CN110233462B - High altitude transmission cable deicing robot - Google Patents
High altitude transmission cable deicing robot Download PDFInfo
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- CN110233462B CN110233462B CN201910620212.2A CN201910620212A CN110233462B CN 110233462 B CN110233462 B CN 110233462B CN 201910620212 A CN201910620212 A CN 201910620212A CN 110233462 B CN110233462 B CN 110233462B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 238000012806 monitoring device Methods 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000010438 heat treatment Methods 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 239000010410 layer Substances 0.000 description 8
- 239000000725 suspension Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005485 electric heating Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
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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
Abstract
The invention belongs to the technical field of power equipment, and particularly relates to a high-altitude power transmission cable deicing robot. The deicing robot comprises a mounting plate at the bottom, wherein two ends of the mounting plate are connected with a first mounting frame and a second mounting frame; the auxiliary pulley is connected with the telescopic device; the first monitoring device and the second monitoring device are arranged on the first mounting frame and the second mounting frame, the deicing devices are arranged on the mounting plates and comprise a first deicing part and a second deicing part which are symmetrical to each other, deicing teeth are uniformly distributed on the inner sides of the first deicing part and the second deicing part, and the first deicing part and the second deicing part are meshed with gears of deicing control motors on two sides of a deicing channel through gear teeth. The robot can be used for deicing of high-voltage lines, is good in deicing effect and high in working efficiency, is not easy to damage cables, and is very safe.
Description
Technical Field
The invention belongs to the technical field of power equipment, and particularly relates to a high-altitude power transmission cable deicing robot.
Background
The grid is a generic term for facilities and equipment that link power generation and utilization in an electrical power system. It is an intermediate link for transmitting and distributing electric energy, and is mainly formed from power transmission line, transformer substation, distribution substation and distribution line which are connected into network. The unified whole of power generation and utilization, which is composed of power transmission, transformation, distribution equipment and corresponding auxiliary systems, is generally referred to as a power grid.
The electric wire netting guarantees that ten thousand households normally use electricity, in winter, because the weather is cold, rain and snow or fog etc. can condense on the wire of electric wire netting again and form icicle, cover on the wire surface, and these ice-cubes can be less to the transmission of electricity performance of electric wire netting, but can increase the quality of wire by a wide margin, can even collapse electric power iron tower when serious. The accident of power grid damage caused by ice and snow occurs in winter every year; in order to solve the problem, some power grids adopt an electric heating mode, accumulated snow or floating ice is melted by utilizing heat generated by a lead, the deicing and snow removing mode can cause huge power loss, and under the condition of extremely severe cold weather, the electric heating effect is poor, and the heat generated by the lead can be rapidly lost. In other areas, snow removal and ice removal are performed through manual operation, the work needs to be completed at high altitude, and the wire is very wet and slippery, so that the work environment is very severe, and the danger coefficient is high. In order to perform snow and ice removing operations on high-voltage wires more safely and efficiently, technicians develop dedicated ice removing robots, which include products with multiple working modes, such as a wire suspension type and an unmanned aerial vehicle suspension type.
The Chinese patent publication No. CN104917130B discloses a line patrol deicing robot, which is hung on a high-voltage line through a moving arm and cleans floating ice or accumulated snow on a cable through a deicing wheel, the deicing wheel of the device mainly comprises a disc-shaped blade and a side blade, the cable is easily cut when the deicing wheel is carelessly operated in the rotating process, the safety risk is higher, the operation angle and the space of a cutter head of the cutter wheel are limited, and for floating ice with larger volume, the floating ice is not easily broken completely and the floating ice is not easily dropped from the cable when only cutting is carried out above or below, so the deicing effect of the robot is relatively poor.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide the high-altitude power transmission cable deicing robot which can be used for deicing high-voltage wires, has good deicing effect and high working efficiency, is not easy to damage the cables and is very safe.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a high-altitude power transmission cable deicing robot comprises a mounting plate at the bottom, wherein a first mounting frame and a second mounting frame which are perpendicular to the plane of the mounting plate are connected to two ends of the mounting plate, the first mounting frame and the second mounting frame are T-shaped frames, two ends of a cross rod of the first mounting frame are respectively provided with a driving pulley and an auxiliary pulley, the driving pulley is fixedly connected to the first mounting frame and is driven by a motion control motor to rotate along the axial direction of the driving pulley; the auxiliary pulley is fixedly connected with the first mounting frame through a telescopic device, and the telescopic device is used for controlling the clamping and releasing of the driving pulley and the auxiliary pulley on the lead; the second mounting frame is also provided with a driving pulley, an auxiliary pulley, a motion control motor and a telescopic device which are the same as those on the first mounting frame;
the first mounting frame and the second mounting frame are also provided with a first monitoring device and a second monitoring device, and the first monitoring device and the second monitoring device are used for observing the front ice and snow thickness and the rear deicing effect of the lead and observing whether the driving pulley and the auxiliary pulley clamp the lead correctly or not;
a deicing device is arranged between the first mounting frame and the second mounting frame of the mounting plate and comprises a first deicing part and a second deicing part which are symmetrical to each other, a circular truncated cone-shaped deicing channel is formed after the first deicing part and the second deicing part are combined, the diameter of the front end of the deicing channel is larger than that of the rear end of the deicing channel, the diameter of the rear end of the deicing channel is larger than that of a cable, arc-shaped deicing teeth for cutting and crushing are uniformly distributed on the inner sides of the first deicing part and the second deicing part, matched semicircular gear teeth are arranged on the outer sides of the rear ends of the first deicing part and the second deicing part, and the first deicing part and the second deicing part are meshed with gears of deicing control motors on two sides of the deicing channel through the gear teeth; the deicing control motor drives the first deicing part and the second deicing part to rotate along the axial direction of a formed deicing channel, an air channel communicated with an air blower is arranged at an opening at the rear end of the deicing channel, and a heater for heating air flow is arranged in the air channel; and the lower part of the deicing device is fixedly connected with the mounting plate through a lifting device.
Before this type deicing robot worked, operating personnel opened defroster, placed the cable between first deicing portion and second deicing portion, then closed first deicing portion and second deicing portion, and the cable of defroster both sides is pressed from both sides tightly through initiative pulley and the supplementary pulley on first mounting bracket and the second mounting bracket. The active pulley and the auxiliary pulley are used for clamping the cable on one hand, so that the deicing robot can conveniently walk forwards under the driving of the motion control motor; on the other hand, the cable is tensioned, so that the cable is exactly positioned on the central axis of the deicing channel, deicing is better facilitated, the integrity of the cable is protected, and the damage to the cable caused by deicing teeth on the first deicing part and the second deicing part in the process of ice breaking is avoided; in order to ensure that the cable is positioned on the axis in the middle of the ice removing channel, the height of the ice removing device can be adjusted through the lifting device.
When the deicing robot works, the telescopic device controls the cable to be fixed in a wheel groove between the driving pulley and the auxiliary pulley, then the driving pulley is driven to rotate by the motion control motor, so that the deicing robot runs on the cable, in the running process of the deicing robot, the deicing control motor drives the deicing channel formed by the first deicing part and the second deicing part to rotate on the periphery of the cable, deicing teeth in the deicing channel gradually crush floating ice on the surface layer of the cable in the rotating process, and the deicing channel is in a circular truncated cone shape, and the diameter of the front end is large, so that the crushing of the floating ice on the cable by the deicing device is gradually completed layer by layer, the influence on the cable and the deicing teeth is relatively small, and the service life of parts can be prolonged. The diameter of the rear end of the ice removing channel is larger than that of the cable; in the ice crushing process, a thin layer of floating ice still remains on the surface of the rear-end cable, so that the deicing teeth cannot be in contact with the diameter of the cable, and the cable can be protected. The last layer of thin ice can be melted through airflow in the air duct at the rear end, the airflow is generated by the air blower and heated by the heater, floating ice melting can be accelerated, and gaps are generated between the ice removing channel and the cables after the floating ice is melted, so that the airflow can be continuously blown forwards to blow off broken crushed ice in the ice removing channel, and the deicing effect of the deicing device is better.
Preferably, the connection end face of the first deicing unit and the second deicing unit is provided with a magnetic piece for adsorption, and the outer surfaces of the first deicing unit and the second deicing unit are provided with fasteners.
The magnetic piece is convenient for align first deicing portion and second deicing portion in the combination process, and the fastener can be used for first deicing portion and second deicing portion fixed, avoids the two to drop at high-speed rotation in-process.
Preferably, the driving pulley is a concave pulley, the two sides of the pulley are provided with baffles, the middle of the pulley comprises a pulley groove, and the side surface of the pulley is I-shaped; the auxiliary pulley is also provided with a wheel groove and a baffle which are matched with the driving pulley, the two differences are that the thickness of the baffle of the auxiliary pulley is larger than that of the baffle on the driving pulley, and a slot which is used for being connected with the baffle of the driving pulley in an inserting mode is further arranged in the middle of the baffle of the auxiliary pulley.
The pulley groove between the driving pulley and the auxiliary pulley is used for clamping a cable, and the slot on the auxiliary pulley can improve the tightness of combination between the driving pulley and the auxiliary pulley and is convenient for aligning the driving pulley and the auxiliary pulley.
Preferably, the sheave surfaces of the driving sheave and the auxiliary sheave are provided with gear teeth for increasing friction with the cable.
Preferably, the telescopic device and the lifting device are servo electric cylinders.
Preferably, the motion control motor, the deicing control motor, the telescopic device and the lifting device are powered by storage batteries, and the storage batteries are mounted on the mounting plate.
Preferably, a control system of the deicing robot is connected with a remote control module, and remote control can be performed through a control end; and the image data obtained by the first monitoring device and the second monitoring device is sent to a remote control end in a wireless transmission mode.
Remote control can make deicing robot's work more accurate, improves the effect of deicing to bring the convenience for each operating personnel, improve the security of deicing work simultaneously.
The invention has the following beneficial effects:
this type deicing robot is to prior art, and cable hangs in midair fixed knot and constructs and deicing part improves to the operation mode of cable deicing has been changed, rotates the cutting through removing ice way to floating ice, both can accomplish the cleaing away of ice sheet, also can not cause the damage to the structure of cable, and is very safe high-efficient. In order to enable the cable to be exactly positioned on the central axis of the deicing device, the suspension device is improved into a transverse clamping part, so that the movement of the deicing robot is facilitated, the cable can be tensioned and limited, and the safety of deicing operation is improved.
In order to improve the remote controllability of the deicing robot, corresponding monitoring devices are arranged in front of and behind the deicing robot. Compared with the traditional technical scheme, the technical scheme of the deicing robot has higher working efficiency, better controllability and stability, higher safety and capability of effectively protecting a cable structure.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of the overall structure of the deicing robot in the present embodiment;
FIG. 2 is a schematic structural view of the deicing device of the present embodiment in operation;
fig. 3 is a schematic structural view of a second deicer unit in the present embodiment;
FIG. 4 is a schematic structural view of the driving pulley and the auxiliary pulley in the present embodiment;
labeled as: 1. mounting a plate; 2. a first mounting bracket; 3. a second mounting bracket; 4. a de-icing device; 5. a lifting device; 6. a storage battery; 7. a blower; 21. a driving pulley; 22. an auxiliary pulley; 23. a first monitoring device; 33. a second monitoring device; 41. a first deicing unit; 42. a second deicing unit; 43. a deicing control motor; 44. an air duct; 200. a baffle plate; 201. a slot; 202. gear teeth; 210. a motion control motor; 220. a telescoping device; 400. deicing teeth; 401. a magnetic member; 402. a fastener.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or circuit connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
As shown in fig. 1, the deicing robot for the overhead transmission cable comprises a mounting plate 1 at the bottom, wherein a first mounting frame 2 and a second mounting frame 3 which are perpendicular to the plane of the mounting plate 1 are connected to two ends of the mounting plate 1, the first mounting frame 2 and the second mounting frame 3 are T-shaped frames, a driving pulley 21 and an auxiliary pulley 22 are respectively arranged at two ends of a cross rod of the first mounting frame 2, the driving pulley 21 is fixedly connected to the first mounting frame 2, and is driven by a motion control motor 210 to rotate along the axial direction of the driving pulley; the auxiliary pulley 22 is fixedly connected with the first mounting frame 2 through a telescopic device 220, and the telescopic device 220 is used for controlling the clamping and releasing of the driving pulley 21 and the auxiliary pulley 22 on the wire; the second mounting rack 3 is also provided with a driving pulley 21, an auxiliary pulley 22, a motion control motor 210 and a telescopic device 220 which are the same as those on the first mounting rack 2;
the first mounting frame 2 and the second mounting frame 3 are also provided with a first monitoring device 23 and a second monitoring device 33, the first monitoring device 23 and the second monitoring device 33 are used for observing the ice and snow thickness of the cable in front and the rear deicing effect, and observing whether the driving pulley 21 and the auxiliary pulley 22 clamp the wires correctly or not;
a deicing device 4 is arranged between the first mounting frame 2 and the second mounting frame 3 of the mounting plate 1, as shown in fig. 2 and 3, the deicing device 4 comprises a first deicing part 41 and a second deicing part 42 which are symmetrical to each other, the first deicing part 41 and the second deicing part 42 are combined to form a deicing channel with a truncated cone shape inside, the diameter of the front end of the deicing channel is larger than that of the rear end of the deicing channel, the diameter of the rear end of the deicing channel is larger than that of a cable, arc-shaped deicing teeth 400 for cutting and crushing are uniformly distributed on the inner sides of the first deicing part 41 and the second deicing part 42, semicircular gear teeth matched with each other are arranged on the outer sides of the rear ends of the first deicing part 41 and the second deicing part 42, and the first deicing part 41 and the second deicing part 42 are meshed with gears of deicing control motors 43 on two sides of the deicing; the deicing control motor 43 drives the first deicing part 41 and the second deicing part 42 to rotate along the axial direction of the formed deicing channel, an air channel 44 communicated with the air blower 7 is arranged at an opening at the rear end of the deicing channel, and a heater for heating air flow is arranged in the air channel 44; and the lower part of the deicing device 4 is fixedly connected with the mounting plate 1 through a lifting device 5.
Before the deicing robot works, an operator opens the deicing device 4, places a cable between the first deicing part 41 and the second deicing part 42, closes the first deicing part 41 and the second deicing part 42, and clamps the cables on both sides of the deicing device 4 through the driving pulleys 21 and the auxiliary pulleys 22 on the first mounting bracket 2 and the second mounting bracket 3. The function of the driving pulley 21 and the auxiliary pulley 22 is to clamp the cable, so that the deicing robot can walk forward under the driving of the motion control motor 210; on the other hand, the cable is tensioned, so that the cable is exactly positioned on the central axis of the deicing channel, deicing is better facilitated, the integrity of the cable is protected, and the damage to the cable caused by the deicing teeth 400 on the first deicing part 41 and the second deicing part 42 in the process of ice breaking is avoided; in order to ensure that the cable is located on the axis in the middle of the ice chute, the height of the ice removing device 4 can be adjusted by the lifting device 5.
When the deicing robot works, the telescopic device 220 controls to fix the cable in a wheel groove between the driving pulley 21 and the auxiliary pulley 22, then the motion control motor 210 drives the driving pulley 21 to rotate, so that the deicing robot runs on the cable, in the running process of the deicing robot, the deicing control motor 43 drives the deicing channel formed by the first deicing part 41 and the second deicing part 42 to rotate on the periphery of the cable, the deicing teeth 400 in the deicing channel gradually crush floating ice on the surface layer of the cable in the rotating process, and the deicing channel is in a circular truncated cone shape, and the diameter of the front end is larger, so that the crushing of the floating ice on the cable by the deicing device 4 is gradually completed layer by layer, the influence on the cable and the deicing teeth is relatively smaller, and the service life of parts can be prolonged. The diameter of the rear end of the ice removing channel is larger than that of the cable; in the ice crushing process, a thin layer of floating ice still remains on the surface of the rear-end cable, so that the ice removing teeth 400 cannot be in diameter contact with the cable, and the cable can be protected. The last layer of thin ice can be melted through the airflow in the air duct 44 at the rear end, the airflow is generated by the air blower 7 and heated by the heater, floating ice melting can be accelerated, and a gap is generated between the ice removing duct and the cable after the floating ice is melted, so that the airflow can be continuously blown forward to blow off broken ice in the ice removing duct, and the deicing effect of the deicing device 4 is better.
In this embodiment, magnetic members 401 for adsorption are provided on the connecting end surfaces of the first deicing unit 41 and the second deicing unit 42, and fastening members 402 are provided on the outer surfaces of the first deicing unit 41 and the second deicing unit 42.
As shown in fig. 4, the driving pulley 21 is a concave pulley, the two sides of the pulley are provided with the baffle 200, the middle of the pulley comprises a pulley groove, and the side surface of the pulley is in an i shape; the middle of the auxiliary pulley 22 is also provided with a wheel groove and a baffle 200 which are matched with the driving pulley 21, and the difference between the two is that the thickness of the baffle 200 of the auxiliary pulley 22 is larger than that of the baffle 200 on the driving pulley 21, and the middle of the baffle 200 of the auxiliary pulley 22 is also provided with a slot 201 which is used for being inserted with the baffle 200 of the driving pulley 21.
The wheel groove between the driving pulley 21 and the auxiliary pulley 22 is used for clamping the cable, and the slot 201 on the auxiliary pulley 22 can improve the tightness of the combination between the driving pulley 21 and the auxiliary pulley 22 and also facilitate the alignment of the two.
The sheave surfaces of the driving sheave 21 and the auxiliary sheave 22 are provided with gear teeth 202 for increasing friction with the cable.
The telescoping device 220 and the lifting device 5 are servo electric cylinders.
The motion control motor 210, the deicing control motor 43, the expansion device 220 and the lifting device 5 are all powered by the storage battery 6, and the storage battery 6 is installed on the installation plate.
The control system of the deicing robot is connected with a remote control module, and remote control can be carried out through a control end; the image data obtained by the first monitoring device 23 and the second monitoring device 33 are transmitted to a remote control end in a wireless transmission mode.
Remote control can make deicing robot's work more accurate, improves the effect of deicing to bring the convenience for each operating personnel, improve the security of deicing work simultaneously.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a high altitude transmission cable deicing robot which characterized in that: the device comprises a mounting plate at the bottom, wherein a first mounting frame and a second mounting frame which are vertical to the plane of the mounting plate are connected to two ends of the mounting plate, the first mounting frame and the second mounting frame are T-shaped frames, a driving pulley and an auxiliary pulley are respectively arranged at two ends of a cross rod of the first mounting frame, the driving pulley is fixedly connected to the first mounting frame, and is driven by a motion control motor to rotate along the axial direction of the driving pulley; the auxiliary pulley is fixedly connected with the first mounting frame through a telescopic device, and the telescopic device is used for controlling the clamping and releasing of the driving pulley and the auxiliary pulley on the lead; the second mounting frame is also provided with a driving pulley, an auxiliary pulley, a motion control motor and a telescopic device which are the same as those on the first mounting frame;
the first mounting frame and the second mounting frame are also provided with a first monitoring device and a second monitoring device, and the observation fields of the first monitoring device and the second monitoring device are respectively in front of the first mounting frame and behind the second mounting frame;
a deicing device is arranged between the first mounting frame and the second mounting frame of the mounting plate and comprises a first deicing part and a second deicing part which are symmetrical to each other, a circular truncated cone-shaped deicing channel is formed after the first deicing part and the second deicing part are combined, the diameter of the front end of the deicing channel is larger than that of the rear end of the deicing channel, the diameter of the rear end of the deicing channel is larger than that of a cable, arc-shaped deicing teeth for cutting and crushing are uniformly distributed on the inner sides of the first deicing part and the second deicing part, matched semicircular gear teeth are arranged on the outer sides of the rear ends of the first deicing part and the second deicing part, and the first deicing part and the second deicing part are meshed with gears of deicing control motors on two sides of the deicing channel through the gear teeth; the deicing control motor drives the first deicing part and the second deicing part to rotate along the axial direction of a formed deicing channel, an air channel communicated with an air blower is arranged at an opening at the rear end of the deicing channel, and a heater for heating air flow is arranged in the air channel; and the lower part of the deicing device is fixedly connected with the mounting plate through a lifting device.
2. The overhead transmission cable deicing robot of claim 1, wherein: the connection end faces of the first deicing part and the second deicing part are provided with magnetic pieces used for adsorption, and fastening pieces are arranged on the outer surfaces of the first deicing part and the second deicing part.
3. The overhead transmission cable deicing robot of claim 1, wherein: the driving pulley is a concave pulley, the two sides of the pulley are provided with baffles, the middle of the pulley comprises a pulley groove, and the side surface of the pulley is I-shaped; the auxiliary pulley is also provided with a wheel groove and a baffle which are matched with the driving pulley, the two differences are that the thickness of the baffle of the auxiliary pulley is larger than that of the baffle on the driving pulley, and a slot which is used for being connected with the baffle of the driving pulley in an inserting mode is further arranged in the middle of the baffle of the auxiliary pulley.
4. An overhead transmission cable de-icing robot according to claim 3, characterized in that: the surfaces of the grooves of the driving pulley and the auxiliary pulley are provided with gear teeth for improving the friction force between the driving pulley and the cable.
5. The overhead transmission cable deicing robot of claim 1, wherein: the telescopic device and the lifting device are servo electric cylinders.
6. An overhead transmission cable de-icing robot according to claim 1 or 5, characterized in that: the motion control motor, the deicing control motor, the telescopic device and the lifting device are powered by storage batteries, and the storage batteries are mounted on the mounting plate.
7. The overhead transmission cable deicing robot of claim 1, wherein: the control system of the deicing robot is connected with a remote control module, and remote control can be performed through a control end; and the image data obtained by the first monitoring device and the second monitoring device is sent to a remote control end in a wireless transmission mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910620212.2A CN110233462B (en) | 2019-07-10 | 2019-07-10 | High altitude transmission cable deicing robot |
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| CN201910620212.2A CN110233462B (en) | 2019-07-10 | 2019-07-10 | High altitude transmission cable deicing robot |
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| CN110233462A CN110233462A (en) | 2019-09-13 |
| CN110233462B true CN110233462B (en) | 2020-11-10 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110581476B (en) * | 2019-09-25 | 2020-11-06 | 浙江鸣春纺织股份有限公司 | Outdoor cable deicing device with centering moving effect |
| CN110838701B (en) * | 2019-11-08 | 2020-09-11 | 南京聚联输变电安装有限责任公司 | Intelligent deicing device for power transmission and transformation line |
| CN110797823B (en) * | 2019-11-15 | 2021-01-01 | 国网山东省电力公司兰陵县供电公司 | Power supply line defroster |
| CN111244868B (en) * | 2020-03-19 | 2021-01-05 | 中国矿业大学 | Cable deicing robot and deicing method thereof |
| CN112186691B (en) * | 2020-09-28 | 2021-12-21 | 国网天津市电力公司培训中心 | High-altitude cable deicing device with high safety performance for power construction |
| CN112564008A (en) * | 2020-11-16 | 2021-03-26 | 江山志诚科技有限公司 | Deicing mechanism for power transmission and transformation cable |
| CN114123085A (en) * | 2021-12-24 | 2022-03-01 | 广东电网有限责任公司 | High altitude cable ice and snow remove device |
| CN115000906B (en) * | 2022-06-20 | 2023-07-11 | 杭州申昊科技股份有限公司 | Deicing method for power transmission line |
| CN115207862B (en) * | 2022-09-16 | 2022-12-06 | 合肥优晟电力科技有限公司 | Deicing operation device for overhead line of power distribution network |
| CN116845809B (en) * | 2023-09-04 | 2023-11-17 | 合肥优尔电子科技有限公司 | Power distribution network line deicing device |
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| CN203103885U (en) * | 2013-03-24 | 2013-07-31 | 许博 | High-tension line snow removal device |
| CN107769144A (en) * | 2015-04-25 | 2018-03-06 | 杜志刚 | A kind of efficient electric wire deicing machine |
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| US6660934B1 (en) * | 2002-01-11 | 2003-12-09 | Aep Entech Llc | Power line ice-shedder |
| CN201263076Y (en) * | 2008-07-25 | 2009-06-24 | 敖彬仪 | De-icing device for high-voltage line |
| CN201282318Y (en) * | 2008-09-25 | 2009-07-29 | 李新民 | Cable deicer |
| CN101692571A (en) * | 2009-09-30 | 2010-04-07 | 张新华 | Quick cable deicing device and power component thereof |
| CN203103885U (en) * | 2013-03-24 | 2013-07-31 | 许博 | High-tension line snow removal device |
| CN107769144A (en) * | 2015-04-25 | 2018-03-06 | 杜志刚 | A kind of efficient electric wire deicing machine |
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| CN110233462A (en) | 2019-09-13 |
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