CN201174562Y - De-icing robot for transmission & distribution line - Google Patents
De-icing robot for transmission & distribution line Download PDFInfo
- Publication number
- CN201174562Y CN201174562Y CNU2008200329343U CN200820032934U CN201174562Y CN 201174562 Y CN201174562 Y CN 201174562Y CN U2008200329343 U CNU2008200329343 U CN U2008200329343U CN 200820032934 U CN200820032934 U CN 200820032934U CN 201174562 Y CN201174562 Y CN 201174562Y
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- arm
- folding
- icing work
- lower encioser
- deicing
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Abstract
The utility model discloses a deicing robot for a transmission and transformation line with high efficiency, low consumption and easy operation in the deicing device technical field, comprising a main frame, wherein the main frame is connected with a flexible pushing arm, a suspended leading arm and a deicing working arm; the front end of the flexible pushing arm is connected with a retractable motor power unit; the front end of the suspended leading arm is connected with a retractable holding line leading group; and the front end of the deicing working arm is connected with a retractable deicing work head; the front end of the retractable deicing work head is in cambered swinging connection with at least two forward deicing rotating knife set.
Description
Technical field
The utility model belongs to the deicer technical field, relates in particular to a kind of deicing robot for transmission distribution line.
Background technology
Power circuit deicing at present mainly contains two kinds of methods: the one, use manual method, and promptly send tower in the free-hand climbing of workman, reach the standard grade, knock trash ice with wooden stick, to do both very dangerously like this, efficient is very low again, and the high mountain high hill, Kuan Jiang great river manpower is difficult reaches; The 2nd, by circuit self ice-melt, promptly allow circuit temporarily break away from electrical network earlier, produce the heat deicing with the instantaneous short circuit method then, this method is also undesirable, power transmission and transformation line can not be arbitrarily, often stop transport, also because of circuit self-resistance too low (be generally and reduce power consumption, power transmission and transformation line resistance is the smaller the better) as far as possible, calorific value is nowhere near, and can not tackle the problem at its root.The sleet snow ice to the harm of transmission system mainly on electric wire, as long as control and remove icing on the line, the thick more also unlikely tower that collapses of basic tower icing.Therefore, solving power transmission and transformation line is a key except that ice problem.From theory and practice two aspects, the disadvantage of artificial deicing and heat ice is inefficient, high flow rate and difficult operation, but the existing special-purpose deicing machinery of invention power transmission and transformation line not as yet.
The utility model content
Technical problem to be solved in the utility model provides a kind of high efficiency, low consumption, easy-operating deicing robot for transmission distribution line.
A kind of form of the present utility model is: comprise main frame, connect flexible pusher arm, suspension guiding arm and de-icing work arm on the described main frame, but the front end at flexible pusher arm connects a folding motor power group, but the front end of suspension guiding arm connects a folding holds line guiding group, but the front end of de-icing work arm connects a folding de-icing work head, but but connects at least two forward deicing rotating knife groups on the front end circular swing motion ground of described folding de-icing work head.
As improvement of the present utility model, described flexible pusher arm comprises the first flexible pusher arm, the second flexible pusher arm and the 3rd flexible pusher arm, one end of the described first flexible pusher arm is fixedly connected on the main frame, one end of the other end and the second flexible pusher arm interconnects by a universal coupling, one end of the other end of the second flexible pusher arm and the 3rd flexible pusher arm is hinged mutually, but the other end of the 3rd flexible pusher arm connects folding motor power group.
Improve again as of the present utility model, described suspension guiding arm comprises the first suspension guiding arm and the second suspension guiding arm, one end of the first suspension guiding arm is fixedly connected on the main frame, one end of the other end and the second suspension guiding arm is hinged mutually, holds line guiding group but the other end of the second suspension guiding arm connects folding.
As further improvement of the utility model, described de-icing work arm comprises the first de-icing work arm, the second de-icing work arm, the 3rd de-icing work arm and the 4th de-icing work arm, one end of the first de-icing work arm is fixedly connected on the main frame, the other end interconnects by an end of a universal coupling and the second de-icing work arm, the other end of the second de-icing work arm interconnects by an end of another universal coupling and the 3rd de-icing work arm, one end of the other end of the 3rd de-icing work arm and the 4th de-icing work arm is hinged mutually, but the other end of the 4th de-icing work arm connects folding de-icing work head.
As further improvement of the utility model, but slidably connect at least two reverse deicing flywheel groups in roll adjustment ground in the rear end of folding de-icing work head.
As improvement of the present utility model, but folding motor power group comprises upper encloser and lower encioser, and described upper encloser is fixedly connected on the upper end of flexible pusher arm, is slidingly connected between lower encioser and the flexible pusher arm; In upper encloser, arrange a rolling motor, connect an output gear on the output shaft of described rolling motor, output gear and transition gear are meshing with each other, transition gear is meshing with each other with the input gear simultaneously, described input gear is connected on the friction roller connecting axle, and also connect friction roller on the friction roller connecting axle, the friction roller connecting axle is connected on the upper encloser; Arrange directive wheel in the lower encioser, directive wheel is connected on the lower encioser by the directive wheel connecting axle; The device that outside described lower encioser, connects a may command lower encioser folding.
Improve again as of the present utility model, but folding hold line guiding group and comprise upper encloser and lower encioser, described upper encloser is fixedly connected on the upper end of suspension guiding arm, lower encioser is slidingly connected on the suspension guiding arm; Arrange friction roller in upper encloser, described friction roller is connected in the upper encloser by the friction roller connecting axle, arranges directive wheel in the lower encioser, and directive wheel is connected on the lower encioser by the directive wheel connecting axle; The device that outside described lower encioser, connects a may command lower encioser folding.
As further improvement of the utility model, but folding de-icing work head comprises upper encloser and lower encioser, and described upper encloser is fixedly connected on the upper end of de-icing work arm, and lower encioser is slidingly connected on the de-icing work arm; Arrange friction roller in upper encloser, described friction roller is connected in the upper encloser by the friction roller connecting axle, arranges directive wheel in the lower encioser, and directive wheel is connected on the lower encioser by the directive wheel connecting axle; The device that outside described lower encioser, connects a may command lower encioser folding.
As improvement of the present utility model, but one detecting head also is set on the top of folding de-icing work head; In the bottom of main frame one indicator light is set.
Another kind of form of the present utility model is: but comprise main frame, suspension guiding pusher arm and folding working head; Establish microcomputer control system and dynamical system in the described main frame; One end of suspension guiding pusher arm is fixedly connected on the main frame, but the other end connects a folding working head; But the front end at described folding working head connects a forward deicing rotating knife group.
Main frame of the present utility model is a microcomputer, establishes program and the action of detection system commands for controlling complete machine in its basis, reaches the target of full-automatic deicing operation.The dynamical system of this equipment adopts some groups of efficient Ni-MH batteries, and the random arrangement reserve battery is some, can also can charge separately in the machine charging, to adapt to the field work needs.But song is stretched by flexible friction pusher arm omnidirectional, but but the folding motor power group that the top connects is used for clasping and change of grip power transmission line, onward impulse is provided, and prevent that the original place from skidding, but and can and adjust pace according to the resistance control of folding de-icing work head.The suspension guiding arm is scalable, and major function is to bear whole machine weight, for full machine is determined reference direction, and can cross obstacles such as anti-and line bracket under the interlock of flexible pusher arm and de-icing work arm.But song is stretched by working arm omnidirectional, but the forward deicing rotating knife group that is provided with on the folding de-icing work head that the top connects is used for deicing, but oppositely the deicing rotary flywheel is created change of grip lines spare after can be folding de-icing work head obstacle detouring.Two groups of cutter heads of forward deicing rotate, swing and advance, and swing is advanced by promoting by internal control; Oppositely during deicing with the rotation and the slip roll adjustment of two flywheel shape cutters, the while working arm provides radial thrust and reverse mobile thrust reaches the deicing purpose.Detecting head is used for online detection and identification ice and snow layer, prevents also parameter and barriers such as line bracket, porcelain insulator string, to determine the robot correct operation.The indicator light that the main frame bottom is provided with is used to indicate robot work orientation.In addition, this robot also has surplus electrical measurement function, and Suspend Job when battery electric power is not enough returns Ji Ta automatically and changes battery.Full machine center of gravity lower limit configuration is in order to overcoming except that ice resistance and anti-swing.Fuselage is established the insulation handle, is used for safe on-hook under the charged situation.Braces is used for personnel and bears tower.And full machine uses anti-low temperature, anti-ice cover design.With respect to traditional deicing mode, use the utility model can online efficiently, charged, automation deicing, and the deicing cost be low, consume fewly, entire machine is easy to operate.First kind of form of the present utility model is the through humanoid robot of single armed, and another kind of form is three arm obstacle detouring humanoid robots.
When needs carry out the deicing operation, bear power transmission tower on the deicing robot by the workman, the artificial icing of removing in the certain distance of line end, the suspension guiding arm is hung on the power transmission line, open master switch, the flexible pusher arm of deicing robot and de-icing work arm are promptly held line automatically, and carry out the deicing operation automatically along electric wire, when meeting anti-and line bracket, working head is walked around support and is adjusted direction, reverse deicing one segment distance, so that hold line again, working arm and pusher arm teamwork make suspension arm unclamp electric wire, surmount obstacles and hold line again, pusher arm enters the forward deicing after the change of grip subsequently in the same manner once more.Machine detects when the porcelain insulator string promptly arrives another basic tower and quits work, and waits for artificial thread-changing operation.But guaranteeing aerial accessible multimachine separated time operation when mutual.
Description of drawings
Fig. 1 is a kind of structural representation of the utility model embodiment 1.
But Fig. 2 be among the embodiment 1 folding motor power group face structural representation.
But Fig. 3 is the side-looking structural representation of folding motor power group among the embodiment 1.
Fig. 4 is the structural representation of facing that but line guiding group is held in folding among the embodiment 1.
Fig. 5 is the side-looking structural representation that but line guiding group is held in folding among the embodiment 1.
Fig. 6 is a kind of structural representation of the utility model embodiment 2.
Embodiment
Embodiment 1
Establish microcomputer control system and dynamical system in the main frame 1, and on main frame 1, connect flexible pusher arm 2, suspension guiding arm 3 and de-icing work arm 4.
Described flexible pusher arm 2 comprises the first flexible pusher arm 2-1, the second flexible pusher arm 2-2 and the 3rd flexible pusher arm 2-3.The end of the first flexible pusher arm 2-1 is fixedly connected on the main frame 1, the end of the other end and the second flexible pusher arm 2-2 interconnects by a universal coupling 5, the end of the other end of the second flexible pusher arm 2-2 and the 3rd flexible pusher arm 2-3 is hinged mutually, but the other end of the 3rd flexible pusher arm 2-3 connects a folding motor power group 6.
Described suspension guiding arm 3 comprises the first suspension guiding arm 3-1 and the second suspension guiding arm 3-2.The end of the first suspension guiding arm 3-1 is fixedly connected on the main frame 1, and the end of the other end and the second suspension guiding arm 3-2 is hinged mutually, holds line guiding group 7 but the other end of the second suspension guiding arm 3-2 connects a folding.
Described de-icing work arm 4 comprises the first de-icing work arm 4-1, the second de-icing work arm 4-2, the 3rd de-icing work arm 4-3 and the 4th de-icing work arm 4-4.The end of the first de-icing work arm 4-1 is fixedly connected on the main frame 1, the other end interconnects by the end of a universal coupling 8 and the second de-icing work arm 4-2, the other end of the second de-icing work arm 4-2 interconnects by the end of another universal coupling 9 and the 3rd de-icing work arm 4-3, the end of the other end of the 3rd de-icing work arm 4-3 and the 4th de-icing work arm 4-4 is hinged mutually, but the other end of the 4th de-icing work arm 4-4 connects a folding de-icing work head 10.
Shown in Fig. 2 and 3, but folding motor power group 6 comprises upper encloser 6-1 and lower encioser 6-2, and described upper encloser 6-1 is fixedly connected on the upper end of the 3rd flexible pusher arm 2-3, is slidingly connected between lower encioser 6-2 and the 3rd flexible pusher arm 2-3.In upper encloser 6-1, arrange a rolling motor 6-3, connect an output gear 6-4 on the output shaft of described rolling motor 6-3, output gear 6-4 and transition gear 6-5 are meshing with each other, transition gear 6-5 is meshing with each other with input gear 6-6 simultaneously, described input gear 6-6 is connected on the friction roller connecting axle 6-7, and also connect friction roller 6-8 on the friction roller connecting axle 6-7, friction roller connecting axle 6-7 is connected on the upper encloser 6-1.Preferably, two friction roller 6-8 are arranged in the present embodiment, the corresponding respectively transition gear 6-5 of each friction roller 6-8, an input gear 6-6 and a friction roller connecting axle 6-7.Arrange directive wheel 6-9 in the lower encioser 6-2, preferably, three directive wheel 6-9 are arranged in the present embodiment, each directive wheel 6-9 is connected on the lower encioser 6-2 by a directive wheel connecting axle 6-10.The device 6-11 that outside described lower encioser 6-2, connects a may command lower encioser 6-2 folding.When upper encloser 6-1 and lower encioser 6-2 merging, power transmission line 11 is between friction roller 6-8 and the directive wheel 6-9.
Shown in Figure 4 and 5, but folding hold line guiding group 7 and comprise upper encloser 7-1 and lower encioser 7-2, described upper encloser 7-1 is fixedly connected on the upper end of the second suspension guiding arm 3-2, lower encioser 7-2 is slidingly connected on the second suspension guiding arm 3-2.But similar with folding motor power group 6, in upper encloser 7-1, arrange friction roller 7-3, described friction roller 7-3 is connected in the upper encloser 7-1 by friction roller connecting axle 7-4.The friction roller 7-3 of present embodiment and friction roller connecting axle 7-4 are respectively two.Arrange directive wheel 7-5 in the lower encioser 7-2, preferably, three directive wheel 7-5 are arranged in the present embodiment, each directive wheel 7-5 is connected on the lower encioser 7-2 by a directive wheel connecting axle 7-6.The device 7-7 that outside described lower encioser 7-2, connects a may command lower encioser 7-2 folding.In the same manner, when upper encloser 7-1 and lower encioser 7-2 merged, power transmission line 11 was between friction roller 7-3 and the directive wheel 7-5.
As shown in Figure 1, but but connect two forward deicing rotating knife group 10-1 on the front end circular swing motion of folding de-icing work head 10 ground, but and in the rear end of folding de-icing work head 10 two reverse deicing flywheel group 10-2 of roll adjustment ground connection slidably.But a detecting head 10-3 also is set on the top of folding de-icing work head 10.
But but the similar of line guiding group 7 is held in described folding de-icing work head 10 and folding, also comprises upper encloser, lower encioser, friction roller, directive wheel, be used for friction roller be connected upper encloser connecting axle, be used for directive wheel is connected the connecting axle of lower encioser and the device of control lower encioser folding.In addition, also increased and driven the motor that forward deicing rotating knife group is rotated, and another motor that drives reverse deicing flywheel group rotation, by gear driven, oppositely the gap between the deicing flywheel group is regulated by the device of control lower encioser folding by the friction roller motor in the swing of forward deicing rotating knife group.
And, but the upper encloser of folding de-icing work head 10 also is to be fixedly connected on the 4th de-icing work arm 4-4 upper end, but the lower encioser of folding de-icing work head 10 is slidingly connected on the 4th de-icing work arm 4-4.
In addition, also connect braces 12 and a pair of insulation handle 13 on main frame 1, only show an insulation handle 13 among the figure, another insulation handle 13 is in the back side of main frame.
The outer surface of main frame 1 is provided with a microcomputer control system panel 14.
One indicator light 15 is set in the bottom of main frame 1.
As shown in Figure 6, deicing robot for transmission distribution line comprises main frame 16, establishes microcomputer control system and dynamical system in the main frame 16.One end of suspension guiding pusher arm 17 is fixedly connected on the main frame 16, but the other end connects a folding working head 18.But the front end at described folding working head 18 connects a forward deicing rotating knife group 19, and a coiling hole 19-1 is set at the center of described forward deicing rotating knife group 19.
But but the internal structure of folding working head 18 is identical with the internal structure of folding motor power group 6 among the embodiment 1, and parts such as braces, a pair of insulation handle, microcomputer control system panel, indicator light also are set on main frame 16.
Claims (10)
1, deicing robot for transmission distribution line, it is characterized in that: comprise main frame, connect flexible pusher arm, suspension guiding arm and de-icing work arm on the described main frame, but the front end at flexible pusher arm connects a folding motor power group, but the front end of suspension guiding arm connects a folding holds line guiding group, but the front end of de-icing work arm connects a folding de-icing work head, but but connects at least two forward deicing rotating knife groups on the front end circular swing motion ground of described folding de-icing work head.
2, deicing robot for transmission distribution line according to claim 1, it is characterized in that: described flexible pusher arm comprises the first flexible pusher arm, the second flexible pusher arm and the 3rd flexible pusher arm, one end of the described first flexible pusher arm is fixedly connected on the main frame, one end of the other end and the second flexible pusher arm interconnects by a universal coupling, one end of the other end of the second flexible pusher arm and the 3rd flexible pusher arm is hinged mutually, but the other end of the 3rd flexible pusher arm connects folding motor power group.
3, deicing robot for transmission distribution line according to claim 1 and 2, it is characterized in that: described suspension guiding arm comprises the first suspension guiding arm and the second suspension guiding arm, one end of the first suspension guiding arm is fixedly connected on the main frame, one end of the other end and the second suspension guiding arm is hinged mutually, holds line guiding group but the other end of the second suspension guiding arm connects folding.
4, deicing robot for transmission distribution line according to claim 3, it is characterized in that: described de-icing work arm comprises the first de-icing work arm, the second de-icing work arm, the 3rd de-icing work arm and the 4th de-icing work arm, one end of the first de-icing work arm is fixedly connected on the main frame, the other end interconnects by an end of a universal coupling and the second de-icing work arm, the other end of the second de-icing work arm interconnects by an end of another universal coupling and the 3rd de-icing work arm, one end of the other end of the 3rd de-icing work arm and the 4th de-icing work arm is hinged mutually, but the other end of the 4th de-icing work arm connects folding de-icing work head.
5, deicing robot for transmission distribution line according to claim 4 is characterized in that: but slidably connect at least two reverse deicing flywheel groups in roll adjustment ground in the rear end of folding de-icing work head.
6, deicing robot for transmission distribution line according to claim 1 is characterized in that: but folding motor power group comprises upper encloser and lower encioser, and described upper encloser is fixedly connected on the upper end of flexible pusher arm, is slidingly connected between lower encioser and the flexible pusher arm; In upper encloser, arrange a rolling motor, connect an output gear on the output shaft of described rolling motor, output gear and transition gear are meshing with each other, transition gear is meshing with each other with the input gear simultaneously, described input gear is connected on the friction roller connecting axle, and also connect friction roller on the friction roller connecting axle, the friction roller connecting axle is connected on the upper encloser; Arrange directive wheel in the lower encioser, directive wheel is connected on the lower encioser by the directive wheel connecting axle; The device that outside described lower encioser, connects a may command lower encioser folding.
7, according to claim 1 or 6 described deicing robot for transmission distribution line, it is characterized in that: but folding is held line guiding group and is comprised upper encloser and lower encioser, described upper encloser is fixedly connected on the upper end of suspension guiding arm, and lower encioser is slidingly connected on the suspension guiding arm; Arrange friction roller in upper encloser, described friction roller is connected in the upper encloser by the friction roller connecting axle, arranges directive wheel in the lower encioser, and directive wheel is connected on the lower encioser by the directive wheel connecting axle; The device that outside described lower encioser, connects a may command lower encioser folding.
8, deicing robot for transmission distribution line according to claim 7 is characterized in that: but folding de-icing work head comprises upper encloser and lower encioser, described upper encloser is fixedly connected on the upper end of de-icing work arm, and lower encioser is slidingly connected on the de-icing work arm; Arrange friction roller in upper encloser, described friction roller is connected in the upper encloser by the friction roller connecting axle, arranges directive wheel in the lower encioser, and directive wheel is connected on the lower encioser by the directive wheel connecting axle; The device that outside described lower encioser, connects a may command lower encioser folding.
9, deicing robot for transmission distribution line according to claim 1 and 2 is characterized in that: but on the top of folding de-icing work head one detecting head is set also; In the bottom of main frame one indicator light is set.
10, deicing robot for transmission distribution line is characterized in that: but comprise main frame, suspension guiding pusher arm and folding working head; Establish microcomputer control system and dynamical system in the described main frame; One end of suspension guiding arm is fixedly connected on the main frame, but the other end connects a folding working head; But the front end at described folding working head connects a forward deicing rotating knife group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200329343U CN201174562Y (en) | 2008-03-13 | 2008-03-13 | De-icing robot for transmission & distribution line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200329343U CN201174562Y (en) | 2008-03-13 | 2008-03-13 | De-icing robot for transmission & distribution line |
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| Publication Number | Publication Date |
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| CN201174562Y true CN201174562Y (en) | 2008-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200329343U Expired - Lifetime CN201174562Y (en) | 2008-03-13 | 2008-03-13 | De-icing robot for transmission & distribution line |
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| Country | Link |
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| CN (1) | CN201174562Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101299523B (en) * | 2008-03-13 | 2010-04-21 | 汤靖邦 | Deicing robot for transmission distribution line |
| CN104485607A (en) * | 2014-12-29 | 2015-04-01 | 武汉科技大学 | High voltage line patrol robot with single motor to control movement of three arms |
| CN111987640A (en) * | 2020-08-20 | 2020-11-24 | 国网江苏省电力有限公司句容市供电分公司 | Line foreign matter clearing device for emergency repair operation of power distribution network engineering |
| CN113904291A (en) * | 2021-09-03 | 2022-01-07 | 复旦大学 | Electric wire deicing robot |
-
2008
- 2008-03-13 CN CNU2008200329343U patent/CN201174562Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101299523B (en) * | 2008-03-13 | 2010-04-21 | 汤靖邦 | Deicing robot for transmission distribution line |
| CN104485607A (en) * | 2014-12-29 | 2015-04-01 | 武汉科技大学 | High voltage line patrol robot with single motor to control movement of three arms |
| CN104485607B (en) * | 2014-12-29 | 2017-03-15 | 武汉科技大学 | A kind of high-voltage maintenance robot with the three arms motion of single motor control |
| CN111987640A (en) * | 2020-08-20 | 2020-11-24 | 国网江苏省电力有限公司句容市供电分公司 | Line foreign matter clearing device for emergency repair operation of power distribution network engineering |
| CN111987640B (en) * | 2020-08-20 | 2021-10-12 | 国网江苏省电力有限公司句容市供电分公司 | Line foreign matter clearing device for emergency repair operation of power distribution network engineering |
| CN113904291A (en) * | 2021-09-03 | 2022-01-07 | 复旦大学 | Electric wire deicing robot |
| CN113904291B (en) * | 2021-09-03 | 2023-08-29 | 复旦大学 | Wire deicing robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20081231 Effective date of abandoning: 20080313 |