CN207559512U - A kind of power transmission line crusing robot deicing control system - Google Patents
A kind of power transmission line crusing robot deicing control system Download PDFInfo
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- CN207559512U CN207559512U CN201721417203.6U CN201721417203U CN207559512U CN 207559512 U CN207559512 U CN 207559512U CN 201721417203 U CN201721417203 U CN 201721417203U CN 207559512 U CN207559512 U CN 207559512U
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- ice
- breaking
- power transmission
- transmission line
- motor drive
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Abstract
The utility model discloses a kind of power transmission line crusing robot deicing control systems, it is characterised in that：Including controller, the controller connects motor drive module and detection module respectively；The motor drive module includes traveling wheel electric-motor drive unit and ice breaking wheel electric-motor drive unit；The detection module includes ice layer thickness detection unit；The traveling wheel electric-motor drive unit connection walking turbin generator, driving traveling wheel rotation；The ice breaking wheel electric-motor drive unit connects ice-breaking turbin generator, for ice-breaking turbin generator to be driven to rotate, drives ice breaking wheel movement.The utility model installs ice breaking wheel on crusing robot and carries out ice-breaking, and ice breaking structure is simple, easy to use, while by control system, can realize automatic de-icing.
Description
Technical field
The utility model is related to power transmission lines to clear up field, especially a kind of power transmission line crusing robot deicing control system.
Background technology
In China's most area, there is a large amount of snowfall every year, cause shape on the power transmission line of a large amount of ultra-high-tension power transmission line
Into icing, these icing cause serious harm to the cable and shaft tower of ultra-high-tension power transmission line, and particularly in recent years, high pressure is defeated
The icing of electric line causes cable fracture and shaft tower collapses, and causes the power failure of large area, and the safety of serious threat power grid is steady
Fixed operation, it is great that the life of economic construction and the people to China causes loss.
Powerline ice-covering domestic at present removes work mostly also using artificial de-icing method, using manually being struck with stick rod
The mode deicing hit needs more personnel's inputs and resources to put into and required efficiency is not achieved, it is also difficult to ensure in this way
The life security of deicing personnel；Or the method using high-voltage line ice-melt, but high-voltage line ice-melt excessively expends energy, and apply
The energy expenditure of mechanical means deicing is much smaller than great current deicing.Large current ice-melting method efficiency is higher, but costly, and operation is multiple
It is miscellaneous, there is larger impact safely to system.
Utility model content
The purpose of utility model of the utility model is：In view of the above problems, a kind of power transmission line survey monitor is provided
Device people's deicing control system based on detection module, is examined ice layer thickness, ice breaking wheel position and the robot center of gravity in ice-breaking
It surveys, and testing result is handled, generate corresponding control instruction, be accurately controlled crusing robot and carried out on power transmission line
Quick deicing.
The technical solution adopted in the utility model is as follows：
A kind of power transmission line crusing robot deicing control system of the utility model, including controller, the controller difference
Connect motor drive module and detection module；The motor drive module includes traveling wheel electric-motor drive unit and ice-breaking turbin generator
Driving unit；The detection module includes ice layer thickness detection unit and crusing robot center of gravity detection unit；The traveling wheel
Electric-motor drive unit connection walking turbin generator；The ice breaking wheel electric-motor drive unit connects ice-breaking turbin generator, for driving ice-breaking
Turbin generator rotates, and drives ice breaking wheel movement.
Further, the ice layer thickness detection unit includes the ice layer thickness detection sensor being set on body, described
Ice layer thickness detection sensor includes transmitting terminal and receiving terminal；The receiving terminal includes reception antenna and ultra-broadband signal is handled
Device；The transmitting terminal, for emitting high-frequency wideband electromagnetic wave under ice face；The reception antenna, for receiving electromagnetic wave in ice
Reflection signal in layer；The ultra-broadband signal processor is converted, amplified and is quantified for that will receive signal, calculated
The thickness of ice sheet.
Further, the crusing robot center of gravity detection unit includes the center-of-gravity sensor being arranged on body, for examining
Center of gravity of the crusing robot in ice-breaking is surveyed, keeps the stabilization of center of gravity.
Further, the controller is also connected with gravity adjusting device, the gravity adjusting device be arranged on walking mechanism it
Between, for adjusting the distance between walking mechanism.
Further, wireless communication module is further included, for being communicated with ground control system and data transmission.
Further, the detection module further includes ice-breaking monitoring unit, including the image collector being set on support arm
It puts, for acquiring ice-breaking image, and is sent to ground, in ground monitoring ice-breaking situation.
Further, the detection module further includes positioning unit, including the photoelectric sensor being set in collective, for examining
Survey the position of ice breaking wheel and ice sheet.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are：With prior art phase
Than the utility model installs ice breaking wheel on crusing robot, and ice breaking wheel can carry out mechanical ice-breaking, while can also walk, no
The walking of crusing robot is influenced, ice breaking wheel constantly carries out ice-breaking in advance, and compared with other icebreaking devices, this practicality is new
Type is simple in structure, and use is very convenient, bears a heavy burden small；Simultaneously under the action of control system, automatic de-icing can be realized.
Description of the drawings
The utility model will illustrate by example and with reference to the appended drawing, wherein：
Fig. 1 is the right view of power transmission line crusing robot.
Fig. 2 is the working state figure of power transmission line crusing robot.
Fig. 3 is the structure diagram of ice breaking wheel.
Fig. 4 is a kind of structure diagram of power transmission line crusing robot deicing control system of the utility model.
Specific embodiment
All features or disclosed all methods disclosed in this specification or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
This specification（Including any accessory claim, abstract）Disclosed in any feature, unless specifically stated,
It is replaced by other equivalent or with similar purpose alternative features.That is, unless specifically stated, each feature is a series of
An example in equivalent or similar characteristics.
Such as Fig. 1,2, a kind of de-icing of power transmission lines machine people, including body 1, the body 1 passes through pre-walking mechanism 5, middle row
It walks the support of mechanism 6 and rear walking mechanism 7 and is arranged on power transmission line；The middle walking mechanism 6 and rear walking mechanism 7 wrap respectively
Include support arm 4 and traveling wheel 2；The pre-walking mechanism 5 includes support arm 4 and ice breaking wheel 22；4 upper end of support arm and machine
Body 1 is flexibly connected, and lower end is provided with traveling wheel 2 and ice breaking wheel 22, and the traveling wheel 2, which is arranged on power transmission line, drives 1 edge of body
Power transmission line moves；4 lower end of support arm can make traveling wheel 2 lift and take off along before power transmission line extending direction or swing backward
From power transmission line.
Such as Fig. 3, offer wire casing on the wheel week of ice breaking wheel 22, the wire casing tool there are two opposite chute wall 10 and
The groove bottom wall 11 of chute wall 10 is connected, ice breaking tooth 12 is symmetrically arranged in the chute wall 10；The wire casing bottom width is less than
Opening width, 11 width of groove bottom wall are equal to the diameter of power transmission line；When being transported on power transmission line covered with ice sheet, ice breaking wheel along power transmission line
Dynamic, power transmission line is located in wire casing, and ice sheet thereon is contacted with the ice breaking tooth 12 in chute wall 10, and power transmission line does not connect with groove bottom wall 11
It touches；When not having ice sheet on power transmission line, ice breaking wheel is moved along power transmission line, and power transmission line is located in wire casing, and power transmission line connects with groove bottom wall 11
It touches, is not contacted with the ice breaking tooth 12 in chute wall 10；The protrusion or groove for anti-slip are provided in the groove bottom wall 11.
Such as Fig. 4, a kind of power transmission line crusing robot deicing control system of the utility model, including controller, the control
Device connects motor drive module and detection module respectively；The motor drive module includes traveling wheel electric-motor drive unit and ice-breaking
Turbin generator driving unit；The detection module includes ice layer thickness detection unit and crusing robot center of gravity detection unit；It is described
Traveling wheel electric-motor drive unit connection walking turbin generator；The ice breaking wheel electric-motor drive unit connects ice-breaking turbin generator, for driving
Dynamic ice-breaking turbin generator rotation, drives ice breaking wheel movement.
The ice layer thickness detection unit includes the ice layer thickness detection sensor being set on body, the ice layer thickness
Detection sensor includes transmitting terminal and receiving terminal；The receiving terminal includes reception antenna and ultra-broadband signal processor；The hair
End is penetrated, for emitting high-frequency wideband electromagnetic wave under ice face；The reception antenna, for receiving reflection of the electromagnetic wave in ice sheet
Signal；The ultra-broadband signal processor is converted, amplified and is quantified for that will receive signal, calculates the thickness of ice sheet.
The crusing robot center of gravity detection unit includes the center-of-gravity sensor being arranged on body, for detecting survey monitor
Center of gravity of the device people in ice-breaking keeps the stabilization of center of gravity.
The controller is also connected with gravity adjusting device, and the gravity adjusting device is arranged between walking mechanism, is used for
Adjust the distance between walking mechanism.
Wireless communication module is further included, for being communicated with ground control system and data transmission.
The detection module further includes ice-breaking monitoring unit, including the image collecting device being set on support arm, is used for
Ice-breaking image is acquired, and is sent to ground, in ground monitoring ice-breaking situation.
The detection module further includes positioning unit, including the photoelectric sensor being set in collective, for detecting ice-breaking
The position of wheel and ice sheet.
Operation principle：The position relationship of ice breaking wheel and ice sheet is detected by positioning unit, the position of ice breaking wheel is adjusted, with ice
Layer contact；The thickness information of detection ice sheet is sent to controller, and controller calculates the rotating speed of ice breaking wheel according to ice layer thickness, and divides
Driving instruction, traveling wheel and ice breaking wheel rotation are not sent to ice-breaking turbin generator and walking turbin generator；In ice-breaking, passed using center of gravity
Sensor detects the center of gravity of crusing robot, and the center of gravity of robot is adjusted by gravity adjusting device, and crusing robot is kept to exist
Stabilization on power transmission line；By the ice-breaking image of acquisition, module is sent to ground control centre by radio communication, and ice-breaking is carried out
Remote monitoring, when there is abnormal phenomenon, ground control centre sends control instruction to crusing robot, is adjusted.
The utility model is not limited to aforementioned specific embodiment.The utility model expands to any in this specification
The step of new feature of middle disclosure or any new combination and any new method or process disclosed or any new group
It closes.
Claims (7)
1. a kind of power transmission line crusing robot deicing control system, it is characterised in that：Including controller, the controller connects respectively
Connect motor drive module and detection module；The motor drive module includes traveling wheel electric-motor drive unit and ice-breaking turbin generator drives
Moving cell；The detection module includes ice layer thickness detection unit；The traveling wheel electric-motor drive unit connection walking turbin generator,
Drive traveling wheel rotation；The ice breaking wheel electric-motor drive unit connects ice-breaking turbin generator, for ice-breaking turbin generator to be driven to rotate, band
Dynamic ice breaking wheel movement.
2. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The ice layer thickness
Detection unit includes the ice layer thickness detection sensor being set on body, and the ice layer thickness detection sensor includes transmitting terminal
And receiving terminal；The receiving terminal includes reception antenna and ultra-broadband signal processor；The transmitting terminal, for emitting under ice face
High-frequency wideband electromagnetic wave；The reception antenna, for receiving reflection signal of the electromagnetic wave in ice sheet；At the ultra-broadband signal
Device is managed, converted, amplified and is quantified for signal will to be received, calculate the thickness of ice sheet.
3. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The detection module
Center of gravity detection unit is further included, the center of gravity detection unit includes the center-of-gravity sensor being arranged on body, for detecting inspection
Center of gravity of the robot in ice-breaking keeps the stabilization of center of gravity.
4. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The motor driving
Module is also associated with gravity adjusting device, and the gravity adjusting device is arranged between walking mechanism, for adjusting walking mechanism
The distance between.
5. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The controller is also
Wireless communication module is connected with, for being communicated with ground control system and data transmission.
6. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The detection module
Ice-breaking monitoring unit is further included, ice-breaking monitoring unit includes the image collecting device being set on support arm, image collecting device
For acquiring ice-breaking image, and ground is sent to, in ground remote monitoring ice-breaking.
7. power transmission line crusing robot deicing control system according to claim 1, it is characterised in that：The detection module
Positioning unit is further included, including the photoelectric sensor being set in collective, for detecting the position of ice breaking wheel and ice sheet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721417203.6U CN207559512U (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot deicing control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721417203.6U CN207559512U (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot deicing control system |
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| Publication Number | Publication Date |
|---|---|
| CN207559512U true CN207559512U (en) | 2018-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721417203.6U Expired - Fee Related CN207559512U (en) | 2017-10-31 | 2017-10-31 | A kind of power transmission line crusing robot deicing control system |
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| CN (1) | CN207559512U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113981912A (en) * | 2021-11-02 | 2022-01-28 | 河北省水利水电勘测设计研究院集团有限公司 | Anti-icing static pressure device for open top gate of reservoir |
-
2017
- 2017-10-31 CN CN201721417203.6U patent/CN207559512U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113981912A (en) * | 2021-11-02 | 2022-01-28 | 河北省水利水电勘测设计研究院集团有限公司 | Anti-icing static pressure device for open top gate of reservoir |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180629 Termination date: 20181031 |
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| CF01 | Termination of patent right due to non-payment of annual fee |