CN112670934A - Deicing robot for power transmission line - Google Patents
Deicing robot for power transmission line Download PDFInfo
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- CN112670934A CN112670934A CN202011555085.1A CN202011555085A CN112670934A CN 112670934 A CN112670934 A CN 112670934A CN 202011555085 A CN202011555085 A CN 202011555085A CN 112670934 A CN112670934 A CN 112670934A
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Abstract
The invention designs a deicing robot for a power transmission line, which comprises a front-end gripper, a telescopic arm, a deicing device, front and rear guide wheels, a robot bracket, a control device and a battery pack, wherein a front arm of the telescopic arm is connected with the front-end gripper through a guide bar and a bolt, a rear arm is connected onto the robot bracket through a bolt, the front and rear guide wheels are arranged at the front and rear ends of the robot bracket, and the deicing device, the control device and the battery pack are connected onto the robot bracket. The control device comprises an ultrasonic distance measuring module, a GPRS wireless communication module, a single chip microcomputer controller, a motor driving module and a power adapter. The deicing device comprises a rolling guide bar group, a transmission gear group and a power motor. The deicing robot can be remotely controlled to start, and can roll back and forth on a line through the cooperation of the front-end gripper, the telescopic arm and the deicing device after the robot is started, so that the deicing is realized through the extrusion and rolling action of the rolling guide bar group in the deicing device. The invention can remotely control deicing, has high deicing efficiency and little damage to the line.
Description
Technical Field
The invention relates to the technical field of line deicing, in particular to a deicing robot for a power transmission line.
Background
After the transmission line is iced, the bearing of the line is increased, and the problems of galloping of the transmission line, inclination and collapse of a tower, line breakage and the like can occur. In China, serious ice and snow disasters, such as the severe snow disaster in 2008, affect half of China, and the ice coating of a high-voltage transmission line is serious, so that the transmission line is broken, a tower collapses, and the high-voltage transmission line is damaged in a large area.
The existing deicing technologies mainly comprise direct current deicing, unmanned aerial vehicle deicing, robot deicing and artificial mechanical deicing. The direct-current ice melting technology needs to provide a direct-current power supply, and the purpose of ice melting is achieved through heating of a line. However, the direct-current deicing needs to consume a large amount of cost, the line is damaged due to heating, and in addition, if the direct-current deicing is carried out in a transformer substation, the whole section of the line between the added direct-current power supplies can be deiced, and no pertinence exists. The deicing of the unmanned aerial vehicle consumes a large amount of energy due to the self flying, so the deicing efficiency is not high. The manual deicing consumes a large amount of manpower, has low deicing efficiency and has certain danger. With the popularization of robot design and application, a power transmission line deicing robot appears. However, the existing deicing robot for the power transmission line is not widely used, and mainly due to the fact that the existing robot design has the problems of high robot cost, poor economy, unsatisfactory deicing effect, poor cruising ability and low deicing efficiency.
Disclosure of Invention
The invention provides a power transmission line deicing robot which can realize remote automatic deicing by matching with an observation station of a power transmission line and has a good deicing effect.
In order to achieve the purpose, the invention provides the following technical scheme: a power transmission line deicing robot comprises a front end gripper, a telescopic arm, a deicing device, a front guide wheel, a rear guide wheel, a robot support, a control device and a battery pack. The front end gripper is connected with a front arm of a telescopic arm through a bolt and a stainless steel guide bar, the telescopic arm is divided into a front arm and a rear arm, the front arm and the rear arm are respectively formed by connecting two hollowed-out cuboid stainless steel guide bars with certain thickness, the front arm and the rear arm are connected through a cylindrical shaft and a nut, the other end of the rear arm of the telescopic arm is connected to two ends of a bottom end support of a robot support through a bolt, the front arm and the rear arm can rotate around the connection point of the front arm and the rear arm, the telescopic arm is further provided with a transmission guide cable and a connection ring, two ends of the transmission guide cable are respectively provided with a buckle and can be fixed on the connection ring of the outer surface of the telescopic arm, the front arm and the rear arm of the telescopic arm are respectively provided with three connection rings, one end of the front transmission guide cable is fixedly connected to the upper side of the outer surface of the front arm through the buckle, the other end of the front transmission guide cable is respectively connected with corresponding positioning rings on transmission rollers on transmission motors, the upper surface of the rear arm is fixedly connected with a rear transmission guide cable, the rear transmission guide cable bypasses a rear transmission guide wheel led out outwards from the front guide wheel and is respectively connected with corresponding positioning rings on transmission rollers on transmission motors on two sides of a bottom bracket of the robot bracket, and the telescopic arm can be retracted forwards through forward rotation and backward rotation of the transmission motors. The robot support is a U-shaped structure which is fixedly connected by three stainless steel hollow guide bars with certain thickness (the specific thickness is determined according to the diameter of a line needing deicing and the bearing capacity of the line is fully considered) through bolts, the front end and the rear end of the U-shaped structure are respectively fixedly connected with a front guide wheel and a rear guide wheel through two stainless steel guide bars, the front guide wheel and the rear guide wheel are positioned right above the central line of the U-shaped structure, a cylindrical support rod led out to the outside is fixedly welded on the front guide wheel, the cylindrical supporting rod is fixedly connected with a rear transmission guide wheel, the cylindrical supporting rod is connected to the two ends of the bottom end bracket of the robot bracket through a front side connecting strut, the rear guide wheel is connected to the left side support and the right side support through the rear side connecting support, the whole deicing robot is hung on an electric wire through the front guide wheel and the rear guide wheel, the robot is prevented from sliding, and meanwhile the deicing robot can conveniently slide on a circuit. The robot support and the telescopic arm are hollow shells and are communicated internally, the circuits are prevented from being exposed outdoors, a battery box is welded on the left side support and the right side support of the robot support respectively, a rechargeable storage battery pack is placed inside the battery box, the deicing device comprises a deicing motor and a mechanical deicing assembly, the deicing motor is fixedly connected to the upper surface of the middle position of the bottom end support of the robot support through bolts, the mechanical deicing assembly is connected to the deicing motor, and the control device is located in a control device box of the lower surface of the middle position of the bottom end support.
Particularly, the front-end gripper comprises a power motor, the power motor is fixed on a connecting guide bar of the front arm through a bolt, a transmission threaded rod is fixedly connected to the power motor, two gears are meshed with the transmission threaded rod and located on two sides of the threaded rod, the two gears are connected through the bolt and the guide bar to form a transmission gear set, the upper surface and the lower surface of each gear, which are parallel to each other, are respectively welded with a transmission guide bar, and the other end of each transmission guide bar is connected with a transmission connecting plate through a bolt and a nut.
Particularly, the transmission guide bar and the transmission connecting plate can rotate within a certain angle range by taking the transmission joint as an axis, the tail part of the transmission connecting plate is provided with a corner limiting device, a cylindrical telescopic rod is connected between the corner limiting device and the transmission guide bar and consists of a cylinder and a cylinder which are nested together, an inner cylinder is fixedly welded on the transmission guide bar, an outer cylinder is fixedly welded on the corner limiting device, relative motion can be generated between the inner cylinder and the outer cylinder, the outer cylinder is provided with sawtooth-shaped depressions which are symmetrical relative to a symmetrical plane of the cylinder, which passes through the center of the cylinder and is parallel to a bus, the upper surface of each sawtooth-shaped depression is provided with a square groove, the square grooves are used for placing positioning operation rods, the front positioning shaft and the rear positioning shaft pass through circular holes at the two ends of the positioning operation rods and are fixed at the two ends of the front positioning shaft, the rotating angle range of relative rotation of the transmission connecting plate and the transmission guide bar can be controlled.
Particularly, extrusion plates are welded between the transmission connecting plates on the upper side and the lower side, and the cross sections of the extrusion plates are hexagons formed by trapezoids and rectangles. When the power motor drives the transmission threaded rod to rotate, the extrusion plates on the two sides move inwards and clamp the circuit.
Particularly, mechanical deicing subassembly includes the deicing threaded rod, deicing threaded rod fixed connection is on deicing motor, and the deicing gear train interlock is on the deicing threaded rod, and the transmission conducting bar passes through screw and nut fixed connection on the deicing gear train, and the other end of transmission conducting bar passes through bolt and nut and is connected with the deicing connecting plate, deicing connecting plate and transmission conducting bar use its joint as the axle, can be in certain angle within range internal rotation, the afterbody of deicing connecting plate is equipped with corner limiting device, be connected with cylindrical telescopic link between corner limiting device and the transmission conducting bar, through the position of the location control rod of adjusting on the cylindrical telescopic link, steerable deicing connecting plate and transmission conducting bar take place relative pivoted corner scope. The deicing robot is characterized in that a rolling guide bar group is connected between the deicing connecting plates on the upper side and the lower side, the rolling guide bar group is composed of rolling guide bar rods with gear-shaped sections, connecting cylinders are arranged at two ends of each rolling guide bar rod, threads are arranged on the connecting cylinders, the connecting cylinders at two ends of each rolling guide bar rod penetrate through cylindrical gaps in the deicing connecting plates and are connected through nuts, when the deicing robot moves, the rolling guide bar group appropriately compresses a circuit by controlling the rotating angle of a power motor, and crushed ice on the circuit is removed through the rotating action of the rolling guide bar group in the moving process.
Particularly, the control device comprises a control circuit board which is positioned in a control device box, a single chip microcomputer controller, a GPRS wireless communication module, a power adapter, a deicing motor driving module, a motor driving module of a transmission motor, a motor driving module of a power motor and an ultrasonic distance measuring module are welded on the control circuit board, a TCP/IP protocol is arranged in the GPRS wireless communication module and is connected with the single chip microcomputer controller, one end of the power adapter is connected with a storage battery pack on one side, the other end of the power adapter is connected with the single chip microcomputer controller, the storage battery pack is also connected with a power input end of the transmission motor driving module, an input signal end of the transmission motor driving module, a signal input end of the deicing motor driving module and a signal input end of the motor driving module of the power motor are connected with the single chip microcomputer controller, and an output signal end of the transmission motor driving module is simultaneously connected with the transmission, the robot comprises a control device box, a storage battery pack, a deicing motor driving module, a power motor, an ultrasonic distance measuring module, a single-chip microcomputer controller and a storage battery pack, wherein the power input end of the deicing motor driving module and the power input end of the motor driving module of the power motor are connected with the storage battery pack on the other side, the signal output end of the deicing motor driving module is connected with the deicing motor, the signal output end of the power motor driving module is connected with the power motor, the ultrasonic distance measuring module is connected with the single-chip microcomputer controller, two circular holes are formed in the front side of the control device box and used for transmitting and receiving ultrasonic signals, and the.
The invention has low development cost and certain economical efficiency. The robot can be controlled to start only by sending a starting signal remotely, the robot automatically removes ice after starting, rolls one round trip on the line, removes ice twice, has good ice removing effect, and can prevent the rolling guide bar group and the extrusion plate from damaging the line by accurately controlling the rotating angle of the stepping motor in ice removing control. After the deicing effect is finished, the deicing robot automatically switches to a power-saving mode by remotely sending a stop signal, so that the energy consumption can be reduced.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the power transmission line deicing robot.
Fig. 2 is a bottom view of the present invention.
Fig. 3 is a schematic structural view of a front-end grip portion of the present invention.
Fig. 4 is a schematic structural view of a part of the deicing apparatus of the present invention.
Fig. 5 is a schematic structural view of the cylindrical telescopic rod of the present invention.
Fig. 6 is a schematic structural view of the cylindrical drum of the present invention.
FIG. 7 is a schematic circuit diagram of the present invention
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
According to the general time law of ice coating of the line in the past year, the charged deicing robot for the power transmission line is hung to one end of the line through a front guide wheel 4 and a rear guide wheel 5 in advance. Then the robot is started and reset first. In the reset mode, the power motor 30 is rotated in the forward direction (the direction of the thread of the threaded rod is the forward direction) and operated at the maximum rotation angle position, the deicing motor 27 is rotated in the reverse direction, andoperating at the minimum rotation angle position. The maximum rotation angle positions of the deicing motor 27 and the power motor 30 are determined according to the diameter of the line. When the distance x between the square extrusion plates 35 on both sides of the circuit1The difference y in distance from the diameter d of the line1(y1＝d-x1) When the distance difference Y is expected (Y is 2mm, if the material of the outer surface of the line is very easy to deform under the action of external force, Y can be increased properly), at this time, the power motor 30 is mechanically reset (even if the maximum rotation angle position of the power motor 30 in the program corresponds to the actual maximum rotation angle position of the transmission gear set 33 of the power motor 30). Similarly, the distance x between the rolling bar groups 48 on both sides of the line2The difference y in distance from the diameter d of the line2(y2＝d-x2) When the desired distance difference Y is reached, the de-icing motor 27 is now in the maximum rotation angle position. The position of the positioning lever 65 of the telescopic cylindrical rod 39 or 47 is determined by the relative position of the drive bar 34 or 43 and the drive link plate 36 or the deicing link plate 44 in the maximum rotation angle position (it is necessary to ensure that the drive link plate 36 and the deicing link plate 44 are parallel to the line). Then, the lead s of the transmission threaded rod 32 and the transmission threaded rod 40, the lead L of the transmission gear 33 or the transmission gear 42, through the maximum rotation angle θ (radian system) set for the deicing motor 27 and the power motor 30 in the single chip microcomputer program, are represented by the formula:
where α is the maximum rotation angle of the gear. Taking the maximum position of the deicing motor 27 as a reference, the transmission gear set 42 rotates reversely by an angle α, which is the minimum rotation angle position, and mechanically resets the transmission gear set 42 of the deicing motor 27 (i.e., the minimum rotation angle position of the deicing motor 27 in the single chip microcomputer program corresponds to the actual minimum rotation angle position of the transmission gear set 42). During the return, the drive motors 14 and 15 are in the position of maximum rotation angle β, while the front arm 9 and the rear arm 10 are both in the retracted state, while the rear drive cable 18 is passing from its positioning point on the rear arm 10 to the drive drum 16 or drive cableThe distance h of the transmission guide rope of the movable drum 171At the longest, the rear transmission guide cable 18 is fixed at the corresponding balance connection position of the positioning ring 62 of the transmission drum 16 or the transmission roller 17 (i.e. at the balance connection position, the transmission motors 14 and 15 rotate forwards or reversely, the rear transmission guide cable 18 tends to be wound on the transmission drum 16 or the transmission drum 17), and the front transmission guide cable 12 is located at the distance h from the fixed point of the front arm 9 to the transmission drum 16 or the transmission drum 172Shortest, the arc distance S around the circumference of the section from the position of the front drive cable 12 on the positioning ring 61 of the drive drum to the equilibrium position of the rear drive cable 18 on the positioning ring 62 is:
S＝πDβ (2)
where D is the diameter of the driving drum 16 or 17, the telescopic arm 2 is extended forward when the driving motor 30 is set to rotate counterclockwise, and thus the connection position of the front driving cable 12 on the positioning ring 61 can be determined.
Further, after the resetting is completed, the telescopic arm 2 is in a contracted state, the rolling guide bar group 48 of the deicing device 3 is in a released state, and the square extrusion clamping plate 35 of the front-end gripper 1 clamps the line to prevent the robot from sliding. At this time, the single chip controller 52 is first switched to the power saving mode to save power.
When the observation station observes the ice coating of the line, the communication terminal sends a remote signal, and the power transmission line robot receives the signal through the GPRS wireless communication module 53 and starts to start.
After the robot is started, in a forward mode, the single-chip microcomputer controller 52 controls the deicing motor 27 to work, so that the deicing motor 27 rotates forwards (the direction of the thread of the threaded rod is taken as the positive direction), the angle of the forward rotation is the maximum rotation angle theta, and the rolling guide bar group 48 in the deicing assembly 28 clamps the line, and the state is called as the clamping state of the rolling guide bar group 48, the deicing motor 27 adopts a stepping motor, and the maximum rotation angle of the rolling guide bar group 48 is designed according to the diameter of the power transmission line, so that the rolling guide bar group 48 clamps the line, but the line cannot be damaged. The power motor 30 of the front gripper 1 is controlled to rotate reversely (in a threaded manner) by the singlechip controller 52The screw direction of the rod is a positive direction), the reverse rotation angle is a maximum rotation angle θ, and the rotation of the transmission threaded rod 32 drives the transmission gear set 33 to rotate, so that the square pressing plates 35 on both sides of the line are away from the line, which is referred to as a relaxed state of the square pressing plates 35. Then the two transmission motors 14 and 15 are controlled to synchronously rotate anticlockwise, at the moment, the telescopic arm 2 extends forwards, the transmission motors 14 and 15 are controlled to rotate by an angle beta through the single chip microcomputer controller 52, the distance that the telescopic arm 2 extends forwards is controlled by changing the positions of the front transmission guide rope 12 and the rear transmission guide rope 18 which are connected on the telescopic arm 2 through the positioning ring 13, and the distance that the telescopic arm 2 extends forwards is slightly smaller than the length of the rolling guide strip group 48 along the line. After the arm is extended forwards, the power motor 30 of the front-end gripper 1 is controlled to rotate forwards through the single chip microcomputer controller 52, so that the square extrusion plates 35 on the two sides of the line are in a clamping state, and then the deicing motor 27 is controlled to slightly rotate for a certain omega angle towards the direction opposite to the thread direction of the transmission threaded rod 40 (after the deicing motor 27 rotates backwards for omega, x is the angle of rotation of the power motor 27)2D), the route is slightly loosened by the rolling bar group 48, and the state of the rolling bar group 48 at this time is referred to as a deicing state. The telescopic arm 2 is contracted by controlling the clockwise rotation of the transmission motors 14 and 15, the front end gripper 1 clamps the line, the robot support 6 rolls forwards under a forward traction force in the contraction process of the telescopic arm 2, the rolling guide bar group 48 rolls in the advancing process, covered ice on the line is crushed due to the previous extrusion effect, and the deicing effect can be achieved under the rolling effect of the rolling guide bar group 48. The power transmission line deicing robot reciprocates in such a way, and walks forwards step by step. The emitter of the ultrasonic ranging module 58 is aligned to a tower of a line, the singlechip controller 52 calculates the distance between the tower and the transmitter through reflected ultrasonic waves, and when the distance is smaller than a set safe distance (the safe distance is larger than the length of a telescopic arm of the robot and a margin of 30-50cm is reserved), the deicing robot starts to work in a reverse mode.
Further, in the reverse mode, the single chip microcomputer controller 52 firstly controls the power motor 30 of the front-end gripper 1 to rotate forward, so that the square extrusion plates 35 on the two sides of the circuit clamp the circuit. Then the single chip controller 52 controls the deicing motor 27 to rotate forward, so that the rolling guide bar group 48 clamps the line and crushes ice through the extrusion action. Then, the deicing motor 27 is controlled to rotate reversely by a small angle ω, and the rolling guide bar group 48 still has a squeezing effect on the line. The two transmission motors 14 and 15 are controlled 52 by the singlechip controller to rotate anticlockwise, the arm is extended forwards, and the deicing robot is dragged to back by a backward force from the telescopic arm 2 because the front-end gripper 1 grips the line, and the line is deiced again by the rolling action of the rolling guide bar group 48 in the process of backing. The deicing robot moves back and forth step by reciprocating.
When the distance information measured by the single chip microcomputer controller 52 through the ultrasonic ranging module 58 is consistent with the distance information of the initial position, the single chip microcomputer controller 52 controls the deicing motor 27 to rotate forwards, so that the rolling guide bar group 48 clamps the circuit inwards, then controls the power motor 30 of the front-end gripper 1 to rotate backwards, so that the square extrusion plate 35 loosens the circuit outwards, controls the transmission motors 14 and 15 to rotate clockwise, so that the telescopic arm 2 contracts, and finally controls the power motor 30 of the front-end gripper 1 to rotate forwards, so that the power motor clamps the circuit. After the series of actions are completed, the single chip microcomputer controller 52 feeds back a request signal of a power saving mode to the remote observation station terminal through the GPRS wireless communication module 53, if an observer of the remote observation station terminal sends a start signal, the deicing robot continues to work, and if a stop signal is sent, the deicing robot changes to work in the power saving mode.
Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the present invention is not limited thereto. Various alterations and modifications of the embodiments of the present invention may be made by those skilled in the art without departing from the core technical gist of the present invention, and such alterations and modifications are intended to be within the scope of the present invention.
Claims (5)
1. The utility model provides a transmission line's deicing robot, includes that the front end grabs 1, flexible arm 2, defroster 3, leading wheel 4, back guide pulley 5, robot support 6, controlling means 7 and battery pack 8, its characterized in that: the front-end gripper 1 is connected with a front arm 9 of a telescopic arm 2 through a bolt and a guide bar, the telescopic arm 2 is divided into a front arm 9 and a rear arm 10, the front arm 9 and the rear arm 10 are respectively formed by connecting two hollow cuboid stainless steel guide bars with certain thickness with the bolt, the front arm 9 and the rear arm 10 are connected through a cylindrical shaft and a nut, the front arm 9 is positioned at the inner side (the side close to a circuit) relative to the rear arm 10, the other end of the rear arm 10 of the telescopic arm 2 is connected to two ends of a bottom end support 11 of a robot support 6 through the bolt, a front transmission guide lock 12 is arranged on the front arm 9, two ends of a front transmission guide cable 12 and a rear transmission guide cable 18 are respectively provided with a buckle, the upper sides of the outer surfaces of the front arm 9 and the rear arm 10 are respectively provided with three positioning circular rings 13, one end of the front transmission guide cable 12 is fixedly connected to a connecting circular ring 13 at the upper, the other end of the front transmission guide cable 12 is respectively connected with positioning rings 61 on transmission rollers 16 and 17 on transmission motors 14 and 15 at two sides of a bottom end bracket 11 of the robot bracket 6, the upper surface of the rear arm 10 is fixedly connected with a rear transmission guide cable 18 through a connecting ring 13, and the rear transmission guide cable 18 is respectively connected with positioning rings 62 on the transmission rollers 16 and 17 on the transmission motors 14 and 15 at two sides of the bottom end bracket 11 of the robot bracket 6 by winding a rear transmission guide wheel 19 led out outwards on a front guide wheel 4; the robot support 6 is a U-shaped structure fixedly connected by three stainless steel hollow guide bars with certain thickness (the specific thickness is determined according to the diameter of a line needing deicing, and the bearing capacity of the line is fully considered), the front end and the rear end of the U-shaped structure are fixedly connected with a front guide wheel 4 and a rear guide wheel 5 through bolts, the front guide wheel 4 and the rear guide wheel 5 are positioned right above the central line of the U-shaped structure, a cylindrical support rod 20 led outwards is fixedly welded on the front guide wheel 4, the cylindrical support rod 20 is led out and fixedly connected with a rear transmission guide wheel 19, the cylindrical support rod 20 is connected to two ends of a bottom end support 11 of the robot support 6 through a front side connecting support 41, and the rear guide wheel 5 is connected to a left side support 21 and a right side support 22 through a rear side connecting support 59; the robot support 6 and the telescopic arm 2 are hollow shells and are communicated with each other, the battery boxes 23 and 24 are welded on the left support 21 and the right support 22 of the robot support 6, the rechargeable battery packs 25 and 26 are placed in the battery boxes 23 and 24, the deicing device 3 comprises a deicing motor 27 and a mechanical deicing assembly 28, the deicing motor 27 is fixedly connected to the upper surface of the middle position of the bottom support 11 of the robot support 6 through bolts, the mechanical deicing assembly 28 is connected to the deicing motor 27, and the control device 7 is located in a control device box 29 of the lower surface of the middle position of the bottom support 11.
2. The deicing robot for electric transmission lines according to claim 1, characterized in that: the front end gripper 1 comprises a power motor 30, the power motor 30 is fixed on a connecting guide bar 31 of the front arm through a bolt, a transmission threaded rod 32 is fixedly connected on the power motor 30, two gears are meshed with the transmission threaded rod 32, and are positioned at both sides of the threaded rod, and are connected by bolts and guide bars to form a transmission gear set 33, and a transmission guide bar 34 is welded on the upper surface and the lower surface of each gear which are parallel to each other, the other end of the transmission guide bar 34 is connected with a transmission connecting plate 36 through a bolt and a nut, and the driving guide bar 34 and the driving connection plate 36 can rotate within a certain angle range by taking the driving joint 37 as an axis, the tail of the transmission connecting plate 36 is provided with a corner limiting device 38, a cylindrical telescopic rod 39 is connected between the corner limiting device 38 and the transmission guide bar, the extrusion plates 35 are welded between the transmission connecting plates 36 on the upper side and the lower side, and the cross sections of the extrusion plates 35 are hexagons formed by trapezoids and rectangles.
3. The deicing robot for the power transmission line according to claim 1, characterized in that: the cylindrical telescopic rod 39 or 47 is composed of an outer cylinder 64 and an inner cylinder 63 which are nested together, the inner cylinder 63 is fixedly welded on the transmission guide bar 34 or 43, the outer cylinder 64 is fixedly welded on the corner limiting device 38 or 46, the inner cylinder 63 and the outer cylinder 64 can move relatively, the outer cylinder 64 is provided with saw-tooth recesses 67 which are symmetrical relative to a symmetrical plane of the cylinder passing through the center of the cylinder and parallel to the bus, the upper surface of each saw-tooth recess 67 is provided with a square groove 66, the square grooves 66 are used for placing positioning operation rods 65, the front and rear positioning shafts 68 penetrate through circular holes at two ends of the positioning operation rods and are fixed at two ends of the front and rear positioning shafts 68 through nuts, and the rotation of the transmission connecting plate 36 or the deicing connecting plate 44 and the transmission guide bar 34 or the transmission guide bar 43 can be controlled by adjusting the position of the positioning operation rods 65 on the cylindrical telescopic rod 39 or 47 Angular range.
4. The deicing robot for the power transmission line according to claim 1, characterized in that: the mechanical deicing assembly 28 comprises a deicing threaded rod 40, the deicing threaded rod 40 is fixedly connected to a deicing motor 27, a deicing gear set 42 is meshed with the deicing threaded rod 40, a transmission guide bar 43 is fixedly connected to the deicing gear set 42 through screws and nuts, the other end of the transmission guide bar 43 is connected with a deicing connecting plate 44 through a plug pin and a nut, the deicing connecting plate 44 and the transmission guide bar 43 can rotate within a certain angle range by taking a connecting joint 45 thereof as an axis, a corner limiting device 46 is arranged at the tail part of the deicing connecting plate 44, a cylindrical telescopic rod 47 is connected between the corner limiting device 46 and the transmission guide bar 43, rolling guide bar groups 48 are connected between the deicing connecting plates 44 at the upper side and the lower side, each rolling guide bar group 48 is composed of a rolling guide bar 49 with a gear-shaped cross section, and connecting cylinders 50 are arranged at two ends of the rolling guide bar 49, the connecting cylinders 50 are provided with threads, and the connecting cylinders 50 at the two ends of the rolling guide bar 49 penetrate through the cylindrical gaps on the deicing connecting plate 44 and are connected by nuts.
5. The deicing robot for electric transmission lines according to claim 1, characterized in that: the control device 7 comprises a control circuit board 51 positioned in a control device box 29, a single chip microcomputer controller 52, a GPRS wireless communication module 53, a power adapter 54, a deicing motor drive module 55, a motor drive module 56 of a transmission motor 14 and a transmission motor 15, a motor drive module 57 of a power motor 30 and an ultrasonic distance measurement module 58 are welded on the control circuit board, a TCP/IP protocol is arranged in the GPRS wireless communication module 53 and is connected with the single chip microcomputer controller 52, one end of the power adapter 54 is connected with a storage battery pack 25, the other end of the power adapter is connected with the single chip microcomputer controller 52, the storage battery pack 25 is also connected with a power input end of the motor drive module 56 at the same time, an input signal end of the motor drive module 56, a signal input end of the deicing motor drive module 55 and a signal input end of the motor drive module 57 of the power motor 30 are connected with the single chip microcomputer controller 52, the output signal end of the motor driving module 56 is connected with the transmission motor 14 and the transmission motor 15 at the same time, the power input end of the deicing motor driving module 55 and the power input end of the motor driving module 57 of the power motor 30 are connected with the storage battery pack 26, the signal output end of the deicing motor driving module 55 is connected with the deicing motor 27, the signal output end of the motor driving module 57 is connected with the power motor 30, the ultrasonic distance measuring module 58 is connected with the single chip microcomputer controller 52, two circular holes 60 are formed in the front side of the control device box 29 and used for transmitting and receiving ultrasonic signals, and all circuits for electrical connection are arranged inside the telescopic arm 2 and the robot support 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011555085.1A CN112670934A (en) | 2020-12-23 | 2020-12-23 | Deicing robot for power transmission line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011555085.1A CN112670934A (en) | 2020-12-23 | 2020-12-23 | Deicing robot for power transmission line |
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| CN112670934A true CN112670934A (en) | 2021-04-16 |
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| CN202011555085.1A Pending CN112670934A (en) | 2020-12-23 | 2020-12-23 | Deicing robot for power transmission line |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113036701A (en) * | 2021-05-08 | 2021-06-25 | 高强 | Anti-skidding automatic advancing device for deicing of electric power engineering cable |
| CN113629640A (en) * | 2021-07-19 | 2021-11-09 | 广州理工学院 | Deicing robot for power transmission line |
| CN114530811A (en) * | 2022-03-15 | 2022-05-24 | 国网山东省电力公司曹县供电公司 | Ice and snow removing device for power transmission line |
| CN115102122A (en) * | 2022-07-06 | 2022-09-23 | 国网河南省电力公司平顶山供电公司 | Deicing method for transmission line lead |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113036701A (en) * | 2021-05-08 | 2021-06-25 | 高强 | Anti-skidding automatic advancing device for deicing of electric power engineering cable |
| CN113036701B (en) * | 2021-05-08 | 2022-11-18 | 国网山东省电力公司齐河县供电公司 | Anti-skidding automatic advancing device for deicing of electric power engineering cable |
| CN113629640A (en) * | 2021-07-19 | 2021-11-09 | 广州理工学院 | Deicing robot for power transmission line |
| CN114530811A (en) * | 2022-03-15 | 2022-05-24 | 国网山东省电力公司曹县供电公司 | Ice and snow removing device for power transmission line |
| CN114530811B (en) * | 2022-03-15 | 2023-08-08 | 国网山东省电力公司曹县供电公司 | Ice and snow removing device of power transmission line |
| CN115102122A (en) * | 2022-07-06 | 2022-09-23 | 国网河南省电力公司平顶山供电公司 | Deicing method for transmission line lead |
| CN115102122B (en) * | 2022-07-06 | 2023-05-30 | 国网河南省电力公司平顶山供电公司 | Deicing method for transmission line wire |
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Application publication date: 20210416 |