CN109301751B - Electrified maintenance robot for damper - Google Patents
Electrified maintenance robot for damper Download PDFInfo
- Publication number
- CN109301751B CN109301751B CN201811262791.XA CN201811262791A CN109301751B CN 109301751 B CN109301751 B CN 109301751B CN 201811262791 A CN201811262791 A CN 201811262791A CN 109301751 B CN109301751 B CN 109301751B
- Authority
- CN
- China
- Prior art keywords
- maintenance
- ice
- end part
- rod
- organic acid
- 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
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
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0278—Arrangement or mounting of spray heads
-
- C—CHEMISTRY; METALLURGY
- C05—FERTILISERS; MANUFACTURE THEREOF
- C05B—PHOSPHATIC FERTILISERS
- C05B7/00—Fertilisers based essentially on alkali or ammonium orthophosphates
-
- C—CHEMISTRY; METALLURGY
- C05—FERTILISERS; MANUFACTURE THEREOF
- C05G—MIXTURES OF FERTILISERS COVERED INDIVIDUALLY BY DIFFERENT SUBCLASSES OF CLASS C05; MIXTURES OF ONE OR MORE FERTILISERS WITH MATERIALS NOT HAVING A SPECIFIC FERTILISING ACTIVITY, e.g. PESTICIDES, SOIL-CONDITIONERS, WETTING AGENTS; FERTILISERS CHARACTERISED BY THEIR FORM
- C05G3/00—Mixtures of one or more fertilisers with additives not having a specially fertilising activity
-
- C—CHEMISTRY; METALLURGY
- C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
- C09K—MATERIALS FOR MISCELLANEOUS APPLICATIONS, NOT PROVIDED FOR ELSEWHERE
- C09K3/00—Materials not provided for elsewhere
- C09K3/18—Materials not provided for elsewhere for application to surfaces to minimize adherence of ice, mist or water thereto; Thawing or antifreeze materials for application to surfaces
- C09K3/185—Thawing materials
-
- 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
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Materials Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Materials Applied To Surfaces To Minimize Adherence Of Mist Or Water (AREA)
Abstract
The invention provides an electrified maintenance robot for a damper, which relates to the technical field of maintenance equipment for the damper, and comprises a mobile carrier, a storage bin arranged on the mobile carrier, a suspension mechanism arranged on the storage bin, a spraying mechanism arranged on the mobile carrier, a maintenance mechanism arranged on the mobile carrier and used for maintaining the damper, an ice shoveling mechanism arranged at the rear part of the spraying mechanism, and a control mechanism arranged on the mobile carrier and used for controlling the mobile carrier, the suspension mechanism, the spraying mechanism, the ice shoveling mechanism and the maintenance mechanism; the ice melting device has the advantages that the ice melting device can not only be used for overhauling the anti-vibration hammer on the power transmission line, but also be used for quickly melting ice blocks on the power transmission line in winter, is remarkable in ice melting effect, is small in damage to carbon steel and plants, can be used for quickly removing the melted ice blocks, and cannot influence follow-up overhauling work.
Description
Technical Field
The invention relates to the technical field of maintenance equipment of a damper, in particular to an electrified maintenance robot for the damper.
Background
With the development of national electric power industry, the coverage area and the density of a power supply grid are continuously increased, and the safety of a line is inseparable from the daily life and work of people. The high-voltage overhead line has high pole position and large span, and can vibrate when the wire is acted by wind. The working conditions at the wire suspension are most unfavourable when the wire vibrates. Because of multiple vibration, the lead can be fatigue-damaged due to periodic bending, therefore the conventional mode is to arrange a damper on the lead, but the lead is corroded in the natural environment for a long time, so that the damage phenomenon can be avoided, particularly, after the lead enters winter, rain and snow and freezing weather appear in most areas of China, power transmission and transformation facilities are damaged in different degrees, equipment tripping, line breakage and tower collapse accidents appear in some areas, and power failure of local areas is caused; therefore, an inspection robot capable of efficiently removing ice and performing inspection of the damper in winter is required.
Patent document No. CN107033844A discloses an environment-friendly deicing agent and its application in deicing of aircraft surfaces, and discloses an environment-friendly deicing agent, which contains fermentation product and potassium carbonate, wherein the content of potassium carbonate is 10-50 parts by weight relative to 100 parts by weight of the fermentation product; the fermentation product is prepared by a method comprising the following steps: (1) inoculating microbial strains for producing 1, 2-propylene glycol into a culture medium to obtain a material before fermentation; (2) carrying out anaerobic culture on the materials before fermentation until the concentration of the 1, 2-propylene glycol is 200-350g/L to obtain a fermentation product. The environment-friendly deicing agent is obtained by mixing a fermentation product obtained by microbial strains for producing 1, 2-propylene glycol under an anaerobic culture condition with potassium carbonate. However, the ice point of the deicing agent prepared by the invention is between-35.1 and-38.5, the ice melting rate is slow under the condition of low temperature or in a short time, the ice melting effect is poor, and the anti-vibration hammer cannot be overhauled.
The patent with publication number CN205791407U discloses an overhead transmission line ice melting device, including ice melting device body and cutter mounting panel, the crossbeam is installed through compound spring in the top of frame, and the left and right sides of crossbeam all installs the leading wheel, the motor is installed in the inside of ice melting device body, the cutter mounting panel is installed on the right side of ice melting device body, and the top of cutter mounting panel installs through hydraulic telescoping device and melts the skates. The device adopts and utilizes heating resistor to act as the cutter, melts the ice-cube after the heating, can not cover the circuit comprehensively, and the ice-melt is not thorough, and the cutter is damaged easily or the fish tail circuit in addition, causes unsafe hidden danger, also can not realize the maintenance to the damper simultaneously, also can not clear up the wire surface after the ice-melt.
Disclosure of Invention
In view of the above, the invention provides an electrified overhaul robot for an anti-vibration hammer, which can overhaul the anti-vibration hammer on a power transmission line, can quickly melt ice cubes on the power transmission line in winter, has an obvious ice melting effect, has little damage to carbon steel and plants, and can quickly remove the melted ice cubes, so that subsequent overhaul work cannot be influenced.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an electrified maintenance robot for an anti-vibration hammer comprises a moving carrier, a storage bin arranged on the moving carrier, a suspension mechanism arranged on the storage bin, a spraying mechanism arranged on the moving carrier, a maintenance mechanism arranged on the moving carrier and used for maintaining the anti-vibration hammer, an ice shoveling mechanism arranged at the rear part of the spraying mechanism, and a control mechanism arranged on the moving carrier and used for controlling the moving carrier, the suspension mechanism, the spraying mechanism, the ice shoveling mechanism and the maintenance mechanism;
the mobile carrier comprises a walking module arranged on the power transmission line, a current transformer arranged on the walking module and a first electrostatic shielding net arranged on the walking module;
the storage silo lower extreme sets up the storage bracing piece, storage bracing piece lower extreme sets up first cloud platform, first cloud platform lower extreme sets up the storage support arm, sets up the second cloud platform of storage support arm tip, the second cloud platform sets up on the walking module.
The walking module comprises a first walking wheel, a supporting rod arranged at the axle end of the first walking wheel, a compression telescopic rod arranged at the upper end part of the supporting rod, a walking motor arranged at the end part of the compression telescopic rod, and a second walking wheel arranged on the output shaft of the walking motor;
the maintenance mechanism comprises a maintenance support arm arranged on the walking module, a maintenance telescopic arm arranged on the maintenance support arm, a maintenance telescopic rod arranged at the end part of the maintenance telescopic arm, a first wrapping clamp arranged at the end part of the maintenance telescopic rod, a holding telescopic rod arranged on the side surface of the first wrapping clamp, a second wrapping clamp arranged at the end part of the holding telescopic rod, a maintenance steering motor arranged on the first wrapping clamp, a maintenance telescopic column arranged on an output shaft of the maintenance steering motor, a disassembly driving motor arranged at the end part of the maintenance telescopic arm, a disassembly nut sleeve arranged on an output shaft of the disassembly driving motor, a strong magnet arranged in the disassembly nut sleeve and a camera arranged on the walking module;
the ice shoveling mechanism comprises an ice shoveling supporting rod arranged on the supporting rod, an ice shoveling telescopic rod arranged at the end part of the ice shoveling supporting rod, an elastic piece arranged at the end part of the ice shoveling telescopic rod and an arc-shaped shovel blade arranged on the elastic piece.
Spraying mechanism is including setting up spraying pole on the bracing piece sets up the arc type spraying frame of spraying pole tip sets up a plurality of atomising nozzles on the arc type spraying frame, set up a plurality ofly atomising nozzle rear portion and with the conveying pipeline that the storage silo is linked together sets up miniature booster pump on the conveying pipeline, and set up solenoid valve on the conveying pipeline.
The suspension mechanism comprises a suspension bin arranged on the storage bin, a pressure storage tank arranged in the suspension bin, a suspension air bag arranged at an opening at the upper end of the suspension bin, an inflation electromagnetic valve arranged on the pressure storage tank, and an deflation electromagnetic valve arranged on the side wall of the suspension bin.
The control mechanism comprises a second electrostatic shielding net arranged on the supporting rod, a PLC arranged in the second electrostatic shielding net and a storage battery connected with the PLC.
Helium or argon is arranged in the pressure storage tank.
The elastic piece comprises a sleeve arranged at the end part of the ice shoveling telescopic rod, a sliding rod arranged in the sleeve and a spring arranged at the bottom of the sliding rod, and the end part of the sliding rod is connected with the arc-shaped shovel blade.
The ice melting agent is arranged in the storage bin and is prepared from the following components in parts by weight: 15-20 parts of modified organic acid calcium, 36-42 parts of 1, 2-propylene glycol, 12-17 parts of potassium acetate, 5-8 parts of surfactant, 8-10 parts of sodium acrylate, 2-3 parts of calcium ammonium nitrate and 52-58 parts of water.
Preferably, the preparation method of the modified organic acid calcium comprises the following steps:
s1: adding calcium oxide into the bamboo vinegar liquid, and stirring at the rotation speed of 300-400r/min for 10-15min at room temperature to obtain organic acid calcium;
s2: sequentially adding montmorillonite and coupling agent into 6-8% phosphoric acid solution by mass fraction, heating in water bath at 55-60 deg.C, stirring at 200-;
s3: and (3) adding the modified montmorillonite and the carbon nano tube obtained in the step (S2) into the organic acid calcium obtained in the step (S1), stirring at the rotating speed of 200-300r/min for 10-15min at room temperature, oscillating for 1-1.5h in ultrasonic waves with the frequency of 40kHz and the power of 500W, filtering, drying and grinding to obtain the modified organic acid calcium.
Preferably, the dosage ratio of each component in the modified organic acid calcium is as follows: phosphoric acid solution: calcium oxide: montmorillonite: coupling agent: sodium polyphosphate: the carbon nano tube is 100-105 g: 35-40 g: 10-12 g: 6-10 g: 1-1.2 g: 0.3-0.6 g: 1.5-2.2 g.
Preferably, the coupling agent is a silane coupling agent KH550 or KH 560.
Preferably, the particle size of the montmorillonite is 70-80 nm.
Preferably, the particle size of the modified organic acid calcium is 20-100 nm.
Preferably, the surfactant is polyoxyethylene lauryl ether or polyoxyethylene alkylphenol.
The invention aims at the problems that the inspection of the anti-vibration hammer cannot be carried out and the quick maintenance cannot be carried out in the prior art, particularly, the inspection of the anti-vibration hammer becomes more difficult in winter, so that an inspection robot is needed, the inspection robot not only can carry out deicing inspection in winter, but also can inspect the anti-vibration hammer, if the anti-vibration hammer is observed to be damaged, the inspection robot can be directly disassembled, after one end is inspected, the device is taken down, a new anti-vibration hammer is arranged on the inspection robot, of course, a plurality of inspection mechanisms can be arranged in a rotating shaft mode to rotate, the inspection time and the inspection length are prolonged, in addition, the ice melting agent suitable for the ice melting device is provided, the ice melting speed is high in a short time, the ice melting effect is obvious, the damage to carbon steel and plants is small, and the ice shoveling mechanism provided can clear ice blocks or impurities remained on the cable, the influence on the subsequent hot-line work is avoided.
In addition, the removal carrier of adoption is including setting up the walking module on transmission line, can realize the removal of this device, and the electric drive of this device can be guaranteed to the current transformer who sets up on the walking module, and the first electrostatic screen who sets up can ensure to compress tightly the stationarity that telescopic link and walking motor moved on it, and the walking module includes first walking wheel and second walking wheel, it cooperates mutually and can fix this device on transmission line, realize the walking on transmission line, and the walking motor that sets up can realize the positive and negative forward of marcing for step motor, in addition, can set up camera or distance sensor on the bracing piece in order to realize the function of patrolling and examining, certainly still can realize the function of patrolling and examining according to the distance change that compresses tightly the telescopic link on the second walking wheel.
In addition, its lower extreme of storage silo of adoption sets up the storage bracing piece, and set up first cloud platform at storage bracing piece lower extreme, and set up the storage support arm on first cloud platform, then set up the second cloud platform at the tip of storage support arm, and set up the second cloud platform on walking module's bracing piece, thereby realize fixing, the adjustment of angle has also been realized, the first cloud platform and the second cloud platform of adoption are the diaxon cloud platform, can set up electrostatic screen at its outer wall in order to avoid the influence that the strong electric field caused.
In addition, the adopted spraying mechanism comprises a spraying rod arranged on a support rod, an arc-shaped spraying frame arranged on the spraying rod, a plurality of atomizing nozzles can be arranged on the arc-shaped spraying frame, ice melting agent is conveyed to the atomizing nozzles from a storage bin through a conveying pipe so as to be sprayed out to melt ice, certainly, two spraying mechanisms can be arranged in front of and behind the arc-shaped spraying frame so as to freely move back and forth, a suspension bin is arranged on the storage bin of the arranged suspension mechanism, a pressure storage tank is arranged in the suspension bin, helium or argon can be arranged in the suspension bin, hydrogen can be arranged in the suspension bin, safety protection is needed, a suspension air bag can be inflated in the suspension bin so as to realize suspension, a deflation electromagnetic valve is arranged so as to realize the effect of deflation and reducing the buoyancy when the recovery or the reduction of the ice melting agent is needed, a second electrostatic shielding net is arranged on the support rod of the arranged control mechanism, and then, the storage battery is arranged, a rechargeable lithium battery is preferably adopted, a built-in program can be set in the PLC, a remote control mode can be adopted, and the control accuracy is achieved through a signal interconnection mode with a smart phone, a portable notebook computer or a tablet computer.
In addition, the maintenance mechanism comprises a maintenance support arm arranged on the walking module, a maintenance telescopic arm is arranged at the lower end of the maintenance support arm to realize the front-back position adjustment of the maintenance telescopic rod, the maintenance telescopic rod can realize the up-down position adjustment of an end part clamp of the maintenance telescopic rod, further realize the clamping of the damper, a second clamp arranged on the first clamp can realize the clamping of the damper by tightly holding the telescopic rod, in order to realize the dismounting function, a maintenance steering motor is arranged on the first clamp, so that a maintenance telescopic column on an output shaft of the maintenance steering motor can rotate, the maintenance telescopic column can align to the dismounting nut through the telescopic function, the nut sleeve is dismounted by rotating, the damper can be separated from the wire in a holding mode of the first clamp and the second clamp, and the mounting of the damper can be realized in reverse, and the camera that sets up can cooperate with control mechanism, and the function is dismantled in better realization, and the strong magnet of setting can guarantee that the nut can not drop.
In addition, the ice shoveling mechanism of adoption is including setting up the ice shoveling bracing piece on the bracing piece, the horizontal pole is set to general acquiescence, the structure of non-horizontal pole still can be adopted to the preferred of course, and at the preferred adoption electric telescopic handle structure of ice shoveling bracing piece, still can adopt pneumatic or hydraulic telescoping rod certainly, set up the elastic component at the tip of telescopic link, can be directly for the rubber block, the arc type spiller of adoption is plastic part or soft metal part, avoid causing the fish tail to the cable, in addition, the elastic component of adoption is including setting up the sleeve at ice shoveling telescopic rod tip, then set up the slide bar in the sleeve, and set up the spring that contacts with the sleeve bottom surface in the slide bar bottom, certainly still can adopt.
The ice melting agent adopted by the invention takes 1, 2-propylene glycol as a main component, has good water solubility, the aqueous solution of the ice melting agent can reach a very low freezing point, and simultaneously, the 1, 2-propylene glycol has good stability and small corrosivity, can be naturally degraded in nature as an organic small molecule, and has little pollution to soil, water and the like. The modified organic acid calcium prepared by the invention also has a good ice melting effect, and the ice melting efficiency is improved and the ice melting effect is better under the synergistic effect of the modified organic acid calcium and the 1, 2-propylene glycol. The potassium acetate is an organic freezing point depressant, and is combined with the 1, 2-propylene glycol and the modified organic acid calcium to obviously reduce the freezing point of the system. The sodium acrylate is used as a dispersing agent, has the functions of scale inhibition and water purification flocculation, has the effect of purifying the melted water quality, and prevents soil pollution. The calcium ammonium nitrate can cooperate with the 1, 2-propylene glycol to lower the freezing point of water and enhance the ice melting effect, and meanwhile, the ice melting agent flows into the soil, can add nitrogen elements required by plants and is beneficial to the growth of the plants. The particle size of the modified organic acid calcium is preferably 20-100nm, the dispersing effect is good, and the surfactant lauryl alcohol polyoxyethylene ether or alkylphenol polyoxyethylene ether is added to improve the emulsifying capacity among the components, so that the components can be mixed more effectively.
The bamboo vinegar is a liquid substance obtained by collecting gas generated in the pyrolysis of bamboo wood in the process of burning the bamboo wood into charcoal and cooling the gas at normal temperature. The bamboo vinegar liquid contains nearly 300 kinds of natural high molecular organic compounds, including organic acids, alcohols, ketones, aldehydes, esters and trace alkaline components. The invention mixes the bamboo vinegar liquid and the calcium oxide to prepare the organic acid calcium, which has lower freezing point and better ice melting effect. The particle size of the montmorillonite is 70-80nm, the montmorillonite is firstly modified by phosphoric acid solution,the specific surface area and the chemical activity are increased, the compatibility is enhanced by the silane coupling agent, and the montmorillonite dispersibility is improved by further modifying with sodium polyphosphate; the preferable specific surface area of the carbon nano tube is more than or equal to 233m2The modified montmorillonite and carbon nano tube further modify organic acid calcium, enhance the hydrophobicity of the organic acid calcium and accelerate the ice melting speed of the ice melting agent.
The ice melting agent disclosed by the invention takes 1, 2-propylene glycol as a main component, and is combined with components such as modified organic acid calcium, potassium acetate and the like, so that the freezing point can reach-45 ℃, the ice melting rate at low temperature is high, the ice melting speed in a short time is high, and the ice melting effect is obvious; has the functions of scale inhibition and water purification flocculation, has the effect of purifying the melted water quality and prevents the soil from being polluted; the fertilizer also contains nitrogen, phosphorus and potassium elements required by plants, and can promote the growth of the plants.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure at the spray mechanism of the present invention;
FIG. 3 is a schematic diagram of the suspension mechanism of the present invention;
FIG. 4 is a schematic side view of the mobile carrier of the present invention;
FIG. 5 is a schematic view of the structure at the service facility of the present invention;
fig. 6 is a schematic structural view of the ice shoveling 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 are clearly and completely described below with reference to fig. 1 to 6. 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.
Example 1
An electrified maintenance robot for an anti-vibration hammer comprises a moving carrier, a storage bin 13 arranged on the moving carrier, a suspension mechanism arranged on the storage bin 13, a spraying mechanism arranged on the moving carrier, a maintenance mechanism arranged on the moving carrier and used for maintaining the anti-vibration hammer, an ice shoveling mechanism 38 arranged at the rear part of the spraying mechanism, and a control mechanism arranged on the moving carrier and used for controlling the moving carrier, the suspension mechanism, the spraying mechanism, the ice shoveling mechanism 38 and the maintenance mechanism;
the mobile carrier comprises a walking module arranged on the power transmission line, a current transformer 25 arranged on the walking module, and a first electrostatic shielding net 4 arranged on the walking module;
the lower end of the storage bin 13 is provided with a storage supporting rod 12, the lower end of the storage supporting rod 12 is provided with a first cloud platform 11, the lower end of the first cloud platform 11 is provided with a storage supporting arm 10, a second cloud platform 9 is arranged at the end part of the storage supporting arm 10, and the second cloud platform 9 is arranged on the walking module;
the maintenance mechanism comprises a maintenance support arm 27 arranged on the walking module, a maintenance telescopic arm 28 arranged on the maintenance support arm 27, a maintenance telescopic rod 29 arranged at the end part of the maintenance telescopic arm 28, a first wrapping clamp 30 arranged at the end part of the maintenance telescopic rod 29, a holding telescopic rod 33 arranged at the side surface of the first wrapping clamp 30, a second wrapping clamp 36 arranged at the end part of the holding telescopic rod 33, a maintenance steering motor 32 arranged on the first wrapping clamp 30, a maintenance telescopic column 33 arranged on an output shaft of the maintenance steering motor 32, a disassembly driving motor 34 arranged at the end part of the maintenance telescopic column 33, a disassembly nut sleeve 35 arranged on an output shaft of the disassembly driving motor 34, a strong magnetic block arranged in the disassembly nut sleeve 35 and a camera 37 arranged on the walking module;
the ice shoveling mechanism 38 comprises an ice shoveling supporting rod 381 arranged on the supporting rod, an ice shoveling telescopic rod 382 arranged at the end part of the ice shoveling supporting rod 381, an elastic part arranged at the end part of the ice shoveling telescopic rod 382, and an arc-shaped shovel blade 386 arranged on the elastic part.
The elastic member comprises a sleeve 384 arranged at the end of the ice shoveling telescopic rod 382, a sliding rod 385 arranged in the sleeve 384, and a spring 383 arranged at the bottom of the sliding rod 385, wherein the end of the sliding rod 385 is connected with the arc-shaped shovel blade 386.
The walking module includes first walking wheel 1, sets up the bracing piece 26 of 1 pivot end of first walking wheel sets up the telescopic link 5 that compresses tightly of bracing piece 26 upper end sets up the walking motor 3 that compresses tightly 5 tip of telescopic link sets up second walking wheel 2 on the walking motor 3 output shaft.
Spraying mechanism is including setting up spraying pole 22 on the bracing piece 26 sets up the arc spraying frame 23 of spraying pole 22 tip sets up a plurality of fog nozzles 24 on the arc spraying frame 23 set up a plurality of fog nozzle 24 rear portion and with the conveying pipeline 19 that the storage silo 13 is linked together sets up miniature booster pump 21 on the conveying pipeline 19, and set up solenoid valve 20 on the conveying pipeline 21.
The suspension mechanism comprises a suspension bin 15 arranged on the storage bin 13, a pressure storage tank 18 arranged in the suspension bin 15, a suspension air bag 17 arranged at an opening at the upper end of the suspension bin 15, an inflation electromagnetic valve 16 arranged on the pressure storage tank 18, and an deflation electromagnetic valve 14 arranged on the side wall of the suspension bin 15.
The control mechanism comprises a second electrostatic shielding net 8 arranged on the support rod 26, a PLC7 arranged in the second electrostatic shielding net 8, and a storage battery 6 connected with the PLC 7.
Helium is provided in the pressure storage tank 18.
The ice melting agent is a conventional ice melting agent, namely industrial salt, or potassium acetate, or any one of embodiments 2-5;
TABLE 1 parts by weight (parts) of the ingredients in the ice melting agents of examples 2-5
TABLE 2 amount (g) of each component in the modified calcium organic acid of examples 2, 4, 6 and 8
Example 2
The present embodiment provides a damper live-line inspection robot, which is different from embodiment 1 in that: the ice melting agent in example 1 is provided, and is prepared from the components and parts by weight shown in table 1, and the modified organic acid calcium is prepared from the components and the use amount shown in table 2.
Wherein the coupling agent is a silane coupling agent KH 550. The surfactant is polyoxyethylene lauryl ether.
The preparation method of the modified organic acid calcium comprises the following steps:
s1: adding calcium oxide into the bamboo vinegar liquid, and stirring at room temperature at a rotation speed of 300r/min for 15min to obtain organic acid calcium;
s2: sequentially adding montmorillonite and coupling agent into phosphoric acid solution with mass fraction of 6%, heating in water bath at 55-60 deg.C, stirring at 200r/min for 10min, adding sodium polyphosphate, keeping temperature and rotation speed unchanged, and continuously stirring for 45min to obtain modified montmorillonite;
s3: and (4) adding the modified montmorillonite and the carbon nano tube obtained in the step (S2) into the organic acid calcium obtained in the step (S1), stirring at the rotating speed of 200r/min for 15min at room temperature, oscillating for 1h in ultrasonic waves with the frequency of 40kHz and the power of 500W, filtering, drying and grinding to obtain the modified organic acid calcium.
The preparation method of the ice melting agent comprises the following steps: placing modified organic acid calcium, 1, 2-propylene glycol, potassium acetate and water in a magnetic stirrer at 50-60 ℃, stirring for 10min at a rotating speed of 400r/min, adding a surfactant, sodium acrylate and calcium ammonium nitrate, keeping the temperature unchanged, and stirring for 45min at a rotating speed of 200 r/min; and performing primary filtration on the aperture of 50 mu m, oscillating the obtained primary filtrate in ultrasonic waves with the frequency of 40kHz and the power of 500W for 2h, standing for 12h, and performing secondary filtration on the aperture of 30 mu m to obtain secondary filtrate, namely the ice melting agent.
Example 3
The present embodiment provides a damper live-line inspection robot, which is different from embodiment 1 in that: the ice melting agent in the example 1 is provided, and is prepared from the components shown in the table 1 in parts by weight, and the using amount of each component in the modified organic acid calcium is the same as that in the example 2.
Wherein the coupling agent is a silane coupling agent KH 560. The surfactant is alkylphenol polyoxyethylene. The preparation method of the modified organic acid calcium is the same as that of the embodiment 2. The preparation method of the ice melting agent is the same as that of the example 2.
Example 4
The present embodiment provides a damper live-line inspection robot, which is different from embodiment 1 in that: the ice melting agent in example 1 is provided, and is prepared from the components and parts by weight shown in table 1, and the modified organic acid calcium is prepared from the components and the use amount shown in table 2.
Wherein the coupling agent is a silane coupling agent KH 550. The surfactant is polyoxyethylene lauryl ether.
The preparation method of the modified organic acid calcium comprises the following steps:
s1: adding calcium oxide into the bamboo vinegar liquid, and stirring at room temperature at a rotation speed of 350r/min for 12min to obtain organic acid calcium;
s2: sequentially adding montmorillonite and coupling agent into 7% phosphoric acid solution, heating in water bath at 55-60 deg.C, stirring at 250r/min for 8min, adding sodium polyphosphate, keeping temperature and rotation speed unchanged, and stirring for 40min to obtain modified montmorillonite;
s3: and (4) adding the modified montmorillonite and the carbon nano tube obtained in the step (S2) into the organic acid calcium obtained in the step (S1), stirring at the rotating speed of 250r/min for 12min at room temperature, oscillating for 1.5h in ultrasonic waves with the frequency of 40kHz and the power of 500W, filtering, drying and grinding to obtain the modified organic acid calcium.
The preparation method of the ice melting agent is the same as that of the example 2.
Example 5
The present embodiment provides a damper live-line inspection robot, which is different from embodiment 1 in that: the ice melting agent in the example 1 is provided, and is prepared from the components shown in the table 1 in parts by weight, and the using amount of each component in the modified organic acid calcium is the same as that in the example 4.
Wherein the coupling agent is a silane coupling agent KH 560. The surfactant is polyoxyethylene lauryl ether. The preparation method of the modified organic acid calcium is the same as that of the embodiment 4. The preparation method of the ice melting agent is the same as that of the example 2.
Example 6
The present embodiment provides a damper live-line inspection robot, which is different from embodiment 1 in that: the components and the parts by weight of the components of the ice melting agent in the embodiment 1 are the same as those in the embodiment 5, and the modified organic acid calcium is prepared from the components and the contents shown in the table 2.
Wherein the coupling agent is a silane coupling agent KH 550. The surfactant is alkylphenol polyoxyethylene.
The preparation method of the modified organic acid calcium comprises the following steps:
s1: adding calcium oxide into bamboo vinegar, and stirring at room temperature at a rotation speed of 400r/min for 10min to obtain organic acid calcium;
s2: sequentially adding montmorillonite and coupling agent into phosphoric acid solution with mass fraction of 8%, heating in water bath at 55-60 deg.C, stirring at 300r/min for 5min, adding sodium polyphosphate, keeping temperature and rotation speed unchanged, and continuously stirring for 30min to obtain modified montmorillonite;
s3: and (4) adding the modified montmorillonite and the carbon nano tube obtained in the step (S2) into the organic acid calcium obtained in the step (S1), stirring at the rotating speed of 300r/min for 10min at room temperature, oscillating for 1h in ultrasonic waves with the frequency of 40kHz and the power of 500W, filtering, drying and grinding to obtain the modified organic acid calcium.
The preparation method of the ice melting agent is the same as that of the example 2.
Example 7
The present embodiment provides a damper live-line inspection robot, which is different from embodiment 1 in that: the components and the parts by weight of the ice melting agent in the embodiment 1 are the same as those in the embodiment 4, and the use amount of the components in the modified organic acid calcium is the same as that in the embodiment 6.
Wherein the coupling agent is a silane coupling agent KH 560. The surfactant is alkylphenol polyoxyethylene.
The preparation method of the modified organic acid calcium is the same as that of example 6. The preparation method of the ice melting agent is the same as that of the example 2.
Example 8
The present embodiment provides a damper live-line inspection robot, which is different from embodiment 1 in that: the components and parts by weight of the ice melting agent in example 1 are as in example 3, and the modified organic acid calcium is prepared from the components shown in table 2.
Wherein the coupling agent is a silane coupling agent KH 560. The surfactant is alkylphenol polyoxyethylene.
The preparation method of the modified organic acid calcium is the same as that of example 6. The preparation method of the ice melting agent is the same as that of the example 2.
In addition, in examples 2 to 8, the particle size of the montmorillonite is 70 to 80nm, the particle size of the modified organic acid calcium is 20 to 100nm, and the preferable specific surface area of the carbon nanotube is not less than 233m2G, an inner diameter of 3-5nm, an outer diameter of 8-15nm and a length of 50 μm.
Comparative example 1
The components and parts by weight of the ice melting agent are the same as those in example 4, and the preparation method is the same as that in example 4, but the ice melting agent is different from example 4 in that potassium acetate is absent in the comparative example.
Comparative example 2
The components and parts by weight of the ice melting agent are the same as those in example 4, and the preparation method is the same as that in example 4, but the ice melting agent is different from example 4 in that sodium acrylate is absent in the comparative example.
Comparative example 3
The components and parts by weight of the ice melting agent are the same as those in example 4, and the preparation method is also the same as that in example 4, but the difference from example 4 is that in the comparative example, the organic acid calcium is not modified, namely, the preparation method of the organic acid calcium is that calcium oxide is added into bamboo vinegar liquid, and the bamboo vinegar liquid is stirred at the rotating speed of 350r/min for 12min at room temperature to obtain the organic acid calcium.
Comparative example 4
The components and parts by weight of the ice melting agent are the same as those in example 4, and the preparation method is the same as that in example 4, but the ice melting agent is different from example 4 in that in the comparative example, the montmorillonite is not modified in the process of modifying the organic acid calcium, and a phosphoric acid solution, a coupling agent and sodium polyphosphate are lacked.
The preparation method of the modified organic acid calcium comprises the following steps:
s1: adding calcium oxide into the bamboo vinegar liquid, and stirring at room temperature at a rotation speed of 350r/min for 12min to obtain organic acid calcium;
s2: montmorillonite and carbon nano tube are added into the organic acid calcium obtained in the step S1, and the specific surface area of the carbon nano tube is not less than 233m2The modified organic acid calcium is prepared by stirring the raw materials at the rotation speed of 250r/min for 12min, vibrating the raw materials in ultrasonic waves with the frequency of 40kHz and the power of 500W for 1.5h, filtering, drying and grinding the raw materials according to the proportion of the raw materials/g, wherein the inner diameter of the raw materials is 3-5nm, the outer diameter of the raw materials is 8-15nm, and the length of the raw materials is 50 microns.
Performance testing
Ice melting Rate test
500 ml of distilled water is injected into the ice tray, and the ice tray is placed in a freezer and frozen into ice for 12 hours at the temperature of 25 ℃ below zero. The refrigerator cover was opened, the temperature was adjusted to-15 ℃, and the ice trays were displayed. 10 grams of ice melting agent was evenly sprayed onto the surface of the ice tray within one minute. The melted water was collected at 5, 10, 20, 30 minutes and weighed, and the test results are shown in table 3.
TABLE 3 weight (g) of ice melting agent melted off Water for examples 2-8 and comparative examples 1-4
For the test of other performances, see GB/T23851 and 2017, and the test results are shown in Table 4.
TABLE 4 test results of Ice melting agent Performance in examples 1-8 and comparative examples 1-4
The ice melting rates of the embodiments 2 to 8 of the invention are tested by combining the tables 3 and 4, and when the ice melting agent is spread on the ice surface to melt ice at-15 ℃, the crack of ice can be heard, a plurality of small pits are formed around the ice melting agent, and the ice surface with vertical and horizontal gullies is finally formed at the position of the ice melting agent, so that the ice melting effect is excellent in the low-temperature environment, and the ice melting rate is high. The freezing point is below minus 40 ℃, the damage to carbon steel and plant seeds is very small, and the comprehensive performance is excellent. The comparative example 1 omits potassium acetate, the ice melting rate of the ice melting agent is obviously reduced, the freezing point is obviously increased, and the comparative example 2 lacks sodium acrylate, so that the corrosion to steel and the damage to plant seeds are the greatest; compared with the prior art, the organic acid calcium is not modified, the ice melting rate of the ice melting agent is obviously reduced, and the ice point is obviously increased; comparative example 4 no modification of montmorillonite, poor ice melting effect in short time, and reduced comprehensive performance of the ice melting agent. The formula and the process of the invention have good adaptability, the raw materials supplement each other, and the performance of the material is obviously reduced if any raw material is lacked.
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 (6)
1. The utility model provides an electrified machine people that overhauls of damper which characterized in that: the device comprises a mobile carrier, a storage bin arranged on the mobile carrier, a suspension mechanism arranged on the storage bin, a spraying mechanism arranged on the mobile carrier, an overhauling mechanism arranged on the mobile carrier and used for overhauling an anti-vibration hammer, an ice shoveling mechanism arranged at the rear part of the spraying mechanism, and a control mechanism arranged on the mobile carrier and used for controlling the mobile carrier, the suspension mechanism, the spraying mechanism, the ice shoveling mechanism and the overhauling mechanism;
the mobile carrier comprises a walking module arranged on the power transmission line, a current transformer arranged on the walking module and a first electrostatic shielding net arranged on the walking module;
the lower end of the storage bin is provided with a storage supporting rod, the lower end of the storage supporting rod is provided with a first cloud platform, the lower end of the first cloud platform is provided with a storage supporting arm, and a second cloud platform is arranged at the end part of the storage supporting arm and is arranged on the walking module;
the maintenance mechanism comprises a maintenance support arm arranged on the walking module, a maintenance telescopic arm arranged on the maintenance support arm, a maintenance telescopic rod arranged at the end part of the maintenance telescopic arm, a first wrapping clamp arranged at the end part of the maintenance telescopic rod, a holding telescopic rod arranged on the side surface of the first wrapping clamp, a second wrapping clamp arranged at the end part of the holding telescopic rod, a maintenance steering motor arranged on the first wrapping clamp, a maintenance telescopic column arranged on an output shaft of the maintenance steering motor, a disassembly driving motor arranged at the end part of the maintenance telescopic arm, a disassembly nut sleeve arranged on an output shaft of the disassembly driving motor, a strong magnet arranged in the disassembly nut sleeve and a camera arranged on the walking module;
the ice shoveling mechanism comprises an ice shoveling support rod arranged on the support rod, an ice shoveling telescopic rod arranged at the end part of the ice shoveling support rod, an elastic part arranged at the end part of the ice shoveling telescopic rod, and an arc-shaped shovel blade arranged on the elastic part; the walking module comprises a first walking wheel, a supporting rod arranged at the axle end of the first walking wheel, a compression telescopic rod arranged at the upper end part of the supporting rod, a walking motor arranged at the end part of the compression telescopic rod, and a second walking wheel arranged on the output shaft of the walking motor; the spraying mechanism comprises a spraying rod arranged on the supporting rod, an arc-shaped spraying frame arranged at the end part of the spraying rod, a plurality of spraying nozzles arranged on the arc-shaped spraying frame, a material conveying pipe arranged at the rear part of the plurality of spraying nozzles and communicated with the material storage bin, a micro booster pump arranged on the material conveying pipe, and an electromagnetic valve arranged on the material conveying pipe; the suspension mechanism comprises a suspension bin arranged on the storage bin, a pressure storage tank arranged in the suspension bin, a suspension air bag arranged at an opening at the upper end of the suspension bin, an inflation electromagnetic valve arranged on the pressure storage tank, and an deflation electromagnetic valve arranged on the side wall of the suspension bin.
2. The charged inspection robot for damper according to claim 1, characterized in that: the control mechanism comprises a second electrostatic shielding net arranged on the supporting rod, a PLC arranged in the second electrostatic shielding net and a storage battery connected with the PLC.
3. The charged inspection robot for damper according to claim 2, characterized in that: the elastic piece comprises a sleeve arranged at the end part of the ice shoveling telescopic rod, a sliding rod arranged in the sleeve and a spring arranged at the bottom of the sliding rod, and the end part of the sliding rod is connected with the arc-shaped shovel blade.
4. The charged inspection robot for damper according to claim 3, characterized in that: the ice melting agent is arranged in the storage bin and is prepared from the following components in parts by weight: 15-20 parts of modified organic acid calcium, 36-42 parts of 1, 2-propylene glycol, 12-17 parts of potassium acetate, 5-8 parts of surfactant, 8-10 parts of sodium acrylate, 2-3 parts of calcium ammonium nitrate and 52-58 parts of water.
5. The charged inspection robot for damper according to claim 4, characterized in that: the preparation method of the modified organic acid calcium comprises the following steps:
s1: adding calcium oxide into the bamboo vinegar liquid, and stirring at the rotation speed of 300-400r/min for 10-15min at room temperature to obtain organic acid calcium;
s2: sequentially adding montmorillonite and coupling agent into 6-8% phosphoric acid solution by mass fraction, heating in water bath at 55-60 deg.C, stirring at 200-;
s3: and (3) adding the modified montmorillonite and the carbon nano tube obtained in the step (S2) into the organic acid calcium obtained in the step (S1), stirring at the rotating speed of 200-300r/min for 10-15min at room temperature, oscillating for 1-1.5h in ultrasonic waves with the frequency of 40kHz and the power of 500W, filtering, drying and grinding to obtain the modified organic acid calcium.
6. The charged inspection robot for damper according to claim 5, characterized in that: the dosage ratio of each component in the modified organic acid calcium is as follows: phosphoric acid solution: calcium oxide: montmorillonite: coupling agent: sodium polyphosphate: the carbon nano tube is 100-105 g: 35-40 g: 10-12 g: 6-10 g: 1-1.2 g: 0.3-0.6 g: 1.5-2.2 g.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811262791.XA CN109301751B (en) | 2018-10-27 | 2018-10-27 | Electrified maintenance robot for damper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811262791.XA CN109301751B (en) | 2018-10-27 | 2018-10-27 | Electrified maintenance robot for damper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109301751A CN109301751A (en) | 2019-02-01 |
| CN109301751B true CN109301751B (en) | 2020-09-01 |
Family
ID=65158810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811262791.XA Active CN109301751B (en) | 2018-10-27 | 2018-10-27 | Electrified maintenance robot for damper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109301751B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111389648B (en) * | 2020-04-13 | 2020-11-13 | 国网山东省电力公司临邑县供电公司 | Emergency fireproof protective coating spraying equipment for power grid |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105112018A (en) * | 2015-09-29 | 2015-12-02 | 江苏锦宇环境工程有限公司 | Preparation method of bamboo vinegar based organic acid-calcium self-snowmelt bituminous pavement additive |
| CN205681075U (en) * | 2016-03-22 | 2016-11-09 | 薛鑫刚 | A kind of cable deicing device for clearing away obstacle |
| CN205809630U (en) * | 2016-07-04 | 2016-12-14 | 广东容祺智能科技有限公司 | A kind of unmanned plane deicing system |
| CN106356760A (en) * | 2016-09-18 | 2017-01-25 | 武汉大学 | End-of-arm tooling and methods for mounting and dismounting high-voltage wire dampers by robot |
| CN106479439A (en) * | 2016-10-13 | 2017-03-08 | 湖北省超能超高压电力科技开发有限公司 | A kind of ice melting agent for transformer station and preparation method thereof |
| CN108110713A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | A kind of deicing of high voltage wire robot crane device |
| CN108551147A (en) * | 2018-06-28 | 2018-09-18 | 国网河南省电力公司邓州市供电公司 | A kind of deicer for power transmission line taking energy based on CT |
-
2018
- 2018-10-27 CN CN201811262791.XA patent/CN109301751B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105112018A (en) * | 2015-09-29 | 2015-12-02 | 江苏锦宇环境工程有限公司 | Preparation method of bamboo vinegar based organic acid-calcium self-snowmelt bituminous pavement additive |
| CN205681075U (en) * | 2016-03-22 | 2016-11-09 | 薛鑫刚 | A kind of cable deicing device for clearing away obstacle |
| CN205809630U (en) * | 2016-07-04 | 2016-12-14 | 广东容祺智能科技有限公司 | A kind of unmanned plane deicing system |
| CN106356760A (en) * | 2016-09-18 | 2017-01-25 | 武汉大学 | End-of-arm tooling and methods for mounting and dismounting high-voltage wire dampers by robot |
| CN106479439A (en) * | 2016-10-13 | 2017-03-08 | 湖北省超能超高压电力科技开发有限公司 | A kind of ice melting agent for transformer station and preparation method thereof |
| CN108110713A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | A kind of deicing of high voltage wire robot crane device |
| CN108551147A (en) * | 2018-06-28 | 2018-09-18 | 国网河南省电力公司邓州市供电公司 | A kind of deicer for power transmission line taking energy based on CT |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109301751A (en) | 2019-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109327005B (en) | Deicing and waterproofing agent spraying device for field power transmission line | |
| CN109167319B (en) | Power distribution network line deicing device | |
| CN206169789U (en) | Cast tube inner wall processing equipment | |
| CN109301751B (en) | Electrified maintenance robot for damper | |
| CN109449819B (en) | Insulator surface on-line monitoring device | |
| CN104474830A (en) | Chemical agglomeration promoter for removing fire coal fine particulate matters and application method of chemical agglomeration promoter | |
| CN109021922A (en) | A kind of removing ice of power transmission line ice melting agent and preparation method thereof | |
| CN109103810B (en) | Online insulator replacing device | |
| CN109286151B (en) | Long distance transmission line regular cleaning device | |
| CN109217173B (en) | Electrified maintenance robot for shockproof hammer of power transmission line | |
| CN210202765U (en) | Afforestation is with irrigating water jet equipment | |
| CN206689193U (en) | A kind of garden soil environmental protection repair process device | |
| CN204277998U (en) | Mobile automatic water-supplying transformer station living water washing is auxiliary rushes robot system | |
| CN109193538B (en) | Overhead line regular cleaning equipment | |
| CN108963871B (en) | Comprehensive maintenance device for power line | |
| CN204182253U (en) | Haze arrester | |
| CN109149491B (en) | Ice melting device for power transmission line | |
| CN209039166U (en) | A kind of artificial water plant chinampa | |
| CN206008319U (en) | A kind of solar energy watering drop haze system | |
| CN207126289U (en) | A kind of miniature dedusting environment friendly dolly | |
| CN205012274U (en) | Domestic multi -functional snow removal vehicle | |
| CN208924663U (en) | A kind of forestry grass mower | |
| CN205883871U (en) | Novel clean weeder in gardens | |
| CN101971735A (en) | Lithium ion battery applied to power device of rape harvester as new energy | |
| CN221536100U (en) | Environment-friendly dust removal cleaning device for ore crushing field |
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 |