CN113471919B - Automatic control deicing robot for power transmission line - Google Patents

Automatic control deicing robot for power transmission line Download PDF

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Publication number
CN113471919B
CN113471919B CN202110779615.9A CN202110779615A CN113471919B CN 113471919 B CN113471919 B CN 113471919B CN 202110779615 A CN202110779615 A CN 202110779615A CN 113471919 B CN113471919 B CN 113471919B
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China
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ice
cable
device shell
fixedly connected
deicing
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CN113471919A (en
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苗炜丽
刘萌萌
琚爱云
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Zhengzhou Institute of Technology
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Zhengzhou Institute of Technology
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G7/00Overhead installations of electric lines or cables
    • H02G7/16Devices for removing snow or ice from lines or cables
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • H02J7/35Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [PV] energy
    • Y02E10/56Power conversion systems, e.g. maximum power point trackers

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Production, Working, Storing, Or Distribution Of Ice (AREA)
  • Suspension Of Electric Lines Or Cables (AREA)

Abstract

The invention discloses an automatic control deicing robot for a power transmission line, which comprises a device shell, wherein a first opening is formed in the left side of the device shell, a second opening is formed in the right side of the device shell, a power transmission line cable is arranged on the inner side of the device shell, a second motor in an ice breaking assembly is matched with a second transmission shaft, a second belt and a second transmission disc to drive a second rotating shaft to rotate, so that a transmission roller wheel rotates, ice blocks solidified on the power transmission line cable can be broken by matching with an ice breaking knife, two groups of ice breaking assemblies are respectively arranged above and below the power transmission line cable to completely break the ice blocks, the broken ice blocks fall on a heat conduction material receiving plate through an inclined material guide plate and can be heated to be melted by matching with a heating device and then become water to leak from a second water leakage hole, the ice blocks can not fall off directly, and the possibility of danger is reduced.

Description

Automatic control deicing robot for power transmission line
Technical Field
The invention relates to the field of cable deicing devices, in particular to an automatic control deicing robot for a power transmission line.
Background
The transmission line is realized by using a transformer to boost the electric energy generated by the generator and then connecting the electric energy to the transmission line through control equipment such as a breaker and the like. The structure form, transmission line divide into overhead transmission line and cable run. The overhead transmission line consists of a line tower, a lead, an insulator, a line hardware fitting, a stay wire, a tower foundation, a grounding device and the like and is erected on the ground. Transmission is classified into ac transmission and dc transmission according to the nature of the transmission current. In northern areas of China, weather of ice, snow or freezing rain often occurs in winter, in recent years, along with global climate change, weather of rain, snow and winter rain also occurs in southern areas of China, under the weather environment, the surface layer of a high-altitude cable for power transmission can be frozen, when the freezing thickness of the surface of the cable exceeds a design standard, the cable can be subjected to overlarge bearing pressure, serious accidents such as pulling down of a high-voltage power transmission rod can be caused, and power supply can be interrupted.
However, one of the existing ways of removing the ice on the cable is that the electrician removes the ice on the cable by using an ice breaking hammer and other devices, which not only has low efficiency, but also threatens the personal safety of the electrician, and on the other hand, the ice on the cable directly falls downwards after being broken, so that the danger of falling objects at high altitude exists, and the ice can threaten people and objects below greatly.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an automatic control deicing robot for a power transmission line, the scheme is that an ice breaking assembly is arranged, a second motor in the ice breaking assembly is matched with a second transmission shaft, a second belt and a second transmission disc to drive a second rotating shaft to rotate, so that a transmission roller wheel rotates, ice blocks solidified on a cable of the power transmission line can be broken by matching with an ice breaking knife, two groups of ice breaking assemblies are respectively arranged above and below the cable of the power transmission line to break the ice blocks completely, the broken ice blocks fall on a heat conduction material receiving plate through an inclined material guide plate, the ice blocks can be heated by matching with a heating device to be melted, then water is changed to leak from a second water leakage hole, the situation that the ice blocks directly fall off cannot occur, and the possibility of danger is reduced.
In order to solve the above problems, the present invention adopts the following technical solutions.
The utility model provides a transmission line automatic control deicing ice-melt running gear, includes device shell and the automatic control module who is located the shell, its characterized in that: the device comprises a device shell, wherein a first opening is formed in the left side of the device shell, a second opening is formed in the right side of the device shell, a power transmission line cable is arranged on the inner side of the device shell, driving assemblies are arranged at the top and the bottom of the power transmission line cable respectively, the driving assemblies are arranged at the left end in the device shell, an ice scraping assembly is arranged on the inner side of the device shell and positioned on the right side of the driving assemblies, the ice scraping assembly is arranged on the top and the bottom of the power transmission line cable, a hot steam assembly is arranged on the inner side of the device shell and positioned on the right side of the ice scraping assembly, an ice breaking assembly is arranged on the right side surface of the device shell, an ice melting assembly is arranged at the bottom of the device shell, a power supply assembly is arranged at the top of the device shell, the two driving assemblies positioned at the top and the bottom respectively comprise ice removing driving wheels, and first rotating shafts are fixedly connected to the inner sides of the ice removing driving wheels, the device comprises a device shell, bearings are fixedly arranged on two sides in the device shell, a first rotating shaft is rotatably connected between the two bearings, a first transmission disc is fixedly connected to the surface of the first rotating shaft, a first motor is fixedly arranged on the inner side of the device shell, a first transmission shaft is fixedly connected to the output end of the first motor, the first transmission shaft is connected with a first transmission disc through a first belt in a transmission manner, monitoring guide wheels are respectively arranged at the top and the bottom of a power transmission line cable on the right side of the deicing drive wheel, the first rotating shaft is fixedly connected to the inner side of the monitoring guide wheels, the first rotating shaft is rotatably connected between the two bearings, when the device moves, the two deicing drive wheels at the top and the bottom respectively rotate clockwise and anticlockwise to drive the device to move along the right side opposite to the cable, and an ice coating detection mechanism is arranged on the monitoring guide wheels, the automatic control module controls the clockwise rotation or the anticlockwise rotation of the top deicing driving wheel and the bottom deicing driving wheel according to information fed back by the icing detection mechanism; the automatic control module controls the driving assembly, the monitoring guide wheel, the ice breaking assembly, the hot steam assembly and the ice scraping assembly to work;
when the ice coating detection mechanism detects that residual ice exists on the upper portion of the cable, the automatic control module controls the deicing driving wheel on the top to rotate anticlockwise from clockwise, at the moment, the upper portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel on the top and the cable and moves to the left side along the cable, and the lower portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel on the bottom and the cable and moves to the right side along the cable, so that the two deicing driving wheels on the top and the bottom can stay on the cable with the residual ice for a long time, the cables can deform to a certain degree due to different vertical stress directions, and the two deicing driving wheels on the top and the bottom can better perform friction deicing on the cable;
when the ice coating detection mechanism detects that residual ice exists on the lower portion of the cable, the automatic control module controls the deicing driving wheel at the bottom to rotate clockwise from anticlockwise rotation, at the moment, the upper portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel at the top and the cable and moves towards the right side along the cable, and the lower portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel at the bottom and the cable and moves towards the left side along the cable, so that the two deicing driving wheels at the top and the bottom can stay on the cable portion with the residual ice for a long time, the cables can deform to a certain degree due to different vertical stress directions, and the two deicing driving wheels at the top and the bottom can better perform friction deicing on the cable;
when icing detection mechanism detects that the cable upper and lower part all has the residual ice, automatic control module control top's deicing drive wheel changes into anticlockwise rotation by the clockwise rotation, and the deicing drive wheel of control bottom changes into clockwise rotation by the anticlockwise rotation, and two deicing drive wheel drive arrangement in top and bottom are marchd along the left side for the cable this moment, then control the subassembly that opens ice, hot steam subassembly and scrape the ice subassembly and carry out the deicing processing of second time to the cable.
Further, power supply module includes the bracing piece, bracing piece fixedly connected with is at the top surface of device shell, the top fixedly connected with photovoltaic board of bracing piece, the inboard top fixed mounting of device shell has the battery, photovoltaic board passes through photovoltaic converter and battery electric connection, and through setting up power supply module, photovoltaic board and the battery cooperation in the power supply module are used, can convert light energy into electric energy and save, and the battery can supply power to other subassemblies in the device for the device is convenient for use, and the bracing piece of setting can play the effect of support to the photovoltaic board.
Further, scrape the ice subassembly and include the cylinder, the equal fixed mounting in top and bottom of device shell has the cylinder, the output swing joint of cylinder has the telescopic link, the ice board is scraped to the bottom fixedly connected with arc of the telescopic link that device shell top cylinder is connected, the ice board is scraped to the top fixedly connected with arc of the telescopic link that device shell bottom cylinder is connected, scrapes the ice subassembly through the setting, scrapes the ice board through the arc and will remain the broken ice cube on the transmission line cable and scrape down, can scrape the position of ice board to the arc through cylinder and telescopic link and adjust.
Further, the hot steam assembly includes a fixing frame fixedly coupled to an inner top surface of the device case, a hot steam generator is fixedly arranged in the fixed frame, the output end of the hot steam generator is fixedly connected with a hot steam hose, the bottom of the inner side of the device shell is fixedly connected with a supporting column, the top of the supporting column is fixedly connected with a steam cover, the hot steam hose is fixedly connected with the steam hoods, the two steam hoods are respectively positioned at two sides of the power transmission line cable, by arranging the hot steam component, the fixing frame is used for installing the hot steam generator, the hot steam generator transmits the hot steam through the hot steam hose and transmits the hot steam out through the steam cover, can melt the ice-cube that solidifies on the transmission line cable for the ice-cube separates with the transmission line cable, and subsequent ice subassembly of scraping of being convenient for strikes off the broken ice-cube.
Further, the subassembly that opens ice includes the fixed block, the equal a set of fixed block of fixedly connected with of right side upper end and the lower extreme of device shell, two fixedly connected with fixed axle between the fixed block, the surface of fixed axle rotates and is connected with the turning block, the bottom fixedly connected with a set of connecting plate of turning block, two rotate between the connecting plate and be connected with the second pivot, the fixed surface of second pivot is connected with the transmission running roller, the fixed surface of transmission running roller is connected with a plurality of icebreakers, through setting up fixed block, fixed axle, turning block and connecting plate, can adjust the position of transmission running roller through the turning block for the position of icebreaker changes, the angle that opens ice that can better adjusts.
Further, the right side fixed surface of device shell installs the second motor, the output end fixedly connected with second transmission shaft of second motor, the fixed surface of second pivot is connected with the second transmission dish, the second transmission shaft is connected with the second transmission dish through second belt drive, drives the second pivot through second motor cooperation second transmission shaft, second belt and second transmission dish and rotates to make the transmission running roller rotate, the cooperation is broken the ice-cube that the sword can be to solidifying on the transmission line cable and is broken.
Further, the bottom fixed mounting that the right side of device shell is located the connecting plate has a hydraulic stem, the left side fixed connection of hydraulic stem is on the surface of device shell, the right side fixed connection of hydraulic stem is on the surface of connecting plate, the middle part of hydraulic stem is provided with the locking bolt, and through setting up hydraulic stem and locking bolt, the hydraulic stem can play the fixed effect of support to the connecting plate, and the locking bolt can be fixed the flexible of hydraulic stem, and the fixed effect is played to the subassembly that opens ice that can be fine.
Further, the ice-melt subassembly includes the heat insulating mattress, heat insulating mattress fixed connection is on the bottom surface of device shell, the bottom fixedly connected with heat conduction of heat insulating mattress connects the flitch, the heat conduction connects the right side fixedly connected with slope stock guide of flitch, the heat conduction connects the left side fixed mounting of flitch to have heating device, and through setting up the ice-melt subassembly, the heat insulating mattress can prevent that heating device from transmitting the heat to the surface of device shell, and the slope stock guide can lead the ice-cube that broken ice-cube subassembly was broken down, makes the ice-cube fall on heat conduction connects the flitch to heat the ice-cube through heating device, make the ice-cube melt.
Further, a plurality of first holes that leak have been seted up to the bottom of device shell, a plurality of second holes that leak have been seted up to the bottom that the flitch was connect in the heat conduction, through setting up first hole that leaks, can drop on the heat conduction connects the flitch to the water after the inside trash ice of device shell melts, through setting up second hole that leaks, can discharge water, reduce the device's weight, but also can melt the ice-cube, can not cause danger.
Compared with the prior art, the invention has the advantages that:
(1) this scheme is through setting up the subassembly that opens ice, second motor cooperation second transmission shaft in the subassembly that opens ice, second belt and second drive plate drive the second pivot and rotate, thereby make the drive running roller rotate, cooperation icebreaking cutter can carry out the breakage to the ice-cube that solidifies on the transmission line cable, two sets of subassemblies that open ice set up respectively in the top and the below of transmission line cable, can carry out comparatively complete breakage with the ice-cube, the ice-cube after the breakage falls on heat conduction receiver plate through the slope stock guide, cooperation heating device can make it melt to the ice-cube heating, then become into water and leak down from second leak hole, the condition that the ice-cube directly dropped can not appear, the possibility that takes place danger has been reduced.
(2) The fixed surface of first pivot is connected with first transmission disc, the inboard fixed mounting of device shell has first motor, the first transmission shaft of output fixedly connected with of first motor, first transmission shaft is connected with first transmission disc through first belt drive, the right side of deicing drive wheel is located the top and the bottom of transmission line cable and all is provided with the monitoring leading wheel, the first pivot of inboard fixedly connected with of monitoring leading wheel, first pivot swivelling joint is between two bearings, through setting up first motor, first transmission shaft, first belt and first transmission disc, the first pivot of drive that can relax rotates, make the deicing drive wheel can more stable quick slide on the surface of transmission line cable.
(3) The hot steam subassembly is including fixed frame, fixed frame fixed connection is at the inboard top surface of device shell, the inside fixed mounting of fixed frame has hot steam generator, hot steam generator's output fixedly connected with hot steam hose, the inboard bottom fixedly connected with support column of device shell, the top fixedly connected with steam cover of support column, hot steam hose and steam cover fixed connection, two steam covers are located the both sides of transmission line cable respectively, through setting up hot steam subassembly, fixed frame is used for installing hot steam generator, hot steam generator transmits hot steam through hot steam hose, and spread through the steam cover, can melt the ice-cube that solidifies on the transmission line cable, make ice-cube and transmission line cable separate, be convenient for subsequent ice-cube subassembly of scraping strikes off the ice-cube.
(4) Scrape ice subassembly and include the cylinder, the equal fixed mounting in top and the bottom of device shell has the cylinder, the output swing joint of cylinder has the telescopic link, the ice board is scraped to the bottom fixedly connected with arc of the telescopic link that device shell top cylinder is connected, the ice board is scraped to the top fixedly connected with arc of the telescopic link that device shell bottom cylinder is connected, scrape ice subassembly through the setting, scrape the ice board through the arc and will remain the crushed ice piece on the transmission line cable and scrape down, can scrape the position of ice board to the arc and adjust through cylinder and telescopic link.
(5) Power supply module includes the bracing piece, bracing piece fixedly connected with is at the top surface of device shell, the top fixedly connected with photovoltaic board of bracing piece, the inboard top fixed mounting of device shell has the battery, photovoltaic board passes through photovoltaic converter and battery electric connection, through setting up power supply module, photovoltaic board and battery cooperation in the power supply module are used, can convert light energy into electric energy and save, the battery can supply power to other subassemblies in the device, make the device convenient to use, the bracing piece of setting can play the effect of support to the photovoltaic board.
(6) The ice-melt subassembly includes the heat insulating mattress, heat insulating mattress fixed connection is on the bottom surface of device shell, the bottom fixedly connected with heat conduction of heat insulating mattress connects the flitch, the heat conduction connects the right side fixedly connected with slope stock guide of flitch, the heat conduction connects the left side fixed mounting of flitch to have heating device, through setting up the ice-melt subassembly, the heat insulating mattress can prevent that heating device from transmitting the surface of device shell with the heat, the slope stock guide can lead the ice-cube that the subassembly that opens ice breaks down, make the ice-cube fall on the heat conduction connects the flitch, and heat the ice-cube through heating device, make the ice-cube melt.
(7) The automatic control module controls the driving assembly, the monitoring guide wheel, the ice breaking assembly, the hot steam assembly and the ice scraping assembly to work; when the ice coating detection mechanism detects that residual ice exists on the upper portion of the cable, the automatic control module controls the deicing driving wheel on the top to rotate anticlockwise from clockwise, at the moment, the upper portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel on the top and the cable and moves to the left side along the cable, and the lower portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel on the bottom and the cable and moves to the right side along the cable, so that the two deicing driving wheels on the top and the bottom can stay on the cable with the residual ice for a long time, the cables can deform to a certain degree due to different vertical stress directions, and the two deicing driving wheels on the top and the bottom can better perform friction deicing on the cable; when the ice coating detection mechanism detects that residual ice exists on the lower portion of the cable, the automatic control module controls the deicing driving wheel at the bottom to rotate clockwise from anticlockwise rotation, at the moment, the upper portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel at the top and the cable and moves towards the right side along the cable, and the lower portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel at the bottom and the cable and moves towards the left side along the cable, so that the two deicing driving wheels at the top and the bottom can stay on the cable portion with the residual ice for a long time, the cables can deform to a certain degree due to different vertical stress directions, and the two deicing driving wheels at the top and the bottom can better perform friction deicing on the cable; when icing detection mechanism detects that the cable upper and lower part all has the residual ice, automatic control module control top's deicing drive wheel changes into anticlockwise rotation by the clockwise rotation, and the deicing drive wheel of control bottom changes into clockwise rotation by the anticlockwise rotation, and two deicing drive wheel drive arrangement in top and bottom are marchd along the left side for the cable this moment, then control the subassembly that opens ice, hot steam subassembly and scrape the ice subassembly and carry out the deicing processing of second time to the cable. The automatic control mode can effectively lead the repeated and thorough deicing to be carried out in the stage which is difficult to deice, thereby eliminating the situation of incomplete deicing in the advancing process.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a first left side view of the present invention;
FIG. 4 is a second left side view of the present invention;
FIG. 5 is a third left side view of the present invention;
fig. 6 is a right side view of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is to be understood that the embodiments described are merely exemplary embodiments, rather than exemplary embodiments, and that all other embodiments may be devised by those skilled in the art without departing from the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Example (b):
referring to fig. 1, an automatic control deicing and ice melting walking device for a power transmission line comprises a device housing 1 and an automatic control module located in the housing, and is characterized in that: the device comprises a device shell 1, a first opening 2 is formed in the left side of the device shell 1, a second opening 3 is formed in the right side of the device shell 1, a power transmission line cable 6 is arranged on the inner side of the device shell 1, driving components 4 are arranged at the top and the bottom of the power transmission line cable 6, the driving components 4 are arranged at the left end inside the device shell 1, an ice scraping component 8 is arranged on the inner side of the device shell 1, which is positioned on the right side of the driving components 4, the ice scraping component 8 is arranged on the top and the bottom of the power transmission line cable 6, a hot steam component 9 is arranged on the inner side of the device shell 1, an ice breaking component 13 is arranged on the right side surface of the device shell 1, an ice melting component 11 is arranged on the bottom of the device shell 1, a power supply component 7 is arranged on the top of the device shell 1, and two driving components 4 positioned on the top and the bottom respectively comprise deicing driving wheels 401, the inner side of the deicing driving wheel 401 is fixedly connected with a first rotating shaft 402, two sides of the inner part of the device shell 1 are fixedly provided with bearings 403, the first rotating shaft 402 is rotatably connected between the two bearings 403, the surface of the first rotating shaft 402 is fixedly connected with a first transmission disc 404, the inner side of the device shell 1 is fixedly provided with a first motor 405, the output end of the first motor 405 is fixedly connected with a first transmission shaft 406, the first transmission shaft 406 is in transmission connection with the first transmission disc 404 through a first belt 407, the right side of the deicing driving wheel 401 is positioned at the top and the bottom of the power transmission line cable 6 and is respectively provided with a monitoring guide wheel 5, the inner side of the monitoring guide wheel 5 is fixedly connected with the first rotating shaft 402, the first rotating shaft 402 is rotatably connected between the two bearings 403, when the device moves, the two deicing driving wheels 401 at the top and the bottom respectively rotate clockwise and anticlockwise to drive the device to move along the right side relative to the cable, the monitoring guide wheel 5 is provided with an ice coating detection mechanism which monitors the ice coating condition of the cable processed by the ice breaking assembly 13, the hot steam assembly 9 and the ice scraping assembly 8, and the automatic control module controls the clockwise rotation or the anticlockwise rotation of the top and bottom deicing drive wheels 401 according to information fed back by the ice coating detection mechanism; the automatic control module controls the driving assembly 4, the monitoring guide wheel 5, the ice breaking assembly 13, the hot steam assembly 9 and the ice scraping assembly 8 to work;
when the ice coating detection mechanism detects that residual ice exists on the upper portion of the cable, the automatic control module controls the deicing driving wheel 401 at the top to rotate anticlockwise from clockwise, at the moment, the upper portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel 401 at the top and the cable and moves to the left side along the cable, and the lower portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel 401 at the bottom and the cable and moves to the right side along the cable, so that the two deicing driving wheels 401 at the top and the bottom can stay on the cable portion with the residual ice for a long time, the cables can deform to a certain extent due to different vertical stress directions, and the two deicing driving wheels 401 at the top and the bottom can better perform friction deicing on the cable;
when the ice coating detection mechanism detects that residual ice exists on the lower portion of the cable, the automatic control module controls the bottom deicing drive wheel 401 to rotate clockwise from anticlockwise rotation, at the moment, the upper portion of the cable is subjected to force which is generated by friction between the top deicing drive wheel 401 and the cable and moves towards the right side along the cable, and the lower portion of the cable is subjected to force which is generated by friction between the bottom deicing drive wheel 401 and the cable and moves towards the left side along the cable, so that the top deicing drive wheel 401 and the bottom deicing drive wheel 401 can stay on the cable portion with the residual ice for a long time, the cables can deform to a certain degree due to different vertical stress directions, and the top deicing drive wheel 401 and the bottom deicing drive wheel 401 can better perform friction deicing on the cable;
when the icing detection mechanism detects that the upper portion and the lower portion of the cable are all provided with residual ice, the automatic control module controls the deicing driving wheel 401 at the top to rotate anticlockwise through clockwise rotation, the deicing driving wheel 401 at the bottom to rotate clockwise through anticlockwise rotation, the two deicing driving wheel 401 at the top and the bottom drive the device to move along the left side relative to the cable, and then the ice breaking assembly 13, the hot steam assembly 9 and the ice scraping assembly 8 are controlled to perform second-pass deicing treatment on the cable.
Referring to fig. 2, the power module 7 includes a support rod 702, the support rod 702 is fixedly connected to the top surface of the device housing 1, the top of the support rod 702 is fixedly connected to a photovoltaic panel 701, the top of the inner side of the device housing 1 is fixedly installed with a storage battery 703, the photovoltaic panel 701 is electrically connected to the storage battery 703 through a photovoltaic converter, by providing the power module 7, the photovoltaic panel 701 in the power module 7 and the storage battery 703 are used in cooperation, so that light energy can be converted into electric energy and stored, the storage battery 703 can supply power to other components in the device, so that the device is convenient to use, the support rod 702 is arranged to support the photovoltaic panel 701, a hydraulic rod 1312 is fixedly installed on the right side of the device housing 1 at the bottom of the connection plate 1304, and the left side of the hydraulic rod 1312 is fixedly connected to the surface of the device housing 1, the right side of the hydraulic rod 1312 is fixedly connected to the surface of the connecting plate 1304, a locking bolt 1313 is arranged in the middle of the hydraulic rod 1312, the hydraulic rod 1312 can support and fix the connecting plate 1304 by arranging the hydraulic rod 1312 and the locking bolt 1313, the locking bolt 1313 can fix the hydraulic rod 1312 in a telescopic mode, the ice breaking assembly 13 can be well fixed, the ice melting assembly 11 comprises a heat insulation pad 1101, the heat insulation pad 1101 is fixedly connected to the bottom surface of the device shell 1, a heat conduction material receiving plate 1102 is fixedly connected to the bottom of the heat insulation pad 1101, an inclined material guide plate 1103 is fixedly connected to the right side of the heat conduction material receiving plate 1102, a heating device 1104 is fixedly mounted to the left side of the heat conduction material receiving plate 1102, the heat insulation pad 1101 can prevent the heating device 1104 from transmitting heat to the surface of the device shell 1 by arranging the ice melting assembly 11, and the inclined material guide plate 1103 can guide ice blocks broken by the ice breaking assembly 13, make the ice-cube fall on heat conduction connects flitch 1102 to heat the ice-cube through heating device 1104, make the ice-cube melt, a plurality of first holes 10 that leak have been seted up to the bottom of device shell 1, heat conduction connects the bottom of flitch 1102 to have seted up a plurality of second holes 12 that leak, through setting up first holes 10 that leak, can fall on heat conduction connects flitch 1102 to the water that the inside trash ice of device shell melts, through setting up second holes 12 that leak, can discharge water, reduces the device's weight, and can also melt the ice-cube, can not cause danger.
Referring to fig. 4, the ice scraping assembly 8 includes an air cylinder 801, the air cylinder 801 is fixedly mounted at both the top and the bottom of the device housing 1, an expansion link 802 is movably connected to an output end of the air cylinder 801, an arc-shaped ice scraping plate 803 is fixedly connected to the bottom of the expansion link 802 connected to the air cylinder 801 at the top of the device housing 1, an arc-shaped ice scraping plate 803 is fixedly connected to the top of the expansion link 802 connected to the air cylinder 801 at the bottom of the device housing 1, and by arranging the ice scraping assembly 8, crushed ice remaining on the power transmission line cable 6 is scraped by the arc-shaped ice scraping plate 803, and the position of the arc-shaped ice scraping plate 803 can be adjusted by the air cylinder 801 and the expansion link 802.
Referring to fig. 5, the hot steam assembly 9 includes a fixing frame 901, the fixing frame 901 is fixedly connected to the top surface of the inner side of the device housing 1, a hot steam generator 902 is fixedly installed inside the fixing frame 901, an output end of the hot steam generator 902 is fixedly connected with a hot steam hose 903, a support column 905 is fixedly connected to the bottom of the inner side of the device housing 1, a steam cover 904 is fixedly connected to the top of the support column 905, the hot steam hose 903 is fixedly connected to the steam cover 904, the two steam covers 904 are respectively located at two sides of the power transmission line cable 6, by arranging the hot steam assembly 9, the fixing frame 901 is used for installing the hot steam generator 902, the hot steam generator 902 transmits hot steam through the hot steam hose 903, and transmits out through the steam cover 904, ice blocks solidified on the power transmission line cable 6 can be melted, make ice-cube and transmission line cable 6 separate, the subsequent ice subassembly 8 of scraping of being convenient for strikes off the broken ice-cube.
Referring to fig. 6, the ice breaking assembly 13 includes a fixed block 1301, a set of fixed blocks 1301 is fixedly connected to the upper end and the lower end of the right side of the device housing 1, a fixed shaft 1302 is fixedly connected between the two fixed blocks 1301, a rotating block 1303 is rotatably connected to the surface of the fixed shaft 1302, a set of connecting plates 1304 is fixedly connected to the bottom of the rotating block 1303, a second rotating shaft 1305 is rotatably connected between the two connecting plates 1304, a driving roller 1306 is fixedly connected to the surface of the second rotating shaft 1305, a plurality of ice breaking blades 1307 are fixedly connected to the surface of the driving roller 1306, the position of the driving roller 1306 can be adjusted through the rotating block 1303 by arranging the fixed blocks 1301, the fixed shaft 1302, the rotating block 1303 and the connecting plates 1304, so that the position of the ice breaking blade 1307 is changed, the ice breaking angle can be better adjusted, and a second motor 1308 is fixedly installed on the right side surface of the device housing 1, the output end of the second motor 1308 is fixedly connected with a second transmission shaft 1309, the surface of the second rotating shaft 1305 is fixedly connected with a second transmission disc 1311, the second transmission shaft 1309 is in transmission connection with the second transmission disc 1311 through a second belt 1310, and the second motor 1308 is matched with the second transmission shaft 1309, the second belt 1310 and the second transmission disc 1311 to drive the second rotating shaft 1305 to rotate, so that the transmission roller 1306 rotates, and the ice breaking blade 1307 is matched to break ice blocks solidified on the power transmission line cable 6.
According to the invention, by arranging the ice breaking assembly 13, the second motor 1308 in the ice breaking assembly 13 is matched with the second transmission shaft 1309, the second belt 1310 and the second transmission disc 1311 to drive the second rotating shaft 1305 to rotate, so that the transmission roller 1306 rotates, the ice breaking knife 1307 is matched to break ice blocks solidified on the power transmission line cable 6, the two sets of ice breaking assemblies 13 are respectively arranged above and below the power transmission line cable 6 to break the ice blocks completely, the broken ice blocks fall on the heat conduction material receiving plate 1102 through the inclined material guide plate 1103, the ice blocks can be heated and melted by the heating device 1104 and then become water to leak from the second water leakage hole 12, the situation that the ice blocks directly fall off is avoided, the possibility of danger is reduced, the surface of the first rotating shaft 402 is fixedly connected with the first transmission disc 404, the first motor 405 is fixedly arranged on the inner side of the device shell 1, the output end of the first motor 405 is fixedly connected with a first transmission shaft 406, the first transmission shaft 406 is in transmission connection with a first transmission disc 404 through a first belt 407, the right side of the deicing transmission wheel 401 is provided with a monitoring guide wheel 5 at the top and the bottom of the power transmission line cable 6, the inner side of the monitoring guide wheel 5 is fixedly connected with a first rotating shaft 402, the first rotating shaft 402 is rotatably connected between two bearings 403, the first motor 405, the first transmission shaft 406, the first belt 407 and the first transmission disc 404 are arranged to easily drive the first rotating shaft 402 to rotate, so that the deicing transmission wheel 401 can slide on the surface of the power transmission line cable 6 more stably and rapidly, the hot steam assembly 9 comprises a fixed frame 901, the fixed frame 901 is fixedly connected on the inner top surface of the device shell 1, a hot steam generator 902 is fixedly installed inside the fixed frame 901, and a hot steam hose 903 is fixedly connected with the output end of the hot steam generator 902, the bottom of the inner side of the device shell 1 is fixedly connected with a support column 905, the top of the support column 905 is fixedly connected with a steam cover 904, a hot steam hose 903 is fixedly connected with the steam cover 904, the two steam covers 904 are respectively positioned at two sides of a power transmission line cable 6, through the arrangement of a hot steam assembly 9, a fixing frame 901 is used for installing a hot steam generator 902, the hot steam generator 902 transmits hot steam through the hot steam hose 903 and transmits the hot steam out through the steam cover 904, ice blocks solidified on the power transmission line cable 6 can be melted, so that the ice blocks are separated from the power transmission line cable 6, a subsequent ice scraping assembly 8 is convenient for scraping crushed ice blocks, the ice scraping assembly 8 comprises an air cylinder 801, the top and the bottom of the device shell 1 are both fixedly provided with the air cylinders 801, the output end of the air cylinder 801 is movably connected with a telescopic rod 802, and the bottom of the telescopic rod 802 connected with the air cylinder 801 at the top of the device shell 1 is fixedly connected with an arc ice scraping plate 803, the top of an expansion link 802 connected with an air cylinder 801 at the bottom of a device shell 1 is fixedly connected with an arc-shaped ice scraping plate 803, the ice scraping assembly 8 is arranged, crushed ice remained on a power transmission line cable 6 is scraped through the arc-shaped ice scraping plate 803, the position of the arc-shaped ice scraping plate 803 can be adjusted through the air cylinder 801 and the expansion link 802, a power supply assembly 7 comprises a support rod 702, the support rod 702 is fixedly connected with the top surface of the device shell 1, the top of the support rod 702 is fixedly connected with a photovoltaic plate 701, a storage battery 703 is fixedly installed at the top of the inner side of the device shell 1, the photovoltaic plate 701 is electrically connected with the storage battery 703 through a photovoltaic converter, through the arrangement of the power supply assembly 7, the photovoltaic plate 701 and the storage battery 703 in the power supply assembly 7 are matched for use, light energy can be converted into electric energy for storage, and the storage battery can supply power to other components 703 in the device, the device is convenient to use, the supporting rod 702 can play a supporting role for the photovoltaic panel 701, the ice melting assembly 11 comprises a heat insulation pad 1101, the heat insulation pad 1101 is fixedly connected to the bottom surface of the device shell 1, the bottom fixedly connected with heat conduction material receiving plate 1102 of the heat insulation pad 1101, the right side fixedly connected with inclined material guiding plate 1103 of the heat conduction material receiving plate 1102, the left side fixedly mounted with a heating device 1104 of the heat conduction material receiving plate 1102, through the arrangement of the ice melting assembly 11, the heat insulation pad 1101 can prevent the heating device 1104 from transmitting heat to the surface of the device shell 1, the inclined material guiding plate 1103 can guide ice blocks broken by the ice breaking assembly 13, the ice blocks fall on the heat conduction material receiving plate 1102, the ice blocks are heated by the heating device 1104, and the ice blocks are melted.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims (9)

1. The utility model provides a transmission line automatic control deicing robot, includes device shell (1) and the automatic control module who is located the shell, its characterized in that: a first opening (2) is formed in the left side of the device shell (1), a second opening (3) is formed in the right side of the device shell (1), a power transmission line cable (6) is arranged on the inner side of the device shell (1), driving assemblies (4) are arranged at the top and the bottom of the power transmission line cable (6), the driving assemblies (4) are arranged at the left end of the inner portion of the device shell (1), an ice scraping assembly (8) is arranged on the right side of the driving assembly (4) on the inner side of the device shell (1), the ice scraping assembly (8) is arranged on the top and the bottom of the power transmission line cable (6), a hot steam assembly (9) is arranged on the right side of the ice scraping assembly (8) on the inner side of the device shell (1), an ice breaking assembly (13) is arranged on the right side surface of the device shell (1), and an ice melting assembly (11) is arranged at the bottom of the device shell (1), the device is characterized in that a power supply assembly (7) is arranged at the top of the device shell (1), two driving assemblies (4) positioned at the top and the bottom respectively comprise deicing driving wheels (401), a first rotating shaft (402) is fixedly connected to the inner side of each deicing driving wheel (401), bearings (403) are fixedly mounted on two sides of the inner portion of the device shell (1), each first rotating shaft (402) is rotatably connected between the two bearings (403), a first driving disc (404) is fixedly connected to the surface of each first rotating shaft (402), a first motor (405) is fixedly mounted on the inner side of the device shell (1), a first transmission shaft (406) is fixedly connected to the output end of each first motor (405), each first transmission shaft (406) is in transmission connection with a first transmission disc (404) through a first belt (407), monitoring guide wheels (5) are respectively arranged at the top and the bottom of a power transmission line cable (6) on the right side of each deicing driving wheel (401), when the cable runs, the top and bottom deicing driving wheels (401) respectively rotate clockwise and anticlockwise to drive the device to run along the right side relative to the cable, the monitoring guide wheel (5) is provided with an ice coating detection mechanism which monitors the ice coating condition of the cable processed by the ice breaking assembly (13), the hot steam assembly (9) and the ice scraping assembly (8), and the automatic control module controls the top and bottom deicing driving wheels (401) to rotate clockwise or anticlockwise according to information fed back by the ice coating detection mechanism; the automatic control module controls the driving assembly (4), the monitoring guide wheel (5), the ice breaking assembly (13), the hot steam assembly (9) and the ice scraping assembly (8) to work;
when the ice coating detection mechanism detects that residual ice exists on the upper portion of the cable, the automatic control module controls the deicing driving wheel (401) on the top to rotate anticlockwise from clockwise, at the moment, the upper portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel (401) on the top and the cable and moves to the left side along the cable, the lower portion of the cable is subjected to a force which is generated by friction between the deicing driving wheel (401) on the bottom and the cable and moves to the right side along the cable, the two deicing driving wheels (401) on the top and the bottom can stay on the cable portion with the residual ice, the cable can deform due to different vertical stress directions, and the two deicing driving wheels (401) on the top and the bottom can perform friction deicing on the cable;
when the ice coating detection mechanism detects that residual ice exists at the lower part of the cable, the automatic control module controls the deicing driving wheel (401) at the bottom to rotate clockwise from anticlockwise rotation, at the moment, the upper part of the cable receives the force which is generated by the friction between the deicing driving wheel (401) at the top and the cable and moves to the right side along the cable, the lower part of the cable receives the force which is generated by the friction between the deicing driving wheel (401) at the bottom and the cable and moves to the left side along the cable, so that the two deicing driving wheels (401) at the top and the bottom can stay at the cable part with the residual ice, the cables can deform due to different vertical stress directions, and the two deicing driving wheels (401) at the top and the bottom can rub and deice the cable;
when icing detection mechanism detects that the cable upper and lower part all has the residual ice, automatic control module control top deicing drive wheel (401) change into anticlockwise rotation by the clockwise rotation, control bottom deicing drive wheel (401) change into clockwise rotation by the anticlockwise rotation, two deicing drive wheel (401) drive arrangement in top and bottom are marchd along the left side for the cable this moment, then control open ice subassembly (13), hot steam subassembly (9) and scrape ice subassembly (8) and carry out the deicing processing of second time to the cable.
2. The robot of claim 1, wherein: the power supply module (7) comprises a supporting rod (702), the supporting rod (702) is fixedly connected to the top surface of the device shell (1), the top of the supporting rod (702) is fixedly connected with a photovoltaic panel (701), a storage battery (703) is fixedly mounted at the top of the inner side of the device shell (1), and the photovoltaic panel (701) is electrically connected with the storage battery (703) through a photovoltaic converter.
3. The robot for automatically controlling deicing of power transmission lines according to claim 2, characterized in that: scrape ice subassembly (8) including cylinder (801), the equal fixed mounting in top and the bottom of device shell (1) has cylinder (801), the output swing joint of cylinder (801) has telescopic link (802), the ice board (803) are scraped to the bottom fixedly connected with arc of telescopic link (802) that device shell (1) top cylinder (801) is connected, the ice board (803) are scraped to the top fixedly connected with arc of telescopic link (802) that device shell (1) bottom cylinder (801) is connected.
4. The robot of claim 3, wherein: the hot steam subassembly (9) is including fixed frame (901), fixed frame (901) fixed connection is on the inboard top surface of device shell (1), the inside fixed mounting of fixed frame (901) has hot steam generator (902), the output fixedly connected with hot steam hose (903) of hot steam generator (902), the inboard bottom fixedly connected with support column (905) of device shell (1), the top fixedly connected with steam cover (904) of support column (905), hot steam hose (903) and steam cover (904) fixed connection, two steam cover (904) are located the both sides of transmission line cable (6) respectively.
5. The robot of claim 4, wherein: the ice breaking assembly (13) comprises fixing blocks (1301), a group of fixing blocks (1301) are fixedly connected to the upper end and the lower end of the right side of the device shell (1), a fixing shaft (1302) is fixedly connected between the two fixing blocks (1301), a rotating block (1303) is rotatably connected to the surface of the fixing shaft (1302), a group of connecting plates (1304) is fixedly connected to the bottom of the rotating block (1303), a second rotating shaft (1305) is rotatably connected between the two connecting plates (1304), a transmission roller (1306) is fixedly connected to the surface of the second rotating shaft (1305), and a plurality of ice breaking knives (1307) are fixedly connected to the surface of the transmission roller (1306).
6. The robot of claim 5, wherein: the right side surface of the device shell (1) is fixedly provided with a second motor (1308), the output end of the second motor (1308) is fixedly connected with a second transmission shaft (1309), the surface of the second rotating shaft (1305) is fixedly connected with a second transmission disc (1311), and the second transmission shaft (1309) is in transmission connection with the second transmission disc (1311) through a second belt (1310).
7. The robot of claim 6, wherein: the hydraulic rod (1312) is fixedly installed at the bottom of the connecting plate (1304) on the right side of the device shell (1), the left side of the hydraulic rod (1312) is fixedly connected to the surface of the device shell (1), the right side of the hydraulic rod (1312) is fixedly connected to the surface of the connecting plate (1304), and a locking bolt (1313) is arranged in the middle of the hydraulic rod (1312).
8. The robot of claim 7, wherein: the ice melting assembly (11) comprises a heat insulation pad (1101), the heat insulation pad (1101) is fixedly connected to the bottom surface of the device shell (1), the bottom of the heat insulation pad (1101) is fixedly connected with a heat conduction material receiving plate (1102), the right side of the heat conduction material receiving plate (1102) is fixedly connected with an inclined material guide plate (1103), and the left side of the heat conduction material receiving plate (1102) is fixedly provided with a heating device (1104).
9. The robot of claim 8, wherein: a plurality of first water leakage holes (10) are formed in the bottom of the device shell (1), and a plurality of second water leakage holes (12) are formed in the bottom of the heat conduction material receiving plate (1102).
CN202110779615.9A 2021-07-09 2021-07-09 Automatic control deicing robot for power transmission line Active CN113471919B (en)

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CN114024248A (en) * 2021-11-22 2022-02-08 合肥志鸿科技有限公司 Icing condition inspection device based on overhead high-voltage transmission line
CN114843977B (en) * 2022-05-30 2022-10-28 国网安徽省电力有限公司六安市叶集供电公司 Intelligent deicing device for high-altitude power transmission line
CN115395468B (en) * 2022-10-27 2022-12-27 启东市恒瑞电源科技有限公司 Marching type cable deicing device
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CN117060317A (en) * 2023-10-12 2023-11-14 国网山东省电力公司鱼台县供电公司 Cable deicing device and deicing method

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