CN115800164B - Deicing device and deicing method of transmission line ground wire deicing robot - Google Patents
Deicing device and deicing method of transmission line ground wire deicing robot Download PDFInfo
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- CN115800164B CN115800164B CN202211453580.0A CN202211453580A CN115800164B CN 115800164 B CN115800164 B CN 115800164B CN 202211453580 A CN202211453580 A CN 202211453580A CN 115800164 B CN115800164 B CN 115800164B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 110
- 238000000034 method Methods 0.000 title abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 239000011247 coating layer Substances 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims abstract description 12
- 239000010410 layer Substances 0.000 claims description 19
- 238000000576 coating method Methods 0.000 claims description 12
- 239000011248 coating agent Substances 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 4
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 230000002457 bidirectional effect Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008018 melting Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/14—Extreme weather resilient electric power supply systems, e.g. strengthening power lines or underground power cables
Abstract
The invention discloses a deicing device and a deicing method of a ground wire deicing robot of a power transmission line, wherein the deicing device comprises a frame, a travelling mechanism and a knocking cleaning deicing mechanism, wherein the travelling mechanism is arranged on the frame and comprises a travelling wheel and a clamping wheel which are correspondingly arranged, and a travelling wheel driving motor and a clamping wheel driving motor which correspondingly drive the travelling wheel and the clamping wheel; the knocking and cleaning deicing mechanism comprises a deicing hammer and a power mechanism for driving the deicing hammer to knock and clean deicing, the deicing hammer is provided with a hammer head, the deicing hammer head comprises a side tip part and a top brush hair part, the side tip part is used for knocking the side face of the ground wire ice coating layer of the power transmission line, and the brush hair part is used for cleaning residual crushed ice of the ground wire of the power transmission line. The deicing mode of the deicing device is mainly knocking, rolling and cleaning are auxiliary, meanwhile, residual ice residues on the ground wire of the power transmission line are cleaned, deicing can be effectively realized through a simpler structural design, and meanwhile, the energy consumption of the deicing robot is reduced.
Description
[ field of technology ]
The invention belongs to the technical field of power line fault maintenance, and particularly relates to a deicing device of a ground wire deicing robot of a power transmission line.
[ background Art ]
The Chinese operators are wide, and the characteristics of the landforms are quite different, so that most of the transmission lines need to pass through areas with complex and severe climates such as highland, mountain areas, basin areas and the like. Under extreme meteorological conditions such as ice and snow, freezing rain and the like, ice coating of a power transmission line becomes an unavoidable problem. For a power transmission line with severe ice coating, the most effective manual online deicing mode is generally adopted, but the mode has high risk and low deicing speed. Along with development of science and technology, at present, deicing is mainly carried out in two ways besides manpower: a thermal ice melting technology for melting ice by increasing the current of the power transmission line and heating the power transmission line; mechanical deicing techniques by means of mechanical external forces. The ground wire of the power transmission line lacks a thermal deicing condition because current cannot be input. Therefore, from the viewpoint of wider applicability, many scholars begin to study transmission line ground wire deicing robots. Different deicing robots adopt different deicing mechanisms, and the ground wire ice coating of the power transmission line is removed by applying mechanical force.
At present, different design schemes of deicing mechanisms at home and abroad exist, including rotary deicing of double circular arc cutters, cutting knocking deicing, opening-closing cylinder deicing and the like, and the design schemes can cause certain impact on an ice coating layer of a ground wire of a power transmission line, but the deicing mechanism has a complex structure, the coupling parts among parts are easy to freeze in an actual environment with low temperature and high humidity, the characteristics of low density, weak adhesion and easy connection of the ice coating layer are not fully considered, unnecessary force is applied, and the cruising ability of a deicing robot where the deicing mechanism is located is reduced.
[ invention ]
Aiming at the defects in the prior art, the technical problem to be solved by the invention is to provide the deicing device of the ground wire deicing robot of the power transmission line, so that deicing is effectively realized, meanwhile, the energy consumption of the deicing robot is reduced, and the cruising ability of the deicing robot is improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
the deicing device of the transmission line ground wire deicing robot comprises a frame, a travelling mechanism arranged on the frame, a knocking cleaning deicing mechanism,
the travelling mechanism comprises a travelling wheel and a clamping wheel which are correspondingly arranged, a travelling wheel driving motor and a clamping wheel driving motor which correspondingly drive the travelling wheel and the clamping wheel, and after the knocking and cleaning deicing mechanism performs knocking and cleaning deicing, the travelling wheel and the clamping wheel clamp the ground wire of the power transmission line to realize rolling deicing;
the knocking and cleaning deicing mechanism comprises a deicing hammer and a power mechanism for driving the deicing hammer to knock and clean deicing, wherein the deicing hammer is provided with a hammer head, the hammer head of the deicing hammer comprises a side tip part and a top bristle part, the side tip part is used for knocking the ice coating layer of the ground wire of the power transmission line laterally, and the bristle part is used for cleaning residual crushed ice of the ground wire of the power transmission line;
the top of frame is equipped with the camera subassembly, the camera subassembly includes the camera, the camera is used for monitoring the icing condition of transmission line ground wire and deicing condition of deicing mechanism to control motor changes deicing hammer's height and its speed of beating.
Preferably, the knocking and cleaning deicing mechanism comprises a first deicing hammer and a second deicing hammer which are correspondingly arranged at two sides of the running direction of the running mechanism, the first deicing hammer encountered by the ground wire ice coating layer of the power transmission line is set to be in a knocking deicing mode in the running direction of the deicing robot, and the other deicing hammer is set to be in a cleaning deicing mode.
Preferably, the power mechanism comprises a first rotating shaft corresponding to the first deicing hammer, a second rotating shaft corresponding to the second deicing hammer, a third motor for driving the first rotating shaft to rotate, and a fourth motor for driving the second rotating shaft to rotate, wherein the first rotating shaft is used for driving the first deicing hammer to repeatedly rotate forward and backward to execute repeated knocking actions, and the second rotating shaft is used for driving the second deicing hammer to repeatedly rotate forward and backward to execute repeated knocking actions.
Preferably, the power mechanism further comprises a first transmission shaft arranged corresponding to the first deicing hammer, a second transmission shaft arranged corresponding to the second deicing hammer, a first motor used for driving the first transmission shaft to rotate, and a second motor used for driving the second transmission shaft to rotate, wherein the first transmission shaft is connected with the first lifting rod and used for driving the first lifting rod to stretch and retract, so that lifting of the first deicing hammer is controlled; the second transmission shaft is connected with the second lifting rod and used for driving the second lifting rod to stretch out and draw back, so that the lifting of the second deicing hammer is controlled.
Preferably, the traveling wheels include a first traveling wheel and a second traveling wheel, the pinch wheels include a first pinch wheel and a second pinch wheel, the traveling wheel driving motor includes a first traveling wheel driving motor for driving the first traveling wheel and a second traveling wheel driving motor for driving the second traveling wheel, and the pinch wheel driving motor includes a first pinch wheel driving motor for driving the first pinch wheel and a second pinch wheel driving motor for driving the second traveling wheel.
Preferably, the camera assembly further comprises a hemispherical transparent protection assembly wrapping the camera, and the inner side and the outer side of the hemispherical transparent protection assembly are both covered with waterproof and antifog coatings.
The invention also provides a deicing method of the transmission line ground wire deicing robot, which comprises the following steps of:
step one: when the deicing robot is on line, the first deicing hammer and the second deicing hammer are driven by the power mechanism to avoid the ground wire of the power transmission line in a mode of lifting up and down or rotating around a shaft;
step two: the deicing robot enters an ice-covered power transmission line ground wire, and the knocking and cleaning deicing mechanism rotationally lifts a second deicing hammer to be right below the power transmission line ground wire according to the ice-covered condition of the power transmission line ground wire shot by the camera;
step three: the side face of the first deicing hammer knocks an ice layer;
step four: the first travelling wheel and the second travelling wheel are used for applying rolling force to the ground wire ice layer of the power transmission line from top to bottom in succession;
step five: and the brush hair part of the second deicing hammer cleans the residual ice residues on the ground wire of the power transmission line, and finally the deicing work of the ground wire of the ice-covered power transmission line is completed.
Furthermore, according to the ground wire icing condition of the power transmission line, the knocking speeds of the first deicing hammer and the second deicing hammer are set, so that the icing layer generates resonance, and the deicing effect is enhanced.
The invention adopts the technical scheme and has the following beneficial effects:
1. the deicing device can realize bidirectional operation on the ground line of the power transmission line, and the deicing hammer can be lifted or rotated by the power mechanism to a height or an angle which does not interfere with the online of the deicing robot before the deicing hammer is on line.
2. Aiming at the characteristics of low density, weak adhesion and easy connection of the ground wire ice coating layer of the power transmission line, the deicing mode of the deicing device disclosed by the invention takes knocking as a main part and rolling and cleaning as an auxiliary part, and simultaneously cleans the residual ice residues on the ground wire of the power transmission line, so that the deicing can be effectively realized through a simpler structural design, the energy consumption of a deicing robot is reduced, and the possibility that the coupling parts among parts are frozen is reduced.
3. Taking the working direction in the drawing as an example, before the first travelling wheel presses the icing wire, the first deicing hammer breaks the ice layer loose and falls off, so that the possibility that the travelling wheel slides down the ground wire of the icing transmission line or is blocked by the ice layer is reduced, and the running stability of the deicing robot on the ground wire of the icing transmission line is improved.
4. The camera is used for monitoring the icing condition of the ground wire of the power transmission line and the deicing condition of the deicing device so as to control the motor to change the height of the deicing hammer and the knocking speed of the deicing hammer. Waterproof anti-fog layers are coated on the inner side and the outer side of the hemispherical transparent protective cover, so that the camera can clearly shoot the icing condition and the deicing condition of the ground wire of the power transmission line under the working environment with low temperature and high humidity, and further the knocking speed of the first deicing hammer and the cleaning position of the second deicing hammer are reasonably controlled.
These features and advantages of the present invention will be disclosed in detail in the following detailed description and the accompanying drawings.
[ description of the drawings ]
The invention is further described with reference to the accompanying drawings:
fig. 1 is a schematic structural diagram of a deicing mechanism of a transmission line ground wire deicing robot according to the present invention;
reference numerals: 1-frame, 2-strike cleaning deicing mechanism, 201-first deicing hammer, 202-second deicing hammer, 203-first lifting rod, 204-second lifting rod, 2011-first bristle, 2021-second bristle, 3-camera component, 4-power mechanism, 401-first motor, 402-second motor, 403-third motor, 404-fourth motor, 5-running mechanism, 501-first running wheel, 502-second running wheel, 503-first clamping wheel, 504-second clamping wheel, 505-first running wheel driving motor, 506-second running wheel driving motor, 507-first clamping wheel driving motor, 508-second clamping wheel driving motor, 6-transmission line ground wire, 7-icing layer.
[ detailed description ] of the invention
The technical solutions of the embodiments of the present invention will be explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the examples in the implementation manner, other examples obtained by a person skilled in the art without making creative efforts fall within the protection scope of the present invention.
Those skilled in the art will appreciate that the features of the examples and embodiments described below can be combined with one another without conflict.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The words such as "upper", "lower", "front", "rear", "left", "right", etc., indicating an azimuth or a positional relationship are merely based on the azimuth or the positional relationship shown in the drawings, and are merely for convenience of description and to simplify the description, and do not indicate or imply that the devices/elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
As shown in fig. 1, the deicing device of the transmission line ground wire deicing robot comprises a frame 1, a knocking cleaning deicing mechanism 2, a camera assembly 3, a power mechanism 4 and a travelling mechanism 5.
The two knocking cleaning deicing mechanisms 2 are symmetrically arranged on the front side and the rear side of the frame 1 of the deicing robot, namely, are arranged front and rear along the extending direction of the ground wire 6 of the power transmission line. The knocking cleaning and deicing mechanism 2 includes a first deicing hammer 201, a second deicing hammer 202, a first lifting lever 203, and a second lifting lever 204, first bristles 2011 are located on the first deicing hammer 201, and second bristles 2021 are located on the second deicing hammer 202. The power mechanism 4 comprises a first rotating shaft corresponding to the first deicing hammer, a second rotating shaft corresponding to the second deicing hammer, a third motor 403 for driving the first rotating shaft to rotate, and a fourth motor 404 for driving the second rotating shaft to rotate, wherein the first rotating shaft is used for driving the first deicing hammer to repeatedly rotate forward and backward to execute repeated knocking actions, and the second rotating shaft is used for driving the second deicing hammer to repeatedly rotate forward and backward to execute repeated knocking actions. The power mechanism 4 further comprises a first transmission shaft corresponding to the first deicing hammer, a second transmission shaft corresponding to the second deicing hammer, a first motor 401 for driving the first transmission shaft to rotate, and a second motor 402 for driving the second transmission shaft to rotate, wherein the first transmission shaft is connected with the first lifting rod 203 and used for driving the first lifting rod to stretch and retract, so that lifting of the first deicing hammer is controlled; the second transmission shaft is connected with the second lifting rod 204 and is used for driving the second lifting rod to stretch out and draw back, so as to control the lifting of the second deicing hammer. The specific lifting structure of the first lifting lever 203 and the second lifting lever 204 refers to a conventional lead screw nut lifter. As one embodiment, the first rotation shaft drives the first motor 401, the first transmission shaft, the first lifting rod 203, and the first deicing hammer 201 to rotate as a whole, and the second rotation shaft drives the second motor 402, the second transmission shaft, the second lifting rod 204, and the second deicing hammer 202 to rotate as a whole.
The deicing hammers are arranged on the front side and the rear side along the extending direction of the ground wire of the power transmission line, each deicing hammer head comprises a side tip part and a top brush hair part, each tip part is used for knocking the side face of the ice coating layer 7 of the ground wire of the power transmission line, and each brush hair part is used for cleaning residual crushed ice of the ground wire of the power transmission line from bottom to top. The deicing hammers are arranged on the front side and the rear side of the extending direction of the ground wire of the power transmission line, so that bidirectional operation of the deicing robot of the ground wire of the power transmission line is facilitated, wherein the bidirectional operation means that in the advancing direction of the deicing robot, the first deicing hammer encountered by the ice coating layer of the ground wire of the power transmission line is set to be in a knocking deicing mode, and the other deicing hammer is set to be in a cleaning deicing mode.
The traveling mechanism 5 includes a first traveling wheel 501, a second traveling wheel 502, a first pinch wheel 503, a second pinch wheel 504, a first traveling wheel drive motor 505 that drives the first traveling wheel 501 to travel, a second traveling wheel drive motor 506 that drives the second traveling wheel 502 to travel, a first pinch wheel drive motor 507 that drives the first pinch wheel 503 to rise and fall, and a second pinch wheel drive motor 508 that drives the second pinch wheel 504 to rise and fall. The first travelling wheel 501 and the first clamping wheel 503 are correspondingly arranged, the second travelling wheel 502 and the second clamping wheel 504 are correspondingly arranged, the first travelling wheel and the second clamping wheel are arranged front and back along the extending direction of the ground wire of the power transmission line, and the first travelling wheel and the first clamping wheel clamp the ground wire of the power transmission line to realize rolling deicing. And the second travelling wheel and the second clamping wheel clamp the ground wire of the power transmission line to realize rolling deicing.
In the forward direction of the deicing robot, namely in the direction from left to right in fig. 1, the first deicing hammer 201 first knocks on the ground wire ice coating 7 of the power transmission line, and knocks off most of the ice coating and a small part of the ice coating; then, the first travelling wheel 501 and the second travelling wheel 502 roll loose ice layers successively, so that most of the ice layers fall off, the fallen ice layers slide along the top of the inclined frame 1, broken ice is prevented from being blocked at the coupling position of the parts of the deicing robot, the operation of the deicing robot is influenced, and finally, the second deicing hammer 202 operates to clean residual ice residues on the ground wire 6 of the power transmission line.
The camera module 3 is arranged above the frame 1, and the camera module 3 comprises a camera and a hemispherical transparent protective cover. The camera is used for monitoring the icing condition of the ground wire of the power transmission line and the deicing condition of the deicing device so as to control the motor to change the height of the deicing hammer and the knocking speed of the deicing hammer. Waterproof anti-fog layers are coated on the inner side and the outer side of the hemispherical transparent protective cover, so that a camera can clearly shoot the icing condition and the deicing condition of the ground wire 6 of the power transmission line in a low-temperature and high-humidity working environment, and further the knocking speed of the first deicing hammer 201 and the cleaning position of the second deicing hammer 202 can be reasonably controlled.
The deicing device of the ground wire deicing robot of the power transmission line also provides a deicing method, which comprises the following steps:
step one: when the deicing robot is on line, the first deicing hammer 201 and the second deicing hammer 202 are driven by the power mechanism 4 to avoid the ground wire 6 of the power transmission line in a mode of lifting up and down or rotating around a shaft;
step two: the deicing robot enters the ice-covered power transmission line ground wire 6, the knocking cleaning deicing mechanism 2 sets the knocking speed of the first deicing hammer 201 according to the ice-covered condition of the power transmission line ground wire 6 shot by the camera assembly 3, and the second deicing hammer 202 is rotationally lifted to be right below the power transmission line ground wire 6;
step three: the first deicing hammer 201 strikes the ice-covered layer 7 laterally;
step four: the first travelling wheel 501 and the second travelling wheel 502 are used for successively applying rolling force to the ground wire ice coating 7 of the power transmission line from top to bottom;
step five: the brush hair part of the second deicing hammer 202 cleans the residual ice residues on the power transmission line ground wire 6, and finally the deicing work of the ice-covered power transmission line ground wire is completed.
In the deicing method, the first deicing hammer 201 provides the impact force for side deicing, the ice layer can be knocked loose and most of the ice layer can be removed according to the low-density, weak-adhesion and easy-connection mechanical characteristics of the ground wire ice coating layer of the power transmission line, the first traveling wheel 501 and the second traveling wheel 502 apply downward rolling force to the residual loose ice layer above the ground wire 6 of the power transmission line, the second deicing hammer 202 cleans residual ice residues on the ground wire 6 of the power transmission line through bristles after knocking and rolling, a deicing mode of combining three modes of knocking, rolling and deicing and cleaning deicing is realized, the ground wire ice coating of the power transmission line is effectively removed, and in the technical scheme, the camera component 3 can continuously follow the ice coating condition and the deicing condition of the ground wire 6 of the power transmission line, the first traveling wheel 501 and the second traveling wheel 502 roll the loose ice layer, so that the deicing robot is prevented from being blocked or sliding out of the power transmission line, and the stability of the deicing robot during deicing operation is realized.
In the first step, the avoidance of the first deicing hammer 201 and the second deicing hammer 202 to the power transmission line ground wire 6 and the ice coating layer 7 thereof is realized by the power mechanism 4, specifically, the first motor 401 and the second motor 402 control the expansion and contraction of the first lifting rod 203 and the second lifting rod 204, respectively, and further control the lifting of the first deicing hammer 201 and the second deicing hammer 202, respectively, and the third motor 403 and the fourth motor 404 control the rotation of the first deicing hammer 201 and the second deicing hammer 202, respectively.
In the third step, the knocking of the first deicing hammer 201 is driven by a motor, and the motor repeatedly operates forward and backward to drive the deicing hammer to repeatedly knock on the ground wire ice coating 7 of the power transmission line, and meanwhile, the knocking speed of the deicing hammer can be controlled.
The deicing device is suitable for bidirectional operation of the ground wire deicing robot of the power transmission line, the deicing method only exemplifies deicing operation in the deicing direction from bottom left to top right in fig. 1, and deicing operation in the deicing direction from top right to bottom left can be known similarly, and the deicing device is also within the protection scope of the claims of the invention.
While the invention has been described in terms of specific embodiments, it will be appreciated by those skilled in the art that the invention is not limited thereto but includes, but is not limited to, the drawings and the description of the specific embodiments. Any modifications which do not depart from the functional and structural principles of the invention are intended to be included within the scope of the appended claims.
Claims (5)
1. The deicing device of the transmission line ground wire deicing robot is characterized by comprising a frame, a travelling mechanism arranged on the frame, a knocking and cleaning deicing mechanism,
the travelling mechanism comprises a travelling wheel and a clamping wheel which are correspondingly arranged, a travelling wheel driving motor and a clamping wheel driving motor which correspondingly drive the travelling wheel and the clamping wheel, and after the knocking and cleaning deicing mechanism performs knocking and cleaning deicing, the travelling wheel and the clamping wheel clamp the ground wire of the power transmission line to realize rolling deicing;
the knocking and cleaning deicing mechanism comprises a deicing hammer and a power mechanism for driving the deicing hammer to knock and clean deicing, wherein the deicing hammer is provided with a hammer head, the hammer head of the deicing hammer comprises a side tip part and a top bristle part, the side tip part is used for knocking the ice coating layer of the ground wire of the power transmission line laterally, and the bristle part is used for cleaning residual crushed ice of the ground wire of the power transmission line;
the upper part of the frame is provided with a camera assembly, the camera assembly comprises a camera, and the camera is used for monitoring the icing condition of the ground wire of the power transmission line and the deicing condition of the deicing mechanism so as to control a motor to change the height of the deicing hammer and the knocking speed of the deicing hammer; setting the knocking speeds of a first deicing hammer and a second deicing hammer according to the ground wire icing condition of the power transmission line, so that the icing layer generates resonance to strengthen the deicing effect;
the knocking and cleaning deicing mechanism comprises a first deicing hammer and a second deicing hammer which are correspondingly arranged at two sides of the running direction of the running mechanism, wherein in the running direction of the deicing robot, the first deicing hammer encountered by the ground wire ice coating layer of the power transmission line is set to be in a knocking and deicing mode, and the other deicing hammer is set to be in a cleaning and deicing mode;
the deicing device is adopted to carry out deicing work, and the deicing device comprises the following steps:
step one: when the deicing robot is on line, the first deicing hammer and the second deicing hammer are driven by the power mechanism to avoid the ground wire of the power transmission line in a mode of lifting up and down or rotating around a shaft;
step two: the deicing robot enters an ice-covered power transmission line ground wire, and the knocking and cleaning deicing mechanism rotationally lifts a second deicing hammer to be right below the power transmission line ground wire according to the ice-covered condition of the power transmission line ground wire shot by the camera;
step three: the side face of the first deicing hammer knocks an ice layer;
step four: the first travelling wheel and the second travelling wheel are used for applying rolling force to the ground wire ice layer of the power transmission line from top to bottom in succession;
step five: and the brush hair part of the second deicing hammer cleans the residual ice residues on the ground wire of the power transmission line, and finally the deicing work of the ground wire of the ice-covered power transmission line is completed.
2. The deicing device of the transmission line ground wire deicing robot according to claim 1, wherein the power mechanism comprises a first rotating shaft arranged corresponding to the first deicing hammer, a second rotating shaft arranged corresponding to the second deicing hammer, a third motor for driving the first rotating shaft to rotate, and a fourth motor for driving the second rotating shaft to rotate, the first rotating shaft is used for driving the first deicing hammer to repeatedly rotate forward and backward to perform repeated knocking actions, and the second rotating shaft is used for driving the second deicing hammer to repeatedly rotate forward and backward to perform repeated knocking actions.
3. The deicing device of the transmission line ground wire deicing robot according to claim 2, wherein the power mechanism further comprises a first transmission shaft arranged corresponding to the first deicing hammer, a second transmission shaft arranged corresponding to the second deicing hammer, a first motor for driving the first transmission shaft to rotate, and a second motor for driving the second transmission shaft to rotate, and the first transmission shaft is connected with the first lifting rod and used for driving the first lifting rod to stretch and retract so as to control the lifting of the first deicing hammer; the second transmission shaft is connected with the second lifting rod and used for driving the second lifting rod to stretch out and draw back, so that the lifting of the second deicing hammer is controlled.
4. A deicing apparatus of a transmission line ground wire deicing robot according to claim 1, wherein the traveling wheels comprise a first traveling wheel and a second traveling wheel, the clamping wheels comprise a first clamping wheel and a second clamping wheel, the traveling wheel drive motor comprises a first traveling wheel drive motor for driving the first traveling wheel and a second traveling wheel drive motor for driving the second traveling wheel, and the clamping wheel drive motor comprises a first clamping wheel drive motor for driving the first clamping wheel and a second clamping wheel drive motor for driving the second traveling wheel.
5. The deicing device of a transmission line ground wire deicing robot of claim 1, wherein the camera assembly further comprises a hemispherical transparent protective assembly wrapping the camera, and both inner and outer sides of the hemispherical transparent protective assembly are coated with a waterproof anti-fog coating.
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| CN202211453580.0A CN115800164B (en) | 2022-11-21 | 2022-11-21 | Deicing device and deicing method of transmission line ground wire deicing robot |
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| CN202211453580.0A CN115800164B (en) | 2022-11-21 | 2022-11-21 | Deicing device and deicing method of transmission line ground wire deicing robot |
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| CN115800164B true CN115800164B (en) | 2024-01-19 |
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| CN201194322Y (en) * | 2008-04-09 | 2009-02-11 | 国网北京电力建设研究院 | Conductor de-icing device for high-voltage transmission line |
| CN105870868A (en) * | 2016-05-25 | 2016-08-17 | 国家电网公司 | Deicing robot for high-voltage transmission line |
| JP6496064B1 (en) * | 2018-04-24 | 2019-04-03 | 株式会社きんでん | Self-propelled hard snow ring removal device |
| CN113746050A (en) * | 2021-11-08 | 2021-12-03 | 滨州学院 | Transmission line defroster |
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| CN115800164A (en) | 2023-03-14 |
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