CN110247358A - A kind of deicing of high-voltage wires machine people crossing split conductor conductor spacer - Google Patents

Abstract

The invention belongs to the technical field of electric equipment, and in particular relates to a high-voltage line deicing robot capable of crossing spacer bars of split wires. Including the mounting plate at the bottom, the two ends of the mounting plate are connected with the first mounting frame and the second mounting frame, and the two ends of the crossbar of the first mounting frame are respectively provided with a driving pulley and an auxiliary pulley, and the driving pulley is driven by a travel control motor; the auxiliary pulley It is fixedly connected with the first mounting frame through the telescopic device; the first monitoring device and the second monitoring device are also arranged on the first mounting frame and the second mounting frame, and a deicing device is installed between the first mounting frame and the second mounting frame Device, multiple vibrating devices are arranged on the outside of the deicing device, and the front end of the vibrating device is fixedly connected with the ice-breaking needle. This type of deicing robot has good snow and ice removal effects, and can automatically cross over obstacles such as spacers on the wires, and the work efficiency is very high.

Description

A high-voltage line deicing robot that can cross the spacer bars of split wires

technical field

The invention belongs to the technical field of electric power equipment, and in particular relates to a high-voltage line deicing robot capable of crossing spacer bars of split wires.

Background technique

The power grid is a general term for the facilities and equipment that connect power generation and electricity consumption in the power system. It belongs to the intermediate link of transmission and distribution of electric energy. It is mainly composed of transmission lines, substations, distribution stations and distribution lines connected into a network. Usually, the unified whole of connected power generation and power consumption composed of power transmission, power transformation, power distribution equipment and corresponding auxiliary systems is called power grid.

The power grid is the guarantee for thousands of households to use electricity normally. In winter, due to the cold weather, rain, snow or fog will condense on the wires of the grid to form icicles and cover the surface of the wires. These ice cubes have a greater impact on the transmission performance of the grid. Small, but it will greatly increase the quality of the wire, and even collapse the power tower in severe cases. Every winter, there will be accidents that damage the power grid due to ice and snow; in order to solve this problem, some power grids use electric heating, using wires to generate heat to melt snow or ice floes. This method of deicing and snow removal will cause huge power loss , and in extremely cold weather, the effect of electric heating is poor, and the heat generated by the wire will be quickly lost. In other areas, snow and ice removal is done manually. This kind of work needs to be done at high altitude, and the wires are very slippery. Therefore, the environment of this kind of work is very harsh and the risk factor is high. In order to carry out snow and ice removal operations on high-voltage wires more safely and efficiently, technicians have developed special deicing robots, which include products with various working methods such as wire suspension type and drone suspension type.

China Utility Model Authorization Notice No. CN205646730U discloses a high-voltage line deicing device, which can be suspended on the wire, driven by gears, and removes ice and snow on the wire by using an ice-breaking disc. Although this equipment has a good deicing effect, in the high-voltage power grid, in order to improve power transmission efficiency and safety, split wires are usually used. Each phase of the split conductor generally includes 4 to 8 sub-conductors, and a spacer bar is set at each interval of the sub-conductors to separate the sub-conductors to avoid contact of the conductors. If the deicing equipment in this utility model encounters the spacer bar in the middle of the split wire during the working process, it will be difficult to continue to work over the spacer bar, and it needs to be manually disassembled and reinstalled, which greatly reduces the working efficiency of the deicing equipment .

Therefore, if a kind of deicing robot that can automatically cross the spacer bar can be developed, the work efficiency of deicing and snow removal operations for high voltage wires can be greatly improved.

Contents of the invention

In view of the problems in the prior art, the object of the present invention is to provide a high-voltage line deicing robot that can cross the spacer bar of the split conductor; material, the work efficiency is very high.

In order to achieve the above object, the present invention is achieved through the following technical solutions:

A high-voltage line deicing robot capable of crossing split conductor spacers, comprising a mounting plate at the bottom, a first mounting frame and a second mounting frame perpendicular to the plane of the mounting plate are connected at both ends of the mounting plate, the first mounting frame and the second mounting frame It is a T-shaped frame, the vertical rods of the first mounting frame and the second mounting frame are electric telescopic rods, and the bottoms of the vertical rods of the first mounting frame and the second mounting frame can be moved through the first steering device and the second steering device and the mounting plate respectively. Rotational connection; the two ends of the crossbar of the first mounting frame are respectively provided with a driving pulley and an auxiliary pulley, and the driving pulley is fixedly connected to the first mounting frame and driven by a running control motor; the auxiliary pulley is connected to the first mounting frame through a telescopic device Fixed connection, the telescopic device is used to control the clamping and releasing of the driving pulley and the auxiliary pulley to the wire; the second installation frame is also equipped with the same driving pulley, auxiliary pulley, travel control motor and telescopic device as the first installation frame;

The first monitoring device and the second monitoring device are also arranged on the first mounting frame and the second mounting frame, and the first monitoring device and the second monitoring device are used to observe whether there is a wire spacer in front of the high-voltage line, and to observe the driving pulley and Whether the auxiliary pulley is correctly clamping the wire;

A deicing device is provided between the first mounting frame and the second mounting frame of the mounting plate. The deicing device includes a semi-cylindrical first deicing part and a second deicing part. It is rotatably connected by a hinge, and the other side is equipped with an electromagnetic fixing buckle; multiple through holes are evenly arranged on the surface of the first deicing part and the second deicing part, and multiple vibrations are provided on the outside of the first deicing part and the second deicing part device, the vibration direction of the vibrating device is to vibrate up and down along the through hole, the front end of the vibrating device is fixedly connected to the ice-breaking needle, and the ice-breaking needle penetrates through the through holes on the surface of the first deicing part and the second deicing part, and extends into the interior of the cylindrical structure; The bottom of the deicing device is fixedly connected with the mounting plate through a lifting device.

Preferably, the first steering device includes a rotating gear fixedly connected to the bottom of the first mounting frame, the rotating gear meshes with the gear of the first steering motor fixedly connected to the mounting plate, and the mounting plate is driven by the first steering motor along the first installation The longitudinal axis of the frame rotates; the second steering device has the same structure and function as the first steering device.

Preferably, both the driving pulley and the auxiliary pulley are concave pulleys with a groove in the middle, and the bottom surface of the groove of the driving pulley is provided with transverse gear teeth for increasing friction.

The concave pulley can facilitate the clamping of the wire to prevent the deicing robot from falling from the wire; the teeth in the groove of the driving pulley can further increase the contact force between the wire and the driving pulley to prevent the deicing robot from slipping during walking.

Preferably, openings are provided at the connection ports of the first deicing unit and the second deicing unit at the bottom of the deicing device, and an air injection device is provided in the opening, and the airflow direction of the air injection device is upward.

The broken ice inside the deicing device can be quickly blown off by the air jet device, or the snow accumulated on the wire can be blown off, so as to improve the working efficiency of the deicing device.

Preferably, both the telescopic device and the lifting device are electric telescopic cylinders.

Preferably, the deicing robot is driven by the power provided by the battery, the battery is fixed on the upper surface of the mounting plate, a protective cover is arranged above the mounting plate, and the surface of the protective cover is provided with openings for the first mounting frame, the second mounting frame and the deicing device to be exposed .

The protective cover can protect precision electronic components such as batteries and control modules in the deicing robot, avoiding the problem of water immersion, thereby improving the safety and stability of the deicing robot.

Preferably, the deicing robot is controlled through remote control, and the images captured by the first monitoring device and the second monitoring device are transmitted to the control terminal in real time through wireless communication.

In this management mode, the deicing robot can be controlled remotely through the remote control terminal, and the deicing operation process and effect of the robot can be observed and controlled in real time, which is beneficial to improve the deicing effect of the deicing robot.

The present invention has following beneficial effect:

This type of deicing robot uses a vibrating device and an ice-breaking needle to complete the deicing and snow removal operations on the surface of the wire, and cooperates with the air jet device to improve the deicing effect on the surface of the wire; the deicing robot is fixed by the first mounting frame and the second mounting frame at both ends Suspended on the wire, the active pulley can not only be used to clamp the cable to help the equipment move forward, but also to tension the cable, so as to help the deicing device to crush ice and ensure that the cable is located in the center of the deicing device. Avoid damage to the cable structure caused by ice breaking. During the working process of the deicing robot, when encountering obstacles such as spacer bars between wires, the first mounting frame and the second mounting frame can be turned to overcome obstacles, thereby greatly improving the working efficiency of the deicing robot.

Compared with the products in the prior art, this type of deicing robot improves the effect of deicing operation, and adds a monitoring module to observe obstacles and deicing effects in real time, and realizes automatic monitoring during the operation of the robot through ingenious design. Obstacle avoidance, with better performance and outstanding practical value, is suitable for large-scale promotion and application.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:

Fig. 1 is the overall structural representation of deicing robot in the present embodiment;

Fig. 2 is a schematic structural view of the first installation frame in the present embodiment;

Marked in the figure: 1, mounting plate; 2, the first mounting frame; 3, the second mounting frame; 4, deicing device; 21, the first steering device; 22, driving pulley; 23, auxiliary pulley; 24, the first 1. Monitoring device; 34. Second monitoring device; 41. First deicing unit; 42. Second deicing unit; 43. Vibration device; 44. Lifting device; 45. Electromagnetic fixing buckle; 5. Battery; 210. Rotating gear; 211, first steering motor; 220, travel control motor; 230, telescopic device; 430, ice-breaking needle.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "plurality" is two or more; the terms "upper", "lower", "left", "right", "inner ", "outside", "front end", "rear end", "top", "bottom" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the Describes, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate in a specific orientation, and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or circuit connection; it can be direct connection or indirect connection through an intermediary. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

As shown in Figure 1, a high-voltage line deicing robot that can cross the split wire spacer includes a mounting plate 1 at the bottom, and the two ends of the mounting plate 1 are connected with a first mounting frame 2 and a second mounting frame perpendicular to the plane of the mounting plate 1 3. The first mounting frame 2 and the second mounting frame 3 are T-shaped frames, the vertical rods of the first mounting frame 2 and the second mounting frame 3 are electric telescopic rods, and the vertical rods of the first mounting frame 2 and the second mounting frame 3 The bottom of the rod is rotatably connected to the mounting plate 1 through the first steering device 21 and the second steering device respectively; the two ends of the cross bar of the first mounting frame 2 are respectively provided with a driving pulley 22 and an auxiliary pulley 23, and the driving pulley 22 is fixedly connected to the An installation frame 2 is driven by a running control motor 220; the auxiliary pulley 23 is fixedly connected to the first installation frame 2 through a telescopic device 230, and the telescopic device 230 is used to control the clamping and release of the wires by the driving pulley 22 and the auxiliary pulley 23; The second mounting frame 3 is also provided with the same driving pulley 22, auxiliary pulley 23, travel control motor 220 and telescopic device 230 as on the first mounting frame 2;

The first monitoring device 24 and the second monitoring device 34 are also arranged on the first mounting frame 2 and the second mounting frame 3, and the first monitoring device 24 and the second monitoring device 34 are used to observe whether there is a wire spacer in front of the high-voltage line, and Observe whether the driving pulley 22 and the auxiliary pulley 23 are correctly clamping the wire;

A deicing device 4 is provided between the first mounting frame 2 and the second mounting frame 3 of the mounting plate 1, and the deicing device 4 includes a semicylindrical first deicing portion 41 and a second deicing portion 42, both of which are semi-cylindrical. One side of the connecting port is rotatably connected by a hinge, and the other side is provided with an electromagnetic fixing buckle 45; the first deicing part 41 and the second deicing part 42 are evenly provided with a plurality of through holes on the surface, and the first deicing part 41 and the second deicing part A plurality of vibrating devices 43 are arranged on the outside of the second deicing part 42. The vibrating direction of the vibrating devices 43 is to vibrate up and down along the through hole. The through hole on the surface of the deicing part 42 extends into the interior of the cylindrical structure; the bottom of the deicing device 4 is fixedly connected with the mounting plate 1 through the lifting device 44 .

Before this type of deicing robot works, the operator first opens the first deicing part 41 and the second deicing part 42 in the deicing device 4 of the deicing robot, hangs the deicing robot under the wire, and then puts the wire into Between the first deicing part 41 and the second deicing part 42, close the deicing device 4 and lock the electromagnetic fixing buckle 45 between the first deicing part 41 and the second deicing part 42, and then control the expansion and contraction The device 230 moves, using the driving pulley 22 and the auxiliary pulley 23 to clamp the wire. At this time, the first mounting frame 2 is in the front, and the second mounting frame 3 is in the rear.

When starting the deicing operation, the vibrating device 43 in the deicing device works, driving the ice breaking needle 430 inside the deicing device 4 to continuously hit the ice cubes wrapped on the wire, breaking the ice cubes, and after the ice cubes are broken, they are released from the deicing device 4. The two sides fall; the driving pulley 22 moves forward along the wire under the drive of the travel control motor 220, and gradually completes the removal of snow and ice floes on the wire. During the deicing operation, the components on the first mounting frame 2 and the components on the second mounting frame 3 operate synchronously, and the conditions of the wires to be deiced ahead are respectively observed by the first monitoring device 24 and the second monitoring device 34, And the deicing effect of the wires that have completed the deicing operation at the rear.

When the deicing robot encounters a spacer in front of it during operation, the driving motor 220 stops running, and then the electromagnetic fixing buckle 45 in the deicing device 4 is unlocked, and the first deicing part 41 and the second deicing part 42 are opened. , the wire in the middle is released, and then the deicing device 4 is lowered by the lifting device 44; Release, and lower the driving pulley 22 and auxiliary pulley 23 through the electric telescopic rod of the second mounting frame 3; then rotate the first steering device 21 at the bottom of the first mounting frame 2 to rotate the mounting plate 1 and the second mounting frame 3 to the front of the first mounting bracket 2. At this time, the second mounting frame 3 is in the front, and the first mounting frame 2 is in the rear. Then the deicing device 4 is lifted by the lifting device 44, and the wire is reclosed, the telescopic rod of the second installation frame 3 is raised, and the wire is re-clamped by the driving pulley 22 and the auxiliary pulley 23, and then the first installation frame is adjusted. 2 and the running direction of the driving motor 220 on the second mounting frame 3, so that the deicing robot can move forward and continue to complete the deicing operation. In the follow-up work, the de-icing robot only needs to complete one steering process each time it crosses the spacer bar.

As shown in Figure 2, in the present embodiment, the first steering device 21 includes a rotating gear 210 fixedly connected to the bottom of the first installation frame 2, the rotating gear 210 and the gear of the first steering motor 211 fixedly connected on the mounting plate 1 The first steering motor 211 drives the mounting plate 1 to rotate along the longitudinal axis of the first mounting bracket 2; the structure and function of the second steering device and the first steering device 21 are the same.

Both the driving pulley 22 and the auxiliary pulley 23 are concave pulleys with grooves in the middle, and the bottom surface of the groove of the driving pulley 22 is provided with transverse gear teeth for increasing friction.

The concave pulley can facilitate the clamping of the wire to prevent the deicing robot from falling from the wire; the teeth in the groove of the driving pulley 22 can further increase the contact force between the wire and the driving pulley 22 to avoid slipping during the walking of the deicing robot .

In this embodiment, an opening is provided at the connection port of the first deicing unit 41 and the second deicing unit 42 at the bottom of the deicing device 4 , and an air injection device is provided in the opening, and the airflow direction of the air injection device is upward.

The crushed ice inside the deicing device 4 can be quickly blown off by the air jet device, or the accumulated snow on the wires can be blown off, so as to improve the working efficiency of the deicing device 4 .

Both telescopic device 230 and lifting device 44 are electric telescopic cylinders.

In this embodiment, the deicing robot is driven by the electric power provided by the battery 5, the battery 5 is fixed on the upper surface of the mounting plate 1, a protective cover is arranged above the mounting plate 1, and the surface of the protective cover is provided with a first mounting frame 2 and a second mounting frame. 3 and the opening where the deicing device 4 is exposed.

The protective cover can protect precision electronic components such as the storage battery 5 and the control module in the deicing robot, avoiding the problem of water immersion, thereby improving the safety and stability of the deicing robot.

The deicing robot is controlled by remote control, and the images captured by the first monitoring device 24 and the second monitoring device 34 are transmitted to the control terminal in real time through wireless communication.

In this management mode, the deicing robot can be controlled remotely through the remote control terminal, and the deicing operation process and effect of the robot can be observed and controlled in real time, which is beneficial to improve the deicing effect of the deicing robot.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still understand the foregoing embodiments The technical scheme recorded is modified. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. the deicing of high-voltage wires machine people that one kind can cross split conductor conductor spacer, it is characterised in that: the mounting plate including bottom, Installation board ends are connected with the first mounting rack and the second mounting rack of vertical mounting plate plane, the first mounting rack and the second mounting rack For T-type frame, the vertical bar of the first mounting rack and the second mounting rack is electric telescopic rod, the vertical bar of the first mounting rack and the second mounting rack Bottom passes through the first transfer respectively and the second transfer is rotatably connected with mounting plate；The cross bar of first mounting rack Both ends are respectively equipped with driving pulley and auxiliary pulley, and driving pulley is fixedly connected on the first mounting rack, control motor by traveling Driving；Auxiliary pulley is fixedly connected by telescopic device with the first mounting rack, and telescopic device is for controlling driving pulley and auxiliary Pulley clamps and releases conducting wire；Second mounting rack also be provided with driving pulley identical on the first mounting rack, auxiliary pulley, Traveling controls motor and telescopic device；

The first monitoring device and the second monitoring device, the first monitoring device are also set up on first mounting rack and the second mounting rack Deicing robot front and back is respectively facing with the monitoring visual field of the second monitoring device；

Deicer is equipped between the first mounting rack and the second mounting rack of the mounting plate, deicer includes in semi-circular cylindrical The first deicing portion and the second deicing portion, the connectivity port side of the two is rotatably connected by hinge, and electromagnetism is arranged in the other side Fixed card buckle；First deicing portion and the second deicing portion surface are uniformly arranged multiple through-holes, outside the first deicing portion and the second deicing portion Multiple vibration devices are arranged in side, and the direction of vibration of vibration device is to vibrate up and down along through hole, and vibration device front end is fixedly connected Ice-breaking needle, ice-breaking needle run through the through-hole in the first deicing portion and the second deicing portion surface, extend into inside tubular structure；The deicing Bottom of device is fixedly connected by lifting device with mounting plate.

2. one kind according to claim 1 can cross the deicing of high-voltage wires machine people of split conductor conductor spacer, feature exists In: first transfer include the rotate gear for being fixedly connected on the first mounting rack bottom, rotate gear be fixedly connected The gear of the first steering motor on a mounting board engages, by the first steering motor drive installation plate along the vertical of the first mounting rack It is rotated to axis；Second transfer is identical as the structure and function of the first transfer.

3. one kind according to claim 1 can cross the deicing of high-voltage wires machine people of split conductor conductor spacer, feature exists It is the fluted recessed pulley of Intermediate Gray in: the driving pulley and auxiliary pulley, the trench bottom surfaces setting of driving pulley is used for Increase the lateral gear teeth of friction.

4. one kind according to claim 1 can cross the deicing of high-voltage wires machine people of split conductor conductor spacer, feature exists In: it is equipped with opening at the first deicing portion and the second deicing portion connectivity port of the deicer bottom, is equipped with jet in opening The airflow direction of device, air-jet device is upward.

5. one kind according to claim 1 can cross the deicing of high-voltage wires machine people of split conductor conductor spacer, feature exists In: the telescopic device and lifting device be electric expansion cylinder.

6. one kind according to claim 1 can cross the deicing of high-voltage wires machine people of split conductor conductor spacer, feature exists In: the deicing robot is driven by electricity by what battery provided, and battery is fixed on mounting plate upper surface, mounting plate top Shield is set, and shield surface is equipped with the opening exposed for the first mounting rack, the second mounting rack and deicer.

7. one kind according to claim 1 can cross the deicing of high-voltage wires machine people of split conductor conductor spacer, feature exists In: the deicing robot is controlled by way of remote control, the first monitoring device and the second monitoring device shooting Image is real-time transmitted to manipulation end by wireless communication mode.