CN107845997A - A kind of high-tension line deicing robot - Google Patents
A kind of high-tension line deicing robot Download PDFInfo
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- CN107845997A CN107845997A CN201711242728.5A CN201711242728A CN107845997A CN 107845997 A CN107845997 A CN 107845997A CN 201711242728 A CN201711242728 A CN 201711242728A CN 107845997 A CN107845997 A CN 107845997A
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- 230000007246 mechanism Effects 0.000 claims abstract description 195
- 230000005540 biological transmission Effects 0.000 claims abstract description 42
- 230000008520 organization Effects 0.000 claims description 29
- 238000009413 insulation Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 11
- 239000011490 mineral wool Substances 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 230000001788 irregular Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 abstract description 14
- 238000004140 cleaning Methods 0.000 abstract description 4
- 239000011248 coating agent Substances 0.000 abstract description 2
- 238000000576 coating method Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 108010053481 Antifreeze Proteins Proteins 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000002528 anti-freeze Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000003075 superhydrophobic effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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Abstract
The present invention provides a kind of high-tension line deicing robot, including the walking mechanism being arranged on ultra-high-tension power transmission line, walking mechanism front end sets ice-breaking mechanism, settingization mechanism of ice above walking mechanism, walking mechanism includes bottom plate, the top at bottom plate both ends sets the first L-type support, the down-set mounting rod in top of first L-type support, mounting rod in first L-type support with setting pulley, the lower section of mounting rod sets telescoping mechanism on bottom plate, the upper end of telescoping mechanism sets mounting blocks, vertical pin is set on mounting blocks, mounting hole is set among mounting blocks, the first rotating shaft parallel with pulley center axle is set in mounting hole by bearing, the driving wheel being engaged with pulley is set in first rotating shaft.The present invention can carry out automation cleaning to the icing of transmission line of electricity, and deicing robot is arranged on ultra-high-tension power transmission line by staff, line ice coating can be purged with remote control robot, and operating efficiency is fast, and icing clearance rate is high, is adapted to promote the use of.
Description
Technical field
The present invention relates to removing ice of power transmission line technical field, and in particular to a kind of high-tension line deicing robot.
Background technology
The medium of nearly power transmission electric network long-distance transport electric power typically uses high-tension line to improve the efficiency of power transmission, so
And when temperature reaches subzero, water build-ups ice and destructive power will be produced to circuit, steel tower and iron tower foundation, to people's
Live and work brings great inconvenience, and huge loss is also caused for Regional Economic Development.Due to the particularity of high-tension line,
At this moment traditional manpower deicing mode is used again, in addition to deicing efficiency is low, also easily causes casualties.
In the prior art, it, when building power transmission electric network, is on high-tension line " draping over one's shoulders " that a kind of scheme of high-tension line deicing, which is,
One layer of super-hydrophobic coat " coat ", when meeting with cryogenic freezing sleet disaster, the anti-freeze icing ability of high-tension line will significantly
50%-60% is lifted, is occurred so as to reduce power system security accident.Although this mode has reached certain prevents what is frozen
Effect, but all coat super-hydrophobic coat, financial cost because anti-freeze icing ability is after all limited, and for whole piece high-tension line
It is very high.
In the prior art, the deicing control program also in the presence of some for the inspection robot of high-tension line, but due to defeated
Electric grid equipment is excessive, complicated, and environment where high-tension line is typically relatively more severe, and robot structure design itself is not
Rationally, cause robot deicing scheme of the prior art to be difficult to high volume applications, laboratory stage can only be rested on；Meanwhile
The missing of live electronics ice sheet measuring apparatus causes deicing effect not reach the requirement of power supply management department.
Publication No. 102280847B invention belongs to wire icing removal tool and removes icing method with the instrument
Technical field, disclose a kind of electric power line deicer and the method with the ice removal deicing.But its method structure needs people
Among work participates in, efficiency is very slow.Publication No. 106025984A invention is related to a kind of deicer for power transmission line, including
Car body, one lift of connection above the car body are provided with support section above lift, support section be provided with deicing device with
Icebreaking device.Although the invention deicing effect is very good, using simultaneously inconvenience, it is necessary to by car body as circuit starts.
The content of the invention
In view of this, the present invention provides a kind of high-tension line deicing robot, to solve to ask present in prior art
Topic.
In order to solve the above technical problems, the present invention provides a kind of high-tension line deicing robot, including to be arranged on high pressure defeated
Walking mechanism in electric line, the walking mechanism front end setting ice-breaking mechanism, walking mechanism top settingization mechanism of ice,
The walking mechanism includes bottom plate, and the top at the bottom plate both ends sets the first L-type support, the top of first L-type support
Down-set mounting rod, the mounting rod in first L-type support with setting pulley, and the lower section of the mounting rod is at the bottom
Telescoping mechanism is set on plate, and the upper end of the telescoping mechanism sets mounting blocks, vertical pin is set on the mounting blocks, described
Mounting hole is set among mounting blocks, the first rotating shaft parallel with the pulley center axle is set by bearing in the mounting hole,
The driving wheel that is engaged with the pulley is set in the first rotating shaft, the first rotating shaft be arranged on the bottom plate the
One drive mechanism is connected, and first drive mechanism is connected with the controlling organization being arranged on the bottom plate, the control
Mechanism is connected with the ice-breaking mechanism, change mechanism of ice, console signal.
Further, first drive mechanism uses servomotor, and driving gear is set in first drive mechanism,
The driven gear that the first rotating shaft end set is engaged with the driving gear.
Further, the pulley and driving wheel are rubber part, and the pulley and wheel drive surfaces set irregular convex
Rise.
Further, the ice-breaking mechanism includes the second L-type support that the bottom plate front end is set, the second L-type branch
Swing mechanism is set on frame, and the swing mechanism front end sets hammer mechanism.
Further, the swing mechanism includes the first support set in second L-type support, the first support
The upper rotating shaft of rotary setting second, sets swing arm in second rotating shaft, second rotating shaft and is arranged in the second L-type support
Second drive mechanism is connected, and the swing arm front end sets the hammer mechanism, the central axis of the ultra-high-tension power transmission line
In the plane of swing arm rotation.
Further, the hammer mechanism includes the arc tup for being arranged on the swing arm front end, the following table of the tup
Face is agreed with the ultra-high-tension power transmission line, and the lower surface of the tup sets tapered protrusion, and the end of the tapered protrusion is half
Circle, the top of the tup set balance weight mechanism.
Further, the balance weight mechanism includes the spring and guiding mechanism set above the tup, the guiding
Mechanism includes the expansion link in the spring, and the upper end connection of the spring and expansion link sets balancing weight, the bullet
The lower end of spring and expansion link connects the tup.
Further, before the bottom plate front end sets icicle mechanism for monitoring, the icicle mechanism for monitoring to include the bottom plate
The ultrasonic transmitter-receiver set forward is held, the ultrasonic transmitter-receiver is connected with the controlling organization signal.
Further, describedization mechanism of ice includes the avoiding hollow groove set among the bottom plate, and the bottom plate two is set on the side
The Extensible upright rod put, inwardly sets hydraulic push rod in the Extensible upright rod, and the hydraulic push rod front end sets arc cover body, two
The ultra-high-tension power transmission line is wrapped in interior, the arc-shaped cover volume surrounding setting resistive heater by the arc-shaped cover mates,
The outside of the resistive heater sets heat-insulation layer, the Extensible upright rod, hydraulic push rod and resistive heater and the control machine
Structure signal connects.
Further, the heat-insulation layer uses rock wool product, and the front end of the arc cover body is set and the arc cover body
The protection baffle plate being connected.
Further, the console uses industrial computer, and the controlling organization uses single-chip microcomputer, the console with it is described
Controlling organization is communicated by GPRS module.
A kind of de-icing method based on high-tension line deicing robot, comprises the following steps：
S1, deicing mechanism people is placed on transmission line of electricity, now first control telescoping mechanism is located at contraction state, then moving machine
Device people causes transmission line of electricity to be located at the lower section of pulley, and console control telescoping mechanism, which extends, causes pin to be docked with mounting rod, and
Driving wheel withstands on the lower section of transmission line of electricity；
S2, console send work order, the first drive mechanism driving robot ambulation, icicle testing agency prison to controlling organization
Survey front and whether there is icicle；
S3, when icicle be present, the first drive mechanism is stopped, and the driving swing arm of the second drive mechanism drives tup plane set-hammer forward
Hit, beat the thin ice of icicle upper end and ultra-high-tension power transmission line so that icicle drops.
The invention provides a kind of high-tension line deicing robot, including the vehicle with walking machine being arranged on ultra-high-tension power transmission line
Structure, walking mechanism front end set ice-breaking mechanism, walking mechanism top settingization mechanism of ice, and walking mechanism includes bottom plate, bottom plate two
The top at end sets the first L-type support, the down-set mounting rod in top of the first L-type support, mounting rod and the first L-type branch
Pulley is set on frame, and the lower section of mounting rod sets telescoping mechanism on bottom plate, and the upper end of telescoping mechanism sets mounting blocks, mounting blocks
It is upper that vertical pin is set, mounting hole is set among mounting blocks, set in mounting hole by bearing parallel with pulley center axle
First rotating shaft, sets the driving wheel being engaged with pulley in first rotating shaft, first rotating shaft and what is be arranged on bottom plate first drive
Mechanism driving is connected, and the first drive mechanism is connected with the controlling organization being arranged on bottom plate, and controlling organization connects with console signal
Connect.Walking mechanism allows the robot to be walked on transmission line of electricity, during mounting robot, first shrinks telescoping mechanism, will
Circuit is caught in the lower section of pulley, and then telescoping mechanism rises, while drives pin and driving wheel to rise, pin and mounting rod lower end
Docking, anti-locking apparatus drop from circuit, and driving wheel extruding circuit lower surface, such driving wheel rotates, can be with the whole dress of drive
Put.Driving wheel is driven by the first drive mechanism, and when elevating mechanism does not extend, rotating shaft is not right with the first drive mechanism
Connecing, after elevating mechanism extends, the driven gear of the end of rotating shaft docks with the driving gear in the first drive mechanism, and such
One drive mechanism can be rotated with drive shaft, so as to the walking of realization device.Controlling organization and walking mechanism, ice breaker
Structure connects with mechanism of ice is changed, for the work of control machine people.Controlling organization realizes telecommunication with console, so live people
Member only needs to lay robot, and manipulates and then manipulated by the console in control room, more convenient.
First drive mechanism uses servomotor, and driving gear is set in the first drive mechanism, and roller end is set and master
The driven gear that moving gear is engaged.Pulley and driving wheel are rubber part, and pulley and wheel drive surfaces set irregular raised.
Pulley and driving wheel are rubber part, it is ensured that the frictional force of wheel and circuit, are easy to device to be walked on the circuit with ice.
Ice-breaking mechanism includes the second L-type support that bottom plate front end is set, and swing mechanism is set in the second L-type support, swings
Device front end sets hammer mechanism.After robot installation on the line, the upper end of the second L-type support is located at the top of circuit,
By swing mechanism drive hammer mechanism the ice sheet of circuit upper surface is hammered so that ice sheet crushes, such icicle because
The reason for self gravitation, can drop.
Swing mechanism includes the first support that sets in the second L-type support, the rotating shaft of rotary setting second in first support, the
Swing arm is set in two rotating shafts, and the second rotating shaft and the second drive mechanism being arranged in the second L-type support are connected, swing arm front end
Hammer mechanism is set, and the central axis of ultra-high-tension power transmission line is located in the plane of swing arm rotation.Second drive mechanism drive shaft
Rotate, so as to drive swing arm to rotate so that the hammer mechanism of swing arm front end can impinge upon the upper surface of circuit, so as to realize pair
The cleaning of icicle.
Hammer mechanism includes the arc tup for being arranged on swing arm front end, and lower surface and the ultra-high-tension power transmission line of tup agree with,
The lower surface of tup sets tapered protrusion, and the end of tapered protrusion is semicircle, and the top of tup sets balance weight mechanism.Stamping machine
Structure can hammer the top half of circuit by arc tup, and the lower surface tapered protrusion of tup can concentrate impact,
So as to smash ice sheet.The end of tapered protrusion is semicircle, and this is for protection circuit, avoids circuit surface from being damaged.Tup
The balance weight mechanism of top can increase impact, and the effect hit with delay, can play a part of pressing ice sheet so that
Tapered protrusion racks ice sheet, and deicing effect is more preferable.
Balance weight mechanism includes the spring and guiding mechanism set above tup, and guiding mechanism includes stretching in spring
The upper end connection of contracting bar, spring and expansion link sets the lower end connection tup of balancing weight, spring and expansion link.Guiding mechanism
Avoid balancing weight crooked, spring plays a part of connecting balancing weight and tup, after tup hits on the line, balancing weight because
It is badly in need of movement for the reason for inertia, so as to being transferred to kinetic energy continuation on tup, tapered protrusion on such tup can be with
Pressure persistently is applied to ice sheet, so as to increase the effect that opens ice.
Bottom plate front end sets icicle mechanism for monitoring, and icicle mechanism for monitoring includes the ultrasonic transmission/reception that bottom plate front end is set forward
Device, ultrasonic transmitter-receiver are connected with controlling organization signal.Whether icicle mechanism for monitoring judges front by ultrasonic transmitter-receiver
In the presence of simultaneously, after ultrasonic wave is gone out, if icicle be present, it can be received, can interpolate that out by transceiver with reflectance ultrasound ripple
The position of icicle, so as to realize automatic remove to icicle.
Change the avoiding hollow groove that mechanism of ice includes setting among bottom plate, the Extensible upright rod that bottom plate both sides are set up, Extensible upright rod
Upper inwardly to set hydraulic push rod, hydraulic push rod front end sets arc cover body, and two arc-shaped cover mates are by ultra-high-tension power transmission line
In being wrapped in, arc-shaped cover volume surrounding sets resistive heater, and the outside of resistive heater sets heat-insulation layer, Extensible upright rod, hydraulic pressure
Push rod and resistive heater are connected with controlling organization signal.It is that the ice sheet on circuit is purged to change mechanism of ice, and it is by adding
The mode of heat realizes, for the ease of deicer installation with being pulled down from circuit, therefore arc cover body is to pass through hydraulic push rod
Realized with Extensible upright rod, do not interfere with the lower section that transmission line of electricity enters pulley from the side of L-type support.The knot of arc cover body
Structure is that cylindrical tube separates cylinder along the plane where axis, and arc cover body is identical with the structure of half of cylinder, so
Two arc cover bodies can be docking together in circuit is wrapped in by one cylinder of composition, and the outside of arc cover body sets heating electricity
Silk is hindered, and heat-insulation layer is set in outermost, cover body can use copper product product, and the dosage of resistive heater is transferred to circuit
Surface, it can be dropped so that thin ice are melted from the avoiding hollow groove among bottom plate, realize the removing to thin ice.
The heat-insulation layer uses rock wool product, and the front end of the arc cover body sets the guarantor being connected with the arc-shaped cover body phase
Guard.Rock wool has high temperature resistant and heat insulation function, prevents heat to be lost in from outside, ensures the maximum utilization of electric energy.Protection
Baffle plate uses the material same with arc cover body, i.e. arc cover body front end bending is outside, avoid ice sheet be truncated after pair
Rock wool damages.
The console uses industrial computer, and the controlling organization uses single-chip microcomputer, the console and the controlling organization
Communicated by GPRS module.
The present invention can carry out automation cleaning to the icing of transmission line of electricity, and deicing robot is arranged on height by staff
On pressure transmission line, line ice coating can be purged with remote control robot, operating efficiency is fast, and icing clearance rate is high,
It is adapted to promote the use of.
Brief description of the drawings
Fig. 1 is the structural representation of walking mechanism of the present invention；
Fig. 2 is the structural representation of ice-breaking mechanism of the present invention；
Fig. 3 is the sectional view of arc tup of the present invention；
Fig. 4 is the structural representation of balance weight mechanism of the present invention；
Fig. 5 is the structural representation of present inventionization mechanism of ice；
Fig. 6 is the structural representation of present invention protection baffle plate.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing 1-6, the technical scheme of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this
The part of the embodiment of invention, rather than whole embodiments.Based on described embodiments of the invention, the common skill in this area
The every other embodiment that art personnel are obtained, belongs to the scope of protection of the invention.
Embodiment one, the invention provides a kind of high-tension line deicing robot, including it is arranged on ultra-high-tension power transmission line 28
On walking mechanism, the walking mechanism front end sets ice-breaking mechanism, settingization mechanism of ice above the walking mechanism, the row
Walking mechanism includes bottom plate 21, and the top of the rear and front end of bottom plate 21 sets the first L-type support 8, first L-type support 8
The down-set mounting rod 9 in top, sets pulley 10 in the mounting rod 9 and first L-type support 8, under the mounting rod 9
Side sets telescoping mechanism 20 on the bottom plate 21, and the upper end of the telescoping mechanism 20 sets mounting blocks 15, the mounting blocks 15
It is upper that vertical pin 13 is set, mounting hole 16 is set among the mounting blocks 15, set in the mounting hole 16 by bearing 17
The first rotating shaft 18 parallel with the central shaft of pulley 10, the drive being engaged with the pulley 10 is set in the first rotating shaft 18
Driving wheel 19, the first rotating shaft 18 are connected with the first drive mechanism 11 being arranged on the bottom plate 21, and described first drives
Motivation structure 11 is connected with the controlling organization 22 being arranged on the bottom plate 21, the controlling organization 22 and the ice-breaking mechanism, change
Mechanism of ice, the connection of console signal.
First drive mechanism 11 uses servomotor, and driving gear 12, institute are set in first drive mechanism 11
State the driven gear 14 that the end set of first rotating shaft 18 is engaged with the driving gear 12.
The pulley 10 and driving wheel 19 are rubber part, and pulley 10 and driving wheel 19 surface sets irregular convex
Rise.
Robot includes the walking mechanism being arranged on ultra-high-tension power transmission line, and walking mechanism front end sets ice-breaking mechanism, OK
Settingization mechanism of ice above mechanism is walked, walking mechanism includes bottom plate, and the top at bottom plate both ends sets the first L-type support, the first L-type
The down-set mounting rod in top of support, mounting rod in first L-type support with setting pulley, and the lower section of mounting rod is in bottom plate
Upper setting telescoping mechanism, the upper end of telescoping mechanism set mounting blocks, and vertical pin is set on mounting blocks, is set among mounting blocks
Mounting hole, sets the first rotating shaft parallel with pulley center axle in mounting hole by bearing, setting and pulley phase in first rotating shaft
The driving wheel of cooperation, first rotating shaft and the first drive mechanism being arranged on bottom plate are connected, and the first drive mechanism is with setting
Controlling organization connection on bottom plate, controlling organization are connected with console signal.Walking mechanism allows the robot defeated
Walked in electric line, during mounting robot, first telescoping mechanism is shunk, circuit is caught in the lower section of pulley, then telescoping mechanism
Rise, while drive pin and driving wheel to rise, pin docks with mounting rod lower end, and anti-locking apparatus drops from circuit, driving wheel
Circuit lower surface is extruded, such driving wheel rotates, can be to drive whole device.Driving wheel is driven by the first drive mechanism
Dynamic, when elevating mechanism does not extend, rotating shaft and the first drive mechanism are undocked, after elevating mechanism extends, the end of rotating shaft
Driven gear is docked with the driving gear in the first drive mechanism, and such first drive mechanism can be turned with drive shaft
It is dynamic, so as to the walking of realization device.Controlling organization is connected with walking mechanism, ice-breaking mechanism and change mechanism of ice, for control machine
The work of people.Controlling organization realizes telecommunication with console, and such Field Force only needs to lay robot, and manipulates and then lead to
The console manipulation crossed in control room, it is more convenient.
First drive mechanism uses servomotor, and driving gear is set in the first drive mechanism, and roller end is set and master
The driven gear that moving gear is engaged.Pulley and driving wheel are rubber part, and pulley and wheel drive surfaces set irregular raised.
Pulley and driving wheel are rubber part, it is ensured that the frictional force of wheel and circuit, are easy to device to be walked on the circuit with ice.
Embodiment two
The present embodiment and the difference of embodiment one are：
The ice-breaking mechanism includes the second L-type support 6 that the front end of bottom plate 21 is set, and pendulum is set in second L-type support 6
Motivation structure, the swing mechanism front end set hammer mechanism.
The swing mechanism includes the first support 4 set in second L-type support 6, is rotated in the first support 4
Second rotating shaft 3 is set, swing arm 2 is set in second rotating shaft 3, and second rotating shaft 3 is with being arranged in the second L-type support 6
Second drive mechanism 5 is connected, and the front end of swing arm 2 sets the hammer mechanism 1, the center of the ultra-high-tension power transmission line 28
Axis is located in the plane of the swing arm 2 rotation.
The hammer mechanism 1 includes the arc tup 7 for being arranged on the front end of swing arm 2, the lower surface of the tup 7 and institute
State ultra-high-tension power transmission line 28 to agree with, the lower surface of the tup 7 sets tapered protrusion 23, and the end of the tapered protrusion 23 is half
Circle, the top of the tup 7 set balance weight mechanism.
The balance weight mechanism includes the spring 26 and guiding mechanism that the top of tup 7 is set, the guiding mechanism bag
The expansion link 25 in the spring 26 is included, the upper end connection of the spring 26 and expansion link 25 sets balancing weight 24, institute
The lower end for stating spring 26 and expansion link 25 connects the tup 7.
The front end of bottom plate 21 sets icicle mechanism for monitoring, and the icicle mechanism for monitoring includes the front end of bottom plate 21 forward
The ultrasonic transmitter-receiver 29 of setting, the ultrasonic transmitter-receiver 29 are connected with the signal of controlling organization 22.
Swing mechanism includes the first support that sets in the second L-type support, the rotating shaft of rotary setting second in first support, the
Swing arm is set in two rotating shafts, and the second rotating shaft and the second drive mechanism being arranged in the second L-type support are connected, swing arm front end
Hammer mechanism is set, and the central axis of ultra-high-tension power transmission line is located in the plane of swing arm rotation.Second drive mechanism drive shaft
Rotate, so as to drive swing arm to rotate so that the hammer mechanism of swing arm front end can impinge upon the upper surface of circuit, so as to realize pair
The cleaning of icicle.
Hammer mechanism includes the arc tup for being arranged on swing arm front end, and lower surface and the ultra-high-tension power transmission line of tup agree with,
The lower surface of tup sets tapered protrusion, and the end of tapered protrusion is semicircle, and the top of tup sets balance weight mechanism.Stamping machine
Structure can hammer the top half of circuit by arc tup, and the lower surface tapered protrusion of tup can concentrate impact,
So as to smash ice sheet.The end of tapered protrusion is semicircle, and this is for protection circuit, avoids circuit surface from being damaged.Tup
The balance weight mechanism of top can increase impact, and the effect hit with delay, can play a part of pressing ice sheet so that
Tapered protrusion racks ice sheet, and deicing effect is more preferable.
Balance weight mechanism includes the spring and guiding mechanism set above tup, and guiding mechanism includes stretching in spring
The upper end connection of contracting bar, spring and expansion link sets the lower end connection tup of balancing weight, spring and expansion link.Guiding mechanism
Avoid balancing weight crooked, spring plays a part of connecting balancing weight and tup, after tup hits on the line, balancing weight because
It is badly in need of movement for the reason for inertia, so as to being transferred to kinetic energy continuation on tup, tapered protrusion on such tup can be with
Pressure persistently is applied to ice sheet, so as to increase the effect that opens ice.
Bottom plate front end sets icicle mechanism for monitoring, and icicle mechanism for monitoring includes the ultrasonic transmission/reception that bottom plate front end is set forward
Device, ultrasonic transmitter-receiver are connected with controlling organization signal.Whether icicle mechanism for monitoring judges front by ultrasonic transmitter-receiver
In the presence of simultaneously, after ultrasonic wave is gone out, if icicle be present, it can be received, can interpolate that out by transceiver with reflectance ultrasound ripple
The position of icicle, so as to realize automatic remove to icicle.
Embodiment three
The present embodiment and the difference of embodiment one are：
Describedization mechanism of ice includes the avoiding hollow groove 36 set among the bottom plate 21, and the both sides of bottom plate 21 are set up flexible
Vertical rod 41, inwardly sets hydraulic push rod 40 in the Extensible upright rod 41, and the front end of hydraulic push rod 40 sets arc cover body 39, and two
The individual arc cover body 39, which is engaged, is wrapped in the ultra-high-tension power transmission line 28 interior, the outer layer of the arc cover body 39 setting heating
Resistance wire 38, the outside of the resistive heater 38 set heat-insulation layer 37, the Extensible upright rod 41, hydraulic push rod 40 and heating electricity
Resistance silk 38 is connected with the signal of controlling organization 22.
The heat-insulation layer 37 uses rock wool product, and the front end of the arc cover body 39 is set to be connected with the arc cover body 39
The protection baffle plate 42 connect.
Change the avoiding hollow groove that mechanism of ice includes setting among bottom plate, the Extensible upright rod that bottom plate both sides are set up, Extensible upright rod
Upper inwardly to set hydraulic push rod, hydraulic push rod front end sets arc cover body, and two arc-shaped cover mates are by ultra-high-tension power transmission line
In being wrapped in, arc-shaped cover volume surrounding sets resistive heater, and the outside of resistive heater sets heat-insulation layer, Extensible upright rod, hydraulic pressure
Push rod and resistive heater are connected with controlling organization signal.It is that the ice sheet on circuit is purged to change mechanism of ice, and it is by adding
The mode of heat realizes, for the ease of deicer installation with being pulled down from circuit, therefore arc cover body is to pass through hydraulic push rod
Realized with Extensible upright rod, do not interfere with the lower section that transmission line of electricity enters pulley from the side of L-type support.The knot of arc cover body
Structure is that cylindrical tube separates cylinder along the plane where axis, and arc cover body is identical with the structure of half of cylinder, so
Two arc cover bodies can be docking together in circuit is wrapped in by one cylinder of composition, and the outside of arc cover body sets heating electricity
Silk is hindered, and heat-insulation layer is set in outermost, cover body can use copper product product, and the dosage of resistive heater is transferred to circuit
Surface, it can be dropped so that thin ice are melted from the avoiding hollow groove among bottom plate, realize the removing to thin ice.
The heat-insulation layer uses rock wool product, and the front end of the arc cover body sets the guarantor being connected with the arc-shaped cover body phase
Guard.Rock wool has high temperature resistant and heat insulation function, prevents heat to be lost in from outside, ensures the maximum utilization of electric energy.Protection
Baffle plate uses the material same with arc cover body, i.e. arc cover body front end bending is outside, avoid ice sheet be truncated after pair
Rock wool damages.
The console uses industrial computer, and the controlling organization 22 uses single-chip microcomputer, the console and the control machine
Structure 22 is communicated by GPRS module.
Example IV
A kind of de-icing method based on high-tension line deicing robot is present embodiments provided, is comprised the following steps：
S1, deicing mechanism people is placed on transmission line of electricity, now first control telescoping mechanism is located at contraction state, then moving machine
Device people causes transmission line of electricity to be located at the lower section of pulley, and console control telescoping mechanism, which extends, causes pin to be docked with mounting rod, and
Driving wheel withstands on the lower section of transmission line of electricity；
S2, console send work order, the first drive mechanism driving robot ambulation, icicle testing agency prison to controlling organization
Survey front and whether there is icicle；
S3, when icicle be present, the first drive mechanism is stopped, and the driving swing arm of the second drive mechanism drives tup plane set-hammer forward
Hit, beat the thin ice of icicle upper end and ultra-high-tension power transmission line so that icicle drops.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
- A kind of 1. high-tension line deicing robot, it is characterised in that：Including the walking mechanism being arranged on ultra-high-tension power transmission line, institute To state walking mechanism front end and ice-breaking mechanism, walking mechanism top settingization mechanism of ice are set, the walking mechanism includes bottom plate, The top at the bottom plate both ends sets the first L-type support, the down-set mounting rod in top of first L-type support, the peace For dress bar with setting pulley in first L-type support, the lower section of the mounting rod sets telescoping mechanism on the bottom plate, described The upper end of telescoping mechanism sets mounting blocks, and vertical pin is set on the mounting blocks, mounting hole is set among the mounting blocks, The first rotating shaft parallel with the pulley center axle be set by bearing in the mounting hole, setting and institute in the first rotating shaft The driving wheel that pulley is engaged is stated, the first rotating shaft and the first drive mechanism being arranged on the bottom plate are connected, institute State the first drive mechanism and be connected with the controlling organization being arranged on the bottom plate, the controlling organization and the ice-breaking mechanism, change Mechanism of ice, the connection of console signal.
- 2. high-tension line deicing robot as claimed in claim 1, it is characterised in that：First drive mechanism uses servo Motor, driving gear is set in first drive mechanism, the first rotating shaft end set is engaged with the driving gear Driven gear.
- 3. high-tension line deicing robot as claimed in claim 1, it is characterised in that：The pulley and driving wheel are rubber system Part, the pulley and wheel drive surfaces set irregular raised.
- 4. high-tension line deicing robot as claimed in claim 1, it is characterised in that：The ice-breaking mechanism includes the bottom plate The second L-type support that front end is set, swing mechanism is set in second L-type support, and the swing mechanism front end sets hammering Mechanism.
- 5. high-tension line deicing robot as claimed in claim 4, it is characterised in that：The swing mechanism includes described second The first support set in L-type support, the rotating shaft of rotary setting second in the first support, pendulum is set in second rotating shaft Arm, second rotating shaft and the second drive mechanism being arranged in the second L-type support are connected, and the swing arm front end sets institute Hammer mechanism is stated, the central axis of the ultra-high-tension power transmission line is located in the plane of swing arm rotation.
- 6. high-tension line deicing robot as claimed in claim 5, it is characterised in that：The hammer mechanism includes being arranged on institute The arc tup of swing arm front end is stated, the lower surface of the tup is agreed with the ultra-high-tension power transmission line, the lower surface of the tup Tapered protrusion is set, and the end of the tapered protrusion is semicircle, and the top of the tup sets balance weight mechanism.
- 7. high-tension line deicing robot as claimed in claim 6, it is characterised in that：The balance weight mechanism includes the tup The spring and guiding mechanism that top is set, the guiding mechanism include the expansion link in the spring, the spring with And the upper end connection of expansion link sets balancing weight, the lower end of the spring and expansion link connects the tup.
- 8. high-tension line deicing robot as claimed in claim 7, it is characterised in that：The bottom plate front end sets icicle to monitor Mechanism, the icicle mechanism for monitoring include the ultrasonic transmitter-receiver that the bottom plate front end is set forward, the ultrasonic transmitter-receiver It is connected with the controlling organization signal.
- 9. high-tension line deicing robot as claimed in claim 1, it is characterised in that：Describedization mechanism of ice includes the bottom plate The avoiding hollow groove that centre is set, the Extensible upright rod that the bottom plate both sides are set up, hydraulic thrust is inwardly set in the Extensible upright rod Bar, the hydraulic push rod front end set arc cover body, and two arc-shaped cover mates wrap up the ultra-high-tension power transmission line Inside, the arc-shaped cover volume surrounding sets resistive heater, and the outside of the resistive heater sets heat-insulation layer, the telescopic vertical Bar, hydraulic push rod and resistive heater are connected with the controlling organization signal.
- 10. high-tension line deicing robot as claimed in claim 9, it is characterised in that：The heat-insulation layer uses rock wool product, The front end of the arc cover body sets the protection baffle plate being connected with the arc-shaped cover body phase.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711242728.5A CN107845997A (en) | 2017-11-30 | 2017-11-30 | A kind of high-tension line deicing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711242728.5A CN107845997A (en) | 2017-11-30 | 2017-11-30 | A kind of high-tension line deicing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107845997A true CN107845997A (en) | 2018-03-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711242728.5A Withdrawn CN107845997A (en) | 2017-11-30 | 2017-11-30 | A kind of high-tension line deicing robot |
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| Country | Link |
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| CN (1) | CN107845997A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109610399A (en) * | 2018-12-06 | 2019-04-12 | 长沙理工大学 | Deicing device for stay cable of bridge |
| CN110429545A (en) * | 2019-07-03 | 2019-11-08 | 国网山东省电力公司济宁市任城区供电公司 | Automatic deicer and its working method in a kind of transmission line of electricity |
| CN110556777A (en) * | 2018-06-01 | 2019-12-10 | 郭盈涛 | Cable deicing device |
| CN112615332A (en) * | 2021-01-05 | 2021-04-06 | 安徽理工大学 | Novel high-voltage line deicing device |
| CN113036704A (en) * | 2021-05-12 | 2021-06-25 | 白巳斯古冷 | Auxiliary traction device for deicing of high-altitude high-voltage cable based on electric power engineering |
| CN113036702A (en) * | 2021-05-08 | 2021-06-25 | 常熟理工学院 | Electric wire deicing clamp convenient to locate and used for electric power |
| CN115739714A (en) * | 2022-10-26 | 2023-03-07 | 贵州电网有限责任公司 | Distribution lines icing clearing device |
-
2017
- 2017-11-30 CN CN201711242728.5A patent/CN107845997A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110556777A (en) * | 2018-06-01 | 2019-12-10 | 郭盈涛 | Cable deicing device |
| CN109610399A (en) * | 2018-12-06 | 2019-04-12 | 长沙理工大学 | Deicing device for stay cable of bridge |
| CN109610399B (en) * | 2018-12-06 | 2024-01-02 | 长沙理工大学 | Bridge stay cable deicing device |
| CN110429545A (en) * | 2019-07-03 | 2019-11-08 | 国网山东省电力公司济宁市任城区供电公司 | Automatic deicer and its working method in a kind of transmission line of electricity |
| CN112615332A (en) * | 2021-01-05 | 2021-04-06 | 安徽理工大学 | Novel high-voltage line deicing device |
| CN113036702A (en) * | 2021-05-08 | 2021-06-25 | 常熟理工学院 | Electric wire deicing clamp convenient to locate and used for electric power |
| CN113036704A (en) * | 2021-05-12 | 2021-06-25 | 白巳斯古冷 | Auxiliary traction device for deicing of high-altitude high-voltage cable based on electric power engineering |
| CN113036704B (en) * | 2021-05-12 | 2022-09-06 | 北京必成达电缆附件有限公司 | Auxiliary traction device for deicing of high-altitude high-voltage cable based on electric power engineering |
| CN115739714A (en) * | 2022-10-26 | 2023-03-07 | 贵州电网有限责任公司 | Distribution lines icing clearing device |
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Application publication date: 20180327 |