CN110690678A

CN110690678A - Robot-based overhead transmission line deicing method

Info

Publication number: CN110690678A
Application number: CN201810740017.9A
Authority: CN
Inventors: 王若冰
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-07-07
Filing date: 2018-07-07
Publication date: 2020-01-14

Abstract

A robot-based overhead transmission line deicing method comprising: the device comprises a device body and a cable, wherein the device body comprises a front deicing device, a walking device, an upper flying device, a hook device, a side flying device and an internal control power supply part, the upper flying device comprises an upper-end large motor and a paddle, the upper-end large motor is fixed on the upper side of the device body, and the paddle is fixed above the upper-end large motor through a crankshaft; the hook device comprises a hook, a hook motor and a connecting rod; the internal control power supply part comprises a power supply, a controller, an infrared transceiver and an acceleration sensor, and is fixed inside the device body. A flying device based on a motor and paddles is added on an original robot, the flying device can be controlled to ascend through remote control, the falling risk can be reduced, the flying device can also be conveniently moved, and a cable at a certain position can be conveniently erected.

Description

Robot-based overhead transmission line deicing method

Technical Field

The invention relates to a robot-based overhead transmission line deicing method, and belongs to the field of design and application of transmission line deicing devices.

Background

The existing robot deicing method has limited device mobility and is not very convenient to use.

Disclosure of Invention

The invention aims to provide a robot-based overhead transmission line deicing method, which is characterized in that a flying device based on a motor and paddles is added on an original robot, so that the flying device can be controlled to ascend through remote control, the falling risk can be reduced, the flying device can be conveniently moved, and a cable at a certain position can be conveniently erected.

The present invention relates to the following:

a robot-based overhead transmission line deicing method comprising: the device comprises a device body 7 and a cable 12, wherein the device body 7 comprises a front deicing device, a walking device, an upper flying device, a hook device, a side flying device and an internal control power supply part, the front deicing device is fixed at the front end of the device body 7 and comprises a front deicing motor 17 and a blade, and the blade is fixed at the front end of the front deicing motor 17; the walking device is fixed at the bottom of the device body 7 and comprises a pulley 13, a walking motor 10 and a pit 5, the walking motor 10 is connected with the pulley 13 through a machine shaft 11, and the pit 5 is arranged in the middle of the pulley 13; the upper flying device comprises an upper-end large motor 15 and a blade, the upper-end large motor 15 is fixed on the upper side of the device body 7, and the blade is fixed above the upper-end large motor 15 through a crankshaft; the hook device comprises a hook 6, a hook motor 4 and a connecting rod 3, the connecting rod 3 is fixed on the lower side of the rear end of the device body 7, and the connecting rod 3 is connected with the hook 6 through the hook motor 4; the device body 7 is clamped on the cable 12 through the recess 5 on the pulley 13 and is hooked on the cable 12 through the hook 6 to be fixed on the cable 12 in a sliding manner; the side flying device comprises a side flying motor 16 and blades 2, the side flying motor 16 is fixed on the two sides and the rear side of the device body 7, and the blades 2 are fixed on the outer side of the side flying motor 16 through a crankshaft; the internal control power supply part comprises a power supply and controller 8, an infrared transceiver 9 and an acceleration sensor 14, and the internal control power supply part is fixed inside the device body 7; in addition, an antenna 1 is fixed to a side surface of the apparatus body 7.

The robot-based overhead transmission line deicing method as described above, wherein the connecting rod 3 is inclined downward, and the hook 6 is fixed to the lower end of the connecting rod 3 by the hook motor 4.

The robot-based overhead transmission line deicing method is characterized in that the antenna 1 is connected with an infrared transceiver 9, the infrared transceiver 9 and the acceleration sensor 14 are connected with the input end of a controller 8, and the output end of the controller 8 is connected with an upper large motor 15, a hook motor 4, a walking motor 10, a side flying motor 16 and a front deicing motor 17.

Compared with the prior art, the method has the following advantages:

1. according to the robot-based overhead transmission line deicing method, the upward flight function is added, so that the robot-based overhead transmission line deicing method can be lifted when falling, and the falling danger is reduced.

2. The robot-based overhead transmission line deicing method is further provided with a hook motor, the hook is controlled to rotate away in the using process, the large motors on the two sides and the upper end are controlled to drive the blades to rotate alternately, the whole robot is controlled to move, and operation is carried out on different lines needing deicing.

3. The robot-based overhead transmission line deicing method is further provided with an acceleration sensor, downward acceleration can be sensed, a self-induction automatic control function is added to the controller, the sensor falling information can be received after the information set by the transceiver is received, and the upper-end large motor is controlled to be turned on.

Drawings

Fig. 1 is a schematic diagram of a robot-based overhead transmission line deicing method.

Fig. 2 is a top view of a robot-based overhead transmission line deicing method.

Fig. 3 is a main circuit diagram of a robot-based overhead transmission line deicing method.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present application more clear and obvious, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In fig. 1 and 2, 1-antenna, 2-blade, 3-connecting rod, 4-hook motor, 5-recess, 6-hook, 7-device body, 8-controller, 9-infrared transceiver, 10-walking motor, 11-crankshaft, 12-cable, 13-pulley, 14-acceleration sensor, 15-big upper motor, 16-side flying motor, and 17-front deicing motor.

As shown in fig. 1, 2 and 3, a robot-based overhead transmission line deicing method comprises an apparatus body 7 and a cable 12, wherein the apparatus body 7 comprises a front deicing device, a walking device, an upper flying device, a hook device, a side flying device and an internal control power supply part, the front deicing device is fixed at the front end of the apparatus body 7 and comprises a front deicing motor 17 and a blade, and the blade is fixed at the front end of the front deicing motor 17; the walking device is fixed at the bottom of the device body 7 and comprises a pulley 13, a walking motor 10 and a pit 5, the walking motor 10 is connected with the pulley 13 through a machine shaft 11, and the pit 5 is arranged in the middle of the pulley 13; the upper flying device comprises an upper-end large motor 15 and a blade, the upper-end large motor 15 is fixed on the upper side of the device body 7, and the blade is fixed above the upper-end large motor 15 through a crankshaft; the hook device comprises a hook 6, a hook motor 4 and a connecting rod 3, the connecting rod 3 is fixed on the lower side of the rear end of the device body 7, and the connecting rod 3 is connected with the hook 6 through the hook motor 4; the device body 7 is clamped on the cable 12 through the recess 5 on the pulley 13 and is hooked on the cable 12 through the hook 6 to be fixed on the cable 12 in a sliding manner; the side flying device comprises a side flying motor 16 and blades 2, the side flying motor 16 is fixed on the two sides and the rear side of the device body 7, and the blades 2 are fixed on the outer side of the side flying motor 16 through a crankshaft; the internal control power supply part comprises a power supply and controller 8, an infrared transceiver 9 and an acceleration sensor 14, and the internal control power supply part is fixed inside the device body 7; in addition, an antenna 1 is fixed to a side surface of the apparatus body 7.

Further, the connecting rod 3 is inclined downwards, and the hook 6 is fixed at the lower end of the connecting rod 3 through the hook motor 4.

Specifically, antenna 1 is connected with infrared transceiver 9, infrared transceiver 9 and acceleration sensor 14 are connected with controller 8 input, controller 8 output is connected with big motor 15 in upper end, couple motor 4, walking motor 10, side flight motor 16 and positive deicing motor 17.

The working process of the application is as follows:

a robot-based overhead transmission line deicing method comprises the steps that when the robot-based overhead transmission line deicing method works, a pulley 13 of a device body 7 is clamped on a cable 12 through a middle recess 5, meanwhile, a hook 6 is hooked on the cable, then an infrared control command is transmitted to the device body 7 through remote control equipment, after an antenna 1 converts signals, an infrared transceiver 9 receives the infrared control command signals, a controller 8 obtains the command and then controls a motor 10 to drive the pulley 13 to move and walk on the cable 12, and a blade is driven to rotate to break ice through a front deicing motor 17; after the acceleration sensor 14 senses the downward accelerated falling information of the device body 7, the controller 8 obtains signals to control the upper-end large motor 15 to rotate and ascend, falling is prevented, self-induction automatic control is achieved, and the response is sensitive and does not need real-time manual operation; when the remote control device is used, a user can also transmit an instruction to the infrared transceiver 9 through the remote control device, the infrared transceiver 9 informs the controller 8, the controller 8 controls the lateral flying motor 16 on two sides and the rear side and the upper large motor 15 to drive the blades 2 to rotate alternately, meanwhile, the controller 8 controls the hook motor 4 to rotate to unscrew the hook 6, the hook 6 loosens the cable 12, the whole body can fly and turn, and the recess 5 of the lower end pulley 13 falls on different cables, so that the convenient movement is realized.

The foregoing is illustrative of one or more embodiments provided in connection with the detailed description and is not intended to limit the disclosure to the particular forms disclosed. Similar or identical methods, structures, etc. as used herein, or several technical derivations or substitutions made on the basis of the conception of the present application, should be considered as the protection scope of the present application.

Claims

1. A robot-based overhead transmission line deicing method comprising: the device comprises a device body and a cable, wherein the device body comprises a front deicing device, a walking device, an upper flying device, a hook device, a side flying device and an internal control power supply part, the front deicing device is fixed at the front end of the device body, the front deicing device comprises a front deicing motor and a blade, and the blade is fixed at the front end of the front deicing motor; running gear fixes in device body bottom, running gear includes pulley and walking motor and sunken, the walking motor passes through the spindle and is connected with the pulley, be provided with sunken, its characterized in that in the middle of the pulley: the upper flying device comprises an upper-end large motor and a paddle, the upper-end large motor is fixed on the upper side of the device body, and the paddle is fixed above the upper-end large motor through a crankshaft; the hook device comprises a hook, a hook motor and a connecting rod, the connecting rod is fixed on the lower side of the rear end of the device body, and the connecting rod is connected with the hook through the hook motor; the device body is clamped on the cable through the recess on the pulley and is fixed on the cable in a sliding manner through the hook; the side flying device comprises a side flying motor and blades, the side flying motor is fixed on two sides and the rear side of the device body, and the blades are fixed on the outer side of the side flying motor through a crankshaft; the internal control power supply part comprises a power supply, a controller, an infrared transceiver and an acceleration sensor, and is fixed in the device body; in addition, an antenna is fixed on the side surface of the device body.

2. A robot-based overhead transmission line deicing method according to claim 1, characterized in that: the connecting rod is the slant decurrent, the couple passes through the couple motor to be fixed at the connecting rod lower extreme.

3. A robot-based overhead transmission line deicing method according to claim 1, characterized in that: the antenna is connected with the infrared transceiver, the infrared transceiver and the acceleration sensor are connected with the input end of the controller, and the output end of the controller is connected with the upper-end large motor, the hook motor, the walking motor, the side flying motor and the front deicing motor.