CN204030513U - The automatic anti-icing and deicing robot system of a kind of outer excited resonant - Google Patents
The automatic anti-icing and deicing robot system of a kind of outer excited resonant Download PDFInfo
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- CN204030513U CN204030513U CN201420398975.XU CN201420398975U CN204030513U CN 204030513 U CN204030513 U CN 204030513U CN 201420398975 U CN201420398975 U CN 201420398975U CN 204030513 U CN204030513 U CN 204030513U
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Abstract
The utility model proposes the automatic anti-icing and deicing robot system of a kind of outer excited resonant, by vibration Executive Module, online electricity-fetching module, automatic monitoring modular, control analysis module, resonant feedback module, fixing and locking module and wireless remote control module, formed.Vibration Executive Module produces the mechanical oscillation with current transmission line natural frequency same frequency under the control of control analysis module, to realize the function of online anti-icing and deicing.In ice detachment, resonant feedback module is measured resonance situation in real time, by control analysis module, continues to follow the tracks of the vibration frequency of adjusting vibration Executive Module, keeps efficiency and the effect of deicing.System started working automatically at the icing formation initial stage, effectively prevented the harm that line ice coating seriously causes; Simple and compact for structure, volume is little, cost is low, do not move, energy consumption is little, has avoided the drawback of other deicing modes, can realize full-automatic, intelligent, high efficiency Anti-icing of Transmission Lines de-icing work.
Description
Technical field
The utility model relates to the automatic anti-icing and deicing robot system of a kind of outer Induced Oscillation formula, relate to specifically the online anti-icing and de-icing device of a kind of high pressure overhead power line, at the icing formation initial stage, prevent and treat, thereby reduce the new machine robot system because of the powerline ice-covering thick transmission line causing of knot and shaft tower damage in ice detachment.Belong to high-voltage line robot deicing field.
Technical background
According to incompletely statistics, since mid-term in last century, China's transmission line is reached thousands of times by icing disaster in various degree, and powerline ice-covering will cause down the problems such as tower, broken string, ice sudden strain of a muscle, tripping operation, conductor galloping, power equipment damage.When at the beginning of south China drug in some provinces area last month of spring in winter, often suffer low temperature, sleet, freezing disaster, when temperature is during in zero degree left and right, the accumulated snow covering on transmission line freezes process through thawing and secondary, make on high-voltage line appended icicle more hard thick, make transmission line suffer great destruction, not only destroy electric network composition, threaten power grid security, have a strong impact on the people's daily life simultaneously, and cause tremendous economic loss to national economy.
In removing ice of power transmission line disaster relief work, mostly adopt traditional external force manually to beat de-icing method, although the method is simple, inefficiency has caused great threat to power worker's life security simultaneously.Development along with Robotics, adopt robot to carry out removing ice of power transmission line and become possibility, compare with traditional artificial deicing, adopt robot deicing to have that no one was injured, efficiency is high and the advantage such as transferring load, during without deicing operation, robot also can be used as line walking, and its development prospect is wide.
Domestic and international existing deicing high-voltage power transmission line robot, is mainly divided into the large class of large electric current Joule heat ice-melt deicing robot and robot of mechanical deicing two.Wherein Joule heat ice-melt deicing robot major part is to take transmission line power-off as prerequisite, and energy dissipation is large, cost of investment is high, deicing scope is little, to social economy, causes damage and brings great inconvenience with people's life; Robot of mechanical deicing is because needs obstacle detouring moves, and makes that robot volume is large, cost is high, mechanism is complicated, easily causes extra line fault, and deicing cutter tip easily causes point discharge phenomenon in hyperbaric environment, to electric power system, introduces destabilizing factor.
By the As-Is analysis to deicer for power transmission line system, the utility model proposes a kind of new type auto anti-icing and deicing robot system based on outer sharp resonance principle, the various shortcomings of said apparatus have been overcome, this robot architecture is simple, compact, be fixedly installed in the single span of single conductor the problem of having avoided obstacle detouring operation to cause.At icing, form the initial stage and automatically start working, not only realize the online anti-icing effect of transmission line, initiatively avoided causing because icing is blocked up the various power grid accidents that cause in ice detachment simultaneously.
Summary of the invention
For fear of high pressure overhead power line because of icing blocked up, and cause the damage to transmission line and shaft tower in ice detachment, the utility model provides a kind of novel anti-icing and deicing robot system based on outer sharp resonance principle, at icing formation initial stage and developing stage, automatically starts working.This system adopts the rotation of drive motors band movable eccentric wheel, produce with the mechanical oscillation of transmission line resonance frequency same frequency as extrinsic motivated source, produce resonance with transmission line, coordinate the video of camera collection to carry out analytical calculation, by vibration acceleration sensor, carrying out real-time resonance frequency follows the tracks of, thereby realize full-automatic, intelligent, high efficiency online anti-icing and deicing work, ensured lasting, safe, the stable operation of overhead transmission line.
The technical scheme that the utility model adopts is as follows:
The automatic anti-icing and deicing robot system of outer excited resonant, is characterized in that: described robot system forms by vibrating Executive Module (1), online electricity-fetching module (2), automatic monitoring modular (3), resonant feedback module (4), control analysis module (5), fixing and locking module (6) and wireless remote control module (7); Wherein vibrating Executive Module (1) is comprised of eccentric wheel (8) and drive motors (9); Eccentric wheel (8) is fixedly installed in drive motors (9) rotating shaft; Automatically monitoring modular (3) has two cameras, is installed on respectively fuselage casing (10) along two sides of transmission line (11) direction of extension, is symmetric; Resonant feedback module (4) is installed on fuselage casing (10) inside; Control analysis module (5) comprises parameter acquisition circuit and control circuit, installs concentratedly in fuselage casing (10) inside; Fixing and locking module (6) is connected and fixed apparatus system and transmission line (11).
In the automatic anti-icing and deicing robot system of described outer excited resonant, in vibration Executive Module (1), eccentric wheel (8) is by drive motors (9) driven rotary, under the control of control analysis module (5), produce the mechanical oscillation with current transmission line (11) natural frequency same frequency, as extrinsic motivated and transmission line (11), produce resonance, transmission line (11) icing disintegration is dropped.
In the automatic anti-icing and deicing robot system of described outer excited resonant, getting of online electricity-fetching module (2) can be installed in a clamper by coil, transmission line (11) is through its center, and two clampers are symmetrically fixed on the geometrical axis place of fuselage casing (10) upper surface.
In the automatic anti-icing and deicing robot system of described outer excited resonant, automatically monitoring modular (3) is analyzed the video of two camera collections, automatically computing electric power line (11) ice covering thickness, gives control analysis module (5) by data and calculates the natural frequency of current transmission line (11).
In the automatic anti-icing and deicing robot system of described outer excited resonant, resonant feedback module (4) is in ice detachment, because icing disintegration meeting causes the skew of transmission line (11) natural frequency, utilize acceleration transducer to measure in real time resonance frequency, give control analysis module (5) analysis and judge whether off-resonance, and by control analysis module (5), adjusted the vibration frequency of vibration Executive Module (1), and be consistent with transmission line (11) resonance frequency, in ice detachment, repeatedly carry out in real time this step and carry out syntonic follow.
In the automatic anti-icing and deicing robot system of described outer excited resonant, in control analysis module (5), parameter acquisition circuit arranges transmission line on-site data gathering, is aggregated into microprocessor and carries out analytical calculation, is controlled the work of whole system by control circuit.
In the automatic anti-icing and deicing robot system of described outer excited resonant, field personnel can carry out close range wireless communication by wireless remote control module (7) and control analysis module (5).To set in wireless remote control module (7) manually except icing parameter, as ice covering thickness action threshold value etc., and can realize deicing operation manually.
Compared with prior art, the beneficial effects of the utility model are:
The feature that is different from existing deicing robot system maximum is, just automatically start working monitoring icing initial phase, can realize the online anti-icing effect of transmission line, effectively prevent the generation of the serious situation of icing, rather than icing situation serious after deicing again, reduced widely electric power system because of powerline ice-covering knot thick, and the problem that in the ice detachment causing, transmission line and shaft tower damage, ensures power system security, stable operation.
This robot system adopts casing suspended structure, and it is simple and compact for structure, and volume is little, and cost is low; Due to mobile operating not in the course of work, therefore avoided because obstacle detouring operation causes device and line fault; Adopt drive motors band movable eccentric wheel vibration deicing simultaneously, reduced the drawbacks such as cutter deicing power consumption is large, failure rate is high, point discharge, its field operation feasibility is strong, and ice detachment consumed energy is few, development prospect is wide.
Accompanying drawing explanation
Fig. 1 is composition structure principle chart of the present utility model.
In figure: 1-vibrates Executive Module, the online electricity-fetching module of 2-, 3-automatic detection module, 4-resonant feedback module, 5-control analysis module, 6-fixing and locking module, 7-wireless remote control module, 8-eccentric wheel, 9-drive motors, 10-fuselage casing, 11-transmission line.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail:
In Fig. 1, the automatic anti-icing and deicing robot system of outer excited resonant of the present utility model, is comprised of vibration Executive Module (1), online electricity-fetching module (2), automatic monitoring modular (3), control analysis module (4), resonant feedback module (5), fixing and locking module (6) and (7) seven parts of wireless remote control module.
In vibration Executive Module (1), eccentric wheel (8) is by drive motors (9) driven rotary, under the control of control analysis module (5), produce the mechanical oscillation with current transmission line (11) natural frequency same frequency, as extrinsic motivated and by fixing and locking module (6), be connected with transmission line (11) and produce resonance, cause icing disintegration to be shaken off, thereby realize the object of online deicing.
System power derives from online electricity-fetching module (2); by inductive iron core and CT, get and can form by coil; inductive iron core coordinates CT to get the coil-induced power taking of energy through transmission line (11); by control analysis module (5), carry out rectification, filtering, overvoltage protection, electric energy management, finally offer the electric energy output of system stability, safety.
Automatically monitoring modular (3) is comprised of two cameras, all take the visual angle of looking up, the transmission line observing (11) ice covering thickness is more accurate, clear, facilitates calculating and the analysis of control analysis module (5) to current icing transmission line (11) natural frequency; At sleet or the weather that snows, the anti-icing situation of camera reponse system; In the ice detachment of system, the deicing situation of camera reponse system, the variation of monitoring ice covering thickness, the natural frequency that coordinates control analysis module (5) to calculate in real time and analyze transmission line (11) changes, and then the variation of definite resonance frequency adjustment, realize intelligent, high efficiency de-icing work.
Resonant feedback module (4) is in ice detachment, icing disintegration causes the skew of transmission line (11) natural frequency, utilize acceleration transducer to measure in real time resonance frequency, give control analysis module (5) analysis and judge whether off-resonance, and by control analysis module (5), adjusted the vibration frequency of vibration Executive Module, and be consistent with transmission line (11) resonance frequency, in ice detachment, repeatedly carry out in real time this step and carry out syntonic follow, thus efficiency and the effect of assurance deicing.
In control analysis module (5), parameter acquisition circuit arranges transmission line (11) on-site data gathering, is aggregated into microprocessor and carries out analytical calculation, is controlled action and the operation of whole system modules by control circuit.
Field personnel can carry out close range wireless communication by wireless remote control module (7) and control analysis module (5).Will be in wireless remote control module set manually except icing parameter, as ice covering thickness action threshold value etc., and can realize deicing operation manually, guarantee the real-time feasibility of native system.
The foregoing is only better embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection range of the present utility model.
Claims (7)
1. the automatic anti-icing and deicing robot system of outer excited resonant, is characterized in that: described robot system forms by vibrating Executive Module (1), online electricity-fetching module (2), automatic monitoring modular (3), resonant feedback module (4), control analysis module (5), fixing and locking module (6) and wireless remote control module (7); Wherein vibrate Executive Module (1) and be comprised of eccentric wheel (8) and drive motors (9), eccentric wheel (8) is fixedly installed in drive motors (9) rotating shaft; Automatically monitoring modular (3) has two cameras, is installed on respectively fuselage casing (10) along two sides of transmission line (11) direction of extension, is symmetric; Resonant feedback module (4) is installed on fuselage casing (10) inside; Control analysis module (5) comprises parameter acquisition circuit and control circuit, installs concentratedly in fuselage casing (10) inside; Fixing and locking module (6) is connected and fixed apparatus system and transmission line (11).
2. the automatic anti-icing and deicing robot system of outer excited resonant as claimed in claim 1, it is characterized in that: in vibration Executive Module (1), eccentric wheel (8), by drive motors (9) driven rotary, produces the mechanical oscillation with current transmission line (11) natural frequency same frequency under the control of control analysis module (5).
3. the automatic anti-icing and deicing robot system of outer excited resonant as claimed in claim 1, it is characterized in that: getting of online electricity-fetching module (2) can be installed in a clamper by coil, transmission line (11) is through its center, and two clampers are symmetrically fixed on the geometrical axis place of fuselage casing (10) upper surface.
4. the automatic anti-icing and deicing robot system of outer excited resonant as claimed in claim 1, it is characterized in that: monitoring modular (3) is analyzed the video of two camera collections automatically, automatically computing electric power line (11) ice covering thickness, gives control analysis module (5) by data and calculates the natural frequency of current transmission line (11).
5. the automatic anti-icing and deicing robot system of outer excited resonant as claimed in claim 1, it is characterized in that: resonant feedback module (4) is in ice detachment, due to icing gradually disintegration meeting cause the skew of transmission line (11) natural frequency, utilize acceleration transducer to measure in real time resonance frequency, give control analysis module (5) analysis and judge whether off-resonance, and by control analysis module (5), adjusted the vibration frequency of vibration Executive Module (1), and be consistent with transmission line (11) resonance frequency, in ice detachment, repeatedly carry out in real time this step and carry out syntonic follow.
6. the automatic anti-icing and deicing robot system of outer excited resonant as claimed in claim 1, it is characterized in that: in control analysis module (5), parameter acquisition circuit arranges transmission line (11) on-site data gathering, be aggregated into microprocessor and carry out analytical calculation, by control circuit, controlled the work of whole system.
7. the automatic anti-icing and deicing robot system of outer excited resonant as claimed in claim 1, is characterized in that: field personnel can carry out close range wireless communication by wireless remote control module (7) and control analysis module (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420398975.XU CN204030513U (en) | 2014-07-19 | 2014-07-19 | The automatic anti-icing and deicing robot system of a kind of outer excited resonant |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420398975.XU CN204030513U (en) | 2014-07-19 | 2014-07-19 | The automatic anti-icing and deicing robot system of a kind of outer excited resonant |
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| CN204030513U true CN204030513U (en) | 2014-12-17 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104065015A (en) * | 2014-07-19 | 2014-09-24 | 哈尔滨理工大学 | External excitation resonance type automatic anti-icing and de-icing robot system |
| CN105958412A (en) * | 2016-04-19 | 2016-09-21 | 陈猛 | Contact line deicing device and automatic deicing system |
| CN109274054A (en) * | 2018-11-08 | 2019-01-25 | 国网北京市电力公司 | A kind of ultrasonic wave deicer and method |
| CN111490490A (en) * | 2020-04-17 | 2020-08-04 | 何珊 | Circuit icing detection device |
| CN112378450A (en) * | 2020-11-24 | 2021-02-19 | 江苏赛愽智能制造研究院有限公司 | Circuit inspection robot system |
-
2014
- 2014-07-19 CN CN201420398975.XU patent/CN204030513U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104065015A (en) * | 2014-07-19 | 2014-09-24 | 哈尔滨理工大学 | External excitation resonance type automatic anti-icing and de-icing robot system |
| CN105958412A (en) * | 2016-04-19 | 2016-09-21 | 陈猛 | Contact line deicing device and automatic deicing system |
| CN109274054A (en) * | 2018-11-08 | 2019-01-25 | 国网北京市电力公司 | A kind of ultrasonic wave deicer and method |
| CN111490490A (en) * | 2020-04-17 | 2020-08-04 | 何珊 | Circuit icing detection device |
| CN112378450A (en) * | 2020-11-24 | 2021-02-19 | 江苏赛愽智能制造研究院有限公司 | Circuit inspection robot system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141217 Termination date: 20150719 |
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| EXPY | Termination of patent right or utility model |