a kind of structural representation of power transmission line inspection deicing robot of the present invention.
Fig. 2 is a kind of working state figure of power transmission line inspection deicing robot of the present invention.
Fig. 3 is the structural representation of deicing device.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
Such as Fig. 1,2, a kind of power transmission line inspection deicing robot of the present invention, including inspection machine human body, the body bag
Body 1 is included, the body 1 is arranged on power transmission line by the support of pre-walking mechanism 5, middle walking mechanism 6 and rear walking mechanism 7
On；Each walking mechanism includes support arm 4 and road wheel 2, and the upper end of support arm 4 is flexibly connected with body 1, and lower end is set
There is road wheel 2, the road wheel 2, which is arranged on power transmission line, drives body 1 to be moved along power transmission line；The lower end of support arm 4 can
Before along power transmission line bearing of trend or swing backward, road wheel 2 is lifted and is departed from power transmission line, surmount obstacles 3；On the body 1
Ice melting agent case 8 is provided with, ice melting agent case deicing device 8 connects deicing device 9；The upper end of support arm 4 is rotated by swinging axle to be connected
It is connected on body 1, swinging axle is connected with oscillating motor, and the oscillating motor drives support arm 4 to swing forward or backward；Road wheel
2 are arranged on the lower end of support arm 4 by drive shaft, and drive shaft is connected with motor, and the motor drives 2 turns of road wheel
It is dynamic.
In the present embodiment, the top of body 1, top and/or the both sides can open.
In the present embodiment, mechanical arm is additionally provided with the body 1, mechanical arm includes trunk arm, connected respectively on trunk arm
Two branch arms are connected to, branch arm connects deicing device 9 respectively；Pipeline, the pipeline communication ice-melt are provided with the mechanical arm
Agent case deicing device 8 and charging aperture.
Such as Fig. 3, the deicing device 9 includes two C-channels 91, and two C-channels 91 are merged into annular canister, among annular canister
The power transmission line for having covering ice sheet 10 passes through；C-channel 91 includes inner and outer wall；It is cavity structure between inner and outer wall, holds
There is ice melting agent 94；Inwall is provided with several through holes 92, and outer wall is provided with charging aperture；Inwall is provided with ice breaking tooth 93；The C-shaped
The inwall radius of groove 91 is equal to, the radius of power transmission line and the length sum of ice breaking tooth 93；Rotary shaft is provided with the annular canister,
Rotate axis connection motor；Motor driven annular canister rotates.
In the present embodiment, control cabinet is provided with the body 1, the control cabinet is located at the bottom of body 1, the control
Controller is provided with case, the controller is connected with oscillating motor and motor.
Placed obstacles in the body 1 detection sensor 11, the sensor and the controller phase being arranged in body 1
Even；The obstacle detecting sensor 11 is arranged on body（1）Top, it includes front end obstacle detecting sensor, middle part obstacle is examined
Survey sensor, rear end obstacle detecting sensor；The front end obstacle detecting sensor is arranged on the front of pre-walking mechanism 5, described
Middle part obstacle detecting sensor is arranged between pre-walking mechanism 5 and middle walking mechanism 6；The rear end obstacle detecting sensor is set
Put between middle walking mechanism 6 and rear walking mechanism 7.
In the present embodiment, charging device is additionally provided with the body, the charging device includes the electric current being sequentially connected
Transformer, current rectifying and wave filtering circuit, impact protection circuit, battery and battery management module.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
- A kind of 1. power transmission line inspection deicing robot, it is characterised in that：Including inspection machine human body, the body includes body （1）, the body（1）Pass through pre-walking mechanism（5）, middle walking mechanism（6）And rear walking mechanism（7）Support and be arranged on defeated On electric wire；Each walking mechanism includes support arm（4）And road wheel（2）, the support arm（4）Upper end and body（1）Activity Connection, lower end is provided with road wheel（2）, the road wheel（2）It is arranged on power transmission line and drives body（1）Moved along power transmission line； The support arm（4）Lower end can make road wheel along before power transmission line bearing of trend or swing backward（2）Lift and depart from transmission of electricity Line；The body（1）On be provided with ice melting agent case（8）, ice melting agent case deicing device（8）Connect deicing device（9）.
- 2. power transmission line inspection deicing robot according to claim 1, it is characterised in that：Support arm（4）Upper end passes through Swinging axle is rotatably connected on body（1）On, swinging axle is connected with oscillating motor, and the oscillating motor drives support arm（4）Forward Or swing backward；Road wheel（2）Support arm is arranged on by drive shaft（4）Lower end, drive shaft are connected with motor, described Motor drives road wheel（2）Rotate.
- 3. power transmission line inspection deicing robot according to claim 1, it is characterised in that：The body（1）Top, top And/or both sides can open.
- 4. power transmission line inspection deicing robot according to claim 1, it is characterised in that：The body（1）On be additionally provided with Mechanical arm, mechanical arm include trunk arm, are connected to two branch arms on trunk arm, branch arm connects deicing device respectively （9）；Pipeline, the pipeline communication ice melting agent case deicing device are provided with the mechanical arm（8）And charging aperture.
- 5. power transmission line inspection deicing robot according to claim 1, it is characterised in that：The deicing device（9）Including Two C-channels（91）, two C-channels（91）It is merged into annular canister；C-channel（91）Including inner and outer wall；Inner and outer wall it Between be cavity structure, be contained with ice melting agent（94）；Inwall is provided with several through holes（92）, outer wall is provided with charging aperture；Inwall It is provided with ice breaking tooth（93）.
- 6. power transmission line inspection deicing robot according to claim 5, it is characterised in that：The C-channel（91）Inwall Radius is equal to, the radius and ice breaking tooth of power transmission line（93）Length sum.
- 7. power transmission line inspection deicing robot according to claim 5, it is characterised in that：It is provided with and turns in the annular canister Moving axis, rotate axis connection motor；Motor driven annular canister rotates.
- 8. power transmission line inspection deicing robot according to claim 1, it is characterised in that：The body（1）Inside it is provided with Control cabinet, the control cabinet are located at body（1）Bottom, controller is provided with the control cabinet, the controller is with swinging electricity Machine is connected with motor.
- 9. power transmission line inspection deicing robot according to claim 1, it is characterised in that：The body（1）It is interior that barrier is set Hinder detection sensor（11）, the sensor is with being arranged on body（1）Interior controller is connected；The obstacle detecting sensor （11）It is arranged on body（1）Top, it includes front end obstacle detecting sensor, middle part obstacle detecting sensor, the inspection of rear end obstacle Survey sensor；The front end obstacle detecting sensor is arranged on pre-walking mechanism（5）Front, the middle part obstacle detecting sensor It is arranged on pre-walking mechanism（5）With middle walking mechanism（6）Between；The rear end obstacle detecting sensor is arranged on middle walking mechanism （6）And rear walking mechanism（7）Between.
- 10. power transmission line inspection deicing robot according to claim 1, it is characterised in that：It is additionally provided with and fills in the body Electric installation, the charging device include be sequentially connected current transformer, current rectifying and wave filtering circuit, impact protection circuit, battery and Battery management module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038403.5A CN107742868A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line inspection deicing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038403.5A CN107742868A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line inspection deicing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107742868A true CN107742868A (en) | 2018-02-27 |
Family
ID=61233649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711038403.5A Withdrawn CN107742868A (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line inspection deicing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107742868A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020038342A1 (en) * | 2018-08-24 | 2020-02-27 | 山东大学 | Movement mechanism of deicing device for wind turbine blade, and deicing device and method for wind turbine blade |
-
2017
- 2017-10-31 CN CN201711038403.5A patent/CN107742868A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020038342A1 (en) * | 2018-08-24 | 2020-02-27 | 山东大学 | Movement mechanism of deicing device for wind turbine blade, and deicing device and method for wind turbine blade |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180227 |