CN107681610A - A kind of lose-lose electricity protection robot using ice melting agent deicing - Google Patents
A kind of lose-lose electricity protection robot using ice melting agent deicing Download PDFInfo
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- CN107681610A CN107681610A CN201711044103.8A CN201711044103A CN107681610A CN 107681610 A CN107681610 A CN 107681610A CN 201711044103 A CN201711044103 A CN 201711044103A CN 107681610 A CN107681610 A CN 107681610A
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- 238000002844 melting Methods 0.000 title claims abstract description 40
- 230000008018 melting Effects 0.000 title claims abstract description 40
- 230000005611 electricity Effects 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 107
- 230000007246 mechanism Effects 0.000 claims abstract description 102
- 230000009184 walking Effects 0.000 claims abstract description 98
- 238000009434 installation Methods 0.000 claims description 45
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 3
- 230000037081 physical activity Effects 0.000 abstract description 2
- 239000003795 chemical substances by application Substances 0.000 description 22
- 239000004020 conductor Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 125000006850 spacer group Chemical group 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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Abstract
The invention discloses a kind of lose-lose electricity protection robot using ice melting agent deicing, it includes body, and body is arranged on power transmission line by being arranged on some walking mechanisms of its both sides, and the walking mechanism includes supporting walls and ice removing wheel；The supporting walls upper end is connected with body activities, and ice removing wheel is arranged on supporting walls lower end, and the ice removing wheel is arranged on power transmission line, and it is taken turns and offers wire casing on week, and wire casing bottom is provided with some ice-melt holes, and the ice-melt hole connects with the centre bore inside ice removing wheel；The centre bore is connected to ice melting agent storage box by flexible pipe；The ice melting agent storage box is arranged at the top of body；On power transmission line bearing of trend, the walking mechanism mutual dislocation of body both sides is set, and the walking mechanism of homonymy is set at equal intervals.The ice removing wheel is simple in construction, can remove the ice sheet on power transmission line, and power transmission line will not be caused to damage, while the obstacle that can be crossed on power transmission line.
Description
Technical field
The present invention relates to power transmission line to protect field, refers in particular to a kind of lose-lose electricity protection robot using ice melting agent deicing.
Background technology
Transmission line of electricity plays the important function to transmit electric power, in order to ensure the normal operation of power circuit, it is necessary to transmission of electricity
Circuit carries out periodic maintenance.Transmission line safety reliability service is ensured, to ensureing that national economic stability development is significant.
Frozen in winter power transmission line, huge infringement can be caused to transmission line of electricity.When running into ice and snow weather, many electric power
Ultra-high-tension power transmission line is just easily pressed down, and causes circuit to be damaged, and strong influence is caused to production and living.
Traditional deicing mode has artificial deicing, and staff's deicing on high voltage transmission line, altitude hot-line operation is very
Danger, therefore artificial deicing is replaced using robot.And the deicing in existing robot has by except ice hammer or deicing cutter enter
Row deicing, except ice hammer deicing, vibrations are big.Existing deicing cutter is complicated, easily will transmission of electricity line insulating layer damage.It is simultaneously existing
Have and conductor spacer is provided with power transmission line, for two power transmission lines to be disperseed, and these conductor spacers then turn into Robot circuit and transported
Capable obstacle.
The content of the invention
It is an object of the invention to：For above-mentioned problem, there is provided a kind of anti-using the lose-lose electricity of ice melting agent deicing
Robot is protected, the ice removing wheel is simple in construction, can remove the ice sheet on power transmission line, and power transmission line will not be caused to damage, simultaneously
The obstacle that can be crossed on power transmission line.
The technical solution adopted by the present invention is as follows：
A kind of lose-lose electricity protection robot using ice melting agent deicing, it includes body, and the body is by being arranged on its both sides
Some walking mechanisms be arranged on power transmission line, be arranged at per the walking mechanism of side on same root power transmission line, the vehicle with walking machine
Structure includes supporting walls and ice removing wheel；The supporting walls upper end is connected with body activities, and ice removing wheel is arranged on supporting walls lower end, described
Ice removing wheel is arranged on power transmission line, and it is taken turns and offers wire casing on week, and wire casing bottom is provided with some ice-melt holes, and the ice-melt hole is with removing
Centre bore connection inside the moon；The centre bore is through to outside wheel shaft anti-drive end inside wheel shaft drive end；In described
Heart hole is connected to ice melting agent storage box by flexible pipe；The ice melting agent storage box is arranged at the top of body；The ice removing wheel drives
Body moves on power transmission line, the centre bore that the ice melting agent in ice melting agent storage box enters in ice removing wheel, flows out, spills from ice-melt hole
To power transmission line；The supporting walls lower end can be swung forward or backward along power transmission line bearing of trend, ice removing wheel is lifted and is departed from
Power transmission line；On power transmission line bearing of trend, the walking mechanism mutual dislocation of body both sides is set, and the walking mechanism of homonymy is at equal intervals
Set.
Due to said structure, the robot runs into obstacle during forward movement（Conductor spacer）Afterwards, the road wheel of side
First lifting and surmount obstacles, then put down reset again, the road wheel of opposite side lifts again to surmount obstacles, and then puts down reset again, and two
The road wheel of side staggeredly is lifted to put down and surmounted obstacles；
Robot can continue to move ahead without shutting down, improve obstacle detouring efficiency during obstacle detouring.Road wheel is simple to be lifted
Depart from power transmission line, do not contacted with obstacle, avoid robot and barrier crash, during avoiding obstacle detouring, power transmission line shake, improve
Stability during obstacle detouring.
Ice removing wheel drives body to be moved on power transmission line simultaneously, and then deicer is sprayed on power transmission line by ice removing wheel,
Ice sheet on power transmission line is melted；The robot can replace artificial deicing, save manpower, avoid bringing in artificial ice detachment
Danger.Wire casing is provided with ice removing wheel, therefore ice removing wheel can be protected robot stabilized operation is driven on power transmission line, and it is unlikely
In derailing；Ice sheet is melted by ice melting agent, is avoided that deicing mechanism destroys power transmission line, and will not be produced in ice detachment acutely
Vibration and influence power transmission line；Robot walks in ice detachment to be stablized, and will not be derailed because of vibrations from power transmission line.
The robot architecture of the present invention, it is simply, easy to operate.
Further, on power transmission line bearing of trend, the distance of the two neighboring walking mechanism installation site of homonymy is equal to separately
The distance of the two neighboring walking mechanism installation site in side；Or each walking mechanism installation site is away from the left adjacent walking of its offside
The distance of mechanism installation site and/or right adjacent walking mechanism installation site is equal；Or each walking mechanism installation site is away from it
The distance of adjacent walking mechanism installation site is equal.
Due to said structure, the distance between each adjacent walking mechanism installation site is equal, can ensure that road wheel lifts
When, body keeps balance under the support of other walking mechanisms.
Further, supporting walls upper end is rotatably connected on body by swinging axle, and swinging axle is connected with oscillating motor,
The oscillating motor, which is arranged on body, drives supporting walls to swing forward or backward；The ice removing wheel is arranged on branch by wheel shaft
Wall lower end is supportted, wheel shaft drive end is connected with motor, and the motor, which is arranged on supporting walls, drives ice removing wheel to rotate；Wheel
Axle anti-drive end is provided with swivel joint, and swivel joint one end is connected with centre bore, and the other end is connected to ice melting agent by flexible pipe
Storage box.
Further, the ice-melt hole is arranged on wire casing bottom, equally spaced to be arranged within one week around centre bore.
Due to said structure, the equally spaced rotary balance arranged around centre bore, ice removing wheel can be ensured in ice-melt hole, and
Ensure that the sprinkling of ice melting agent is uniform.
Further, the wire casing includes chute wall and groove bottom wall；The groove bottom wall is connected with chute wall bottom；
When being moved on power transmission line covered with ice sheet, ice removing wheel along power transmission line, power transmission line is located in wire casing, ice sheet and skewed slot thereon
Wall contacts；
When not having ice sheet on power transmission line, ice removing wheel moves along power transmission line, and power transmission line is located in wire casing, and power transmission line connects with groove bottom wall
Touch.
Further, the groove bottom wall is arc-shaped curved surface, and the arc-shaped curved surface can wrap up the portion of power transmission line, the bottom land
Some anti-slip tank grooves are offered on wall, institute's anti-slip tank is covered with whole arc-shaped curved surface.
Further, the ice-melt hole is arranged in groove bottom wall, is placed in anti-slip tank；The anti-slip tank is interconnected.
Due to said structure, ice-melt hole is as in anti-slip tank, and anti-slip tank is interconnected, and anti-slip tank is except can be anti-skidding
Outside, moreover it is possible to play a part of guiding ice melting agent, the ice melting agent that ice-melt hole comes out is spread all over into whole transmission of electricity by the guiding of anti-slip tank
Line, it is more beneficial for deicing.
Further, two walking mechanisms are provided with left and right sides of the body；It is left front on power transmission line bearing of trend
Walking mechanism and installation site mutual dislocation of the right pre-walking mechanism on body；Left back walking mechanism exists with right rear walking mechanism
Installation site mutual dislocation on body, and each distance of the walking mechanism installation site away from its adjacent walking mechanism installation site
It is equal.
Further, left/right pre-walking mechanism installation site is located at the front of right/left pre-walking mechanism, is walked after left/right
Mechanism installation site is located at the front of right/left rear walking mechanism.
Further, obstacle detecting sensor is provided with body, the obstacle detecting sensor is located at body both sides, position
In front of each walking mechanism, power transmission line is arranged on for detecting, the obstacle in front of each walking mechanism；The obstacle
Detection sensor is connected with the controller on body；Oscillating motor and deicing wheel drive electricity are also connected with the controller
Machine.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
The robot obstacle detouring of the present invention is simple, during obstacle detouring, without shutting down, improves obstacle detouring efficiency.During obstacle detouring, machine
Human action is simple, and larger vibrations will not be produced on power transmission line, avoid robot from being dropped from power transmission line.The deicing of the present invention
Wheel can spray deicer, in ice detachment, will not damage power transmission line.And in ice detachment, vibration will not be produced, ensure machine
The stable operation of device people.
Brief description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the top view of the present invention；
Fig. 3 is obstacle detouring process schematic；
Figure 4 and 5 are the location diagrams of ice removing wheel and power transmission line；
Fig. 6 is ice removing wheel internal structure front view；
Fig. 7 is ice removing wheel internal structure left view；
Fig. 8 is the expanded view of groove bottom wall.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1
A kind of lose-lose electricity protection robot using ice melting agent deicing, it includes body 1, the body 1 by be arranged on its two
Some walking mechanisms of side are arranged on power transmission line, and the walking mechanism per side is arranged on same root power transmission line, the walking
Mechanism includes supporting walls 3 and ice removing wheel 4；The upper end of supporting walls 3 is flexibly connected with body 1, and ice removing wheel 4 is arranged on supporting walls 3
Lower end, the ice removing wheel 4 are arranged on power transmission line, and it is taken turns and offers wire casing on week, and wire casing bottom is provided with some ice-melt hole 4-5,
The ice-melt hole 4-5 connects with the centre bore 4-4 inside ice removing wheel 4；The centre bore 4-4 runs through outside wheel shaft anti-drive end
To wheel shaft drive end；The centre bore 4-4 is connected to ice melting agent storage box 6 by flexible pipe 7；The ice melting agent storage box 6
It is arranged on the top of body 1；The ice removing wheel 4 drives body 1 to be moved on power transmission line, and the ice melting agent in ice melting agent storage box 6 enters
Enter the centre bore 4-4 in ice removing wheel 4, flow out, spilt to power transmission line from ice-melt hole 4-5；The lower end of supporting walls 3 can be along power transmission line
Bearing of trend is swung forward or backward, ice removing wheel 4 is lifted and is departed from power transmission line；On power transmission line bearing of trend, the both sides of body 1
Walking mechanism mutual dislocation set, the walking mechanism of homonymy sets at equal intervals.
On power transmission line bearing of trend, the distance of the two neighboring walking mechanism installation site of homonymy is equal to opposite side adjacent two
The distance of individual walking mechanism installation site；Or each walking mechanism installation site is away from the left adjacent walking mechanism installation position of its offside
Put and/or the distance of right adjacent walking mechanism installation site is equal；Or each walking mechanism installation site is away from its adjacent vehicle with walking machine
The distance of structure installation site is equal.
The upper end of supporting walls 3 is rotatably connected on body 1 by swinging axle, and swinging axle is connected with oscillating motor 2, the pendulum
Dynamic motor 2, which is arranged on body 1, drives supporting walls 3 to swing forward or backward；The ice removing wheel 4 is arranged on support by wheel shaft
The lower end of wall 3, wheel shaft drive end are connected with motor, and the motor, which is arranged on supporting walls, drives ice removing wheel 4 to rotate；Wheel
Axle anti-drive end is provided with swivel joint, and swivel joint one end is connected with centre bore 4-4, and the other end is connected to by flexible pipe 7 to be melted
Ice agent storage box 6.
The ice-melt hole 4-5 is arranged on wire casing bottom, equally spaced to be arranged within mono- week around centre bore 4-4.
Ice-melt hole 4-5 can set multiple, and in the present embodiment, ice-melt hole 4-5 is provided with 4.Centre bore is surrounded at equal intervals
4-4 is arranged.
The length of the centre bore 4-4 is 2/3rds of whole wheel shaft length.
Centre bore 4-4 length is unsuitable long, also should not be too short, long that substantial amounts of ice melting agent can be caused to hoard non-driven
It is too short at end, the efficiency that ice melting agent flows out from the 4-5 of ice-melt hole can be responded.
The wire casing includes chute wall 4-1 and groove bottom wall 4-2；The groove bottom wall 4-2 is connected with chute wall 4-1 bottoms；When
Moved on power transmission line covered with ice sheet, ice removing wheel 4 along power transmission line, power transmission line is located in wire casing, ice sheet and chute wall 4-1 thereon
Contact；When not having ice sheet on power transmission line, ice removing wheel 4 moves along power transmission line, and power transmission line is located in wire casing, power transmission line and groove bottom wall 4-
2 contacts.
The groove bottom wall 4-2 is arc-shaped curved surface, and the arc-shaped curved surface can wrap up the portion of power transmission line, the groove bottom wall 4-2
On offer some anti-slip tank 4-6 grooves, institute anti-slip tank 4-6 is covered with whole arc-shaped curved surface.
The ice-melt hole 4-5 is arranged on groove bottom wall 4-2, is placed in anti-slip tank 4-6；The anti-slip tank 4-6 is interconnected.
The anti-slip tank 4-6 is parallel to each other or in " fish-bone " shape.
The ice-melt hole 4-5 is located at arc-shaped curved surface bottom centre position, can just so make the ice melting agent sprayed out
The uniform both sides for flowing to power transmission line, ensure the uniform of ice-melt efficiency.
Ice breaking tooth 4-3 is provided with the chute wall 4-1, when being transported on power transmission line covered with ice sheet, ice removing wheel 4 along power transmission line
Dynamic, power transmission line is located in wire casing, and ice sheet thereon contacts with the ice breaking tooth 4-3 on chute wall 4-1, power transmission line not with groove bottom wall 4-
2 contacts；
When not having ice sheet on power transmission line, ice removing wheel 4 moves along power transmission line, and power transmission line is located in wire casing, power transmission line and groove bottom wall 4-2
Contact, is not contacted with the ice breaking tooth 4-3 on chute wall 4-1.
The setting ice breaking tooth 4-3 on ice removing wheel 4, can be further, the deicing efficiency of raising ice removing wheel 4, on ice removing wheel 4
Ice breaking tooth 4-3 contacted with ice sheet, ice removing wheel 4 rotates, with can break the ice sheet on power transmission line in mobile robot moving process
It is broken.
Groove bottom wall 4-2 width is equal to the diameter of power transmission line, because groove bottom wall 4-2 width is equal to the diameter of power transmission line, therefore,
When not having ice sheet on power transmission line, power transmission line can just be embedded in wire casing and be contacted with groove bottom wall 4-2, when ice sheet outside power transmission line
When, then it can not be embedded in wire casing and be contacted with groove bottom wall 4-2, will be defeated this avoid ice breaking tooth 4-3 when not having ice sheet on power transmission line
Electric wire destroys.The ice removing wheel 4 is simple in construction.
Obstacle detecting sensor 8 is provided with body 1, the obstacle detecting sensor 8 is located at the both sides of body 1, positioned at every
In front of individual walking mechanism, power transmission line is arranged on for detecting, the obstacle in front of each walking mechanism；The obstacle detection
Sensor 8 is connected with the controller on body 1；Oscillating motor 2 and deicing wheel drive electricity are also connected with the controller
Machine 5；Oscillating motor 2 and ice removing wheel motor 5 are also connected with the controller.The obstacle detecting sensor 8, oscillating motor
2nd, ice removing wheel motor 5 is powered by the power supply on body 1.
Embodiment 2
The embodiment is substantially the same with embodiment 1, and its difference is：The left and right sides of body 1 is provided with two rows
Walk mechanism；On power transmission line bearing of trend, left front walking mechanism 3-1 and installation sites of the right pre-walking mechanism 3-2 on body 1
Mutual dislocation；Left back walking mechanism 3-3 and installation site mutual dislocations of the right rear walking mechanism 3-4 on body 1, and each row
It is equal to walk distance of the mechanism installation site away from its adjacent walking mechanism installation site, i.e. homonymy walking mechanism installation site distance
Equal, the adjacent walking mechanism installation site of heteropleural is equal, and adjacent walking mechanism installation site forms equilateral triangle.
The left/right pre-walking mechanism 3-2 installation sites are located at right/left pre-walking mechanism 3-1 front, are gone after left/right
Walk the front that mechanism 3-4 installation sites are located at right/left rear walking mechanism 3-3.
In the present embodiment, left front walking mechanism 3-1 installation sites are located at right pre-walking mechanism 3-2 front, left back walking
Mechanism 3-3 installation sites are located at right rear walking mechanism 3-4 front.Obstacle detection sensing is both provided with front of each walking mechanism
Device 8.Each walking mechanism includes an oscillating motor 2 and an ice removing wheel motor 5.
Because in the present invention, ice removing wheel 4 is staggered, the number of walking mechanism can be so saved, if ice removing wheel 4 is not handed over
Mistake is set, then during obstacle detouring, totally 3 pairs of walking mechanisms, pre-walking mechanism lift before, during and after at least needing, rear two pairs of walkings
Mechanism supports body 1 moves；And in the present invention, 4 walking mechanisms are at least needed, one is lifted, other three vehicle with walking machine
Structure support body 1 moves.
In the present embodiment, the obstacle detouring process of the robot is as follows：
Controller control ice removing wheel motor drives body movement；
Obstacle detecting sensor in front of left front walking mechanism detects the present embodiment when having obstacle in front of left front walking mechanism
In obstacle be conductor spacer, controller controls left front oscillating motor to rotate, and drives left front support arm swing angle forward or backward
A, lift left front ice removing wheel, body continues to move along, and left front ice removing wheel is surmounted obstacles；
When obstacle detecting sensor in front of right pre-walking mechanism detects that there is obstacle in right pre-walking mechanism front, controller control
Make left front oscillating motor to rotate, make left front support arm posteriorly or anteriorly swing angle a, reset；Then controller controls right forward swing
Dynamic motor rotates, and drives right anterior branch brace swing angle a forward or backward, ice removing wheel lifts before making the right side, and body continues to reach
Dynamic, ice removing wheel surmounts obstacles before making the right side；
When obstacle detecting sensor in front of left back walking mechanism detects that there is obstacle in left back walking mechanism front, controller control
Oscillating motor rotates before system is right, makes right anterior branch brace posteriorly or anteriorly swing angle a, resets；Then controller controls left back pendulum
Dynamic motor rotates, and drives left back support arm swing angle a forward or backward, lifts left back ice removing wheel, body continues to reach
It is dynamic, left back ice removing wheel is surmounted obstacles；
When obstacle detecting sensor in front of right rear walking mechanism detects that there is obstacle in right rear walking mechanism front, controller control
Make left back oscillating motor to rotate, make left back support arm posteriorly or anteriorly swing angle a, reset；Then put after controller control is right
Dynamic motor rotates, and drives right rear support arm swing angle a forward or backward, ice removing wheel lifts after making the right side, and body continues to reach
Dynamic, ice removing wheel surmounts obstacles after making the right side；
Then said process is repeated.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. lose-lose electricity protection robot using ice melting agent deicing, it is characterised in that：It includes body（1）, the body （1）It is arranged on by some walking mechanisms for being arranged on its both sides on power transmission line, the walking mechanism per side is arranged at same root On power transmission line, the walking mechanism includes supporting walls（3）And ice removing wheel（4）；The supporting walls（3）Upper end and body（1）Activity Connection, ice removing wheel（4）It is arranged on supporting walls（3）Lower end, the ice removing wheel（4）It is arranged on power transmission line, it is taken turns and offered on week Wire casing, wire casing bottom are provided with some ice-melt holes（4-5）, the ice-melt hole（4-5）With ice removing wheel（4）Internal centre bore（4-4） Connection；The centre bore（4-4）It is through to outside wheel shaft anti-drive end inside wheel shaft drive end；The centre bore（4-4）It is logical Cross flexible pipe（7）It is connected to ice melting agent storage box（6）；The ice melting agent storage box（6）It is arranged on body（1）Top；The deicing Wheel（4）Drive body（1）Moved on power transmission line, ice melting agent storage box（6）Interior ice melting agent enters ice removing wheel（4）Interior center Hole（4-4）, from ice-melt hole（4-5）Outflow, spills to power transmission line；The supporting walls（3）Lower end can along power transmission line bearing of trend to Preceding or swing backward, makes ice removing wheel（4）Lift and depart from power transmission line；On power transmission line bearing of trend, body（1）The walking of both sides Mechanism mutual dislocation is set, and the walking mechanism of homonymy is set at equal intervals.
- 2. the lose-lose electricity protection robot according to claim 1 using ice melting agent deicing, it is characterised in that：In power transmission line On bearing of trend, the distance of the two neighboring walking mechanism installation site of homonymy is equal to the two neighboring walking mechanism installation position of opposite side The distance put；Or each walking mechanism installation site is away from the left adjacent walking mechanism installation site of its offside and/or right adjacent lines The distance for walking mechanism installation site is equal；Or each distance of the walking mechanism installation site away from its adjacent walking mechanism installation site It is equal.
- 3. the lose-lose electricity protection robot according to claim 1 or 2 using ice melting agent deicing, it is characterised in that：Support Wall（3）Upper end is rotatably connected on body by swinging axle（1）On, swinging axle and oscillating motor（2）It is connected, the oscillating motor （2）It is arranged on body（1）Upper drive supporting walls（3）Swing forward or backward；The ice removing wheel（4）Branch is arranged on by wheel shaft Support wall（3）Lower end, wheel shaft drive end are connected with motor, and the motor, which is arranged on supporting walls, drives ice removing wheel（4） Rotate；Wheel shaft anti-drive end is provided with swivel joint, swivel joint one end and centre bore（4-4）It is connected, the other end passes through flexible pipe （7）It is connected to ice melting agent storage box（6）.
- 4. the lose-lose electricity protection robot according to claim 3 using ice melting agent deicing, it is characterised in that：The ice-melt Hole（4-5）Wire casing bottom is arranged on, it is equally spaced to surround centre bore（4-4）Arrange within one week.
- 5. the lose-lose electricity protection robot according to claim 4 using ice melting agent deicing, it is characterised in that：The wire casing Including chute wall（4-1）And groove bottom wall（4-2）；The groove bottom wall（4-2）With chute wall（4-1）Bottom is connected；When on power transmission line covered with ice sheet, ice removing wheel（4）Moved along power transmission line, power transmission line is located in wire casing, ice sheet thereon with Chute wall（4-1）Contact；When there is no ice sheet, ice removing wheel on power transmission line（4）Moved along power transmission line, power transmission line is located in wire casing, power transmission line and groove bottom wall （4-2）Contact.
- 6. the lose-lose electricity protection robot according to claim 5 using ice melting agent deicing, it is characterised in that：The bottom land Wall（4-2）For arc-shaped curved surface, the arc-shaped curved surface can wrap up the portion of power transmission line, the groove bottom wall（4-2）On offer it is some Anti-slip tank（4-6）Groove, institute's anti-slip tank（4-6）It is covered with whole arc-shaped curved surface.
- 7. the lose-lose electricity protection robot according to claim 6 using ice melting agent deicing, it is characterised in that：The ice-melt Hole（4-5）It is arranged on groove bottom wall（4-2）On, it is placed in anti-slip tank（4-6）It is interior；The anti-slip tank（4-6）It is interconnected.
- 8. the lose-lose electricity protection robot using ice melting agent deicing according to one of claim 1 to 7, it is characterised in that： The body（1）The left and right sides is provided with two walking mechanisms；On power transmission line bearing of trend, left front walking mechanism（3-1） With right pre-walking mechanism（3-2）In body（1）On installation site mutual dislocation；Left back walking mechanism（3-3）With being walked behind the right side Mechanism（3-4）In body（1）On installation site mutual dislocation, and each walking mechanism installation site is away from its adjacent walking mechanism The distance of installation site is equal.
- 9. the lose-lose electricity protection robot according to claim 6 using ice melting agent deicing, it is characterised in that：Before left/right Walking mechanism（3-2）Installation site is located at right/left pre-walking mechanism（3-1）Front, left/right rear walking mechanism（3-4）Installation Position is located at right/left rear walking mechanism（3-3）Front.
- 10. the lose-lose electricity protection robot using ice melting agent deicing according to claim 1 or 9, it is characterised in that：Body （1）On be provided with obstacle detecting sensor（8）, the obstacle detecting sensor（8）Positioned at body（1）Both sides, positioned at each row Walk in front of mechanism, be arranged on power transmission line for detecting, the obstacle in front of each walking mechanism；The obstacle detection sensing Device（8）With installed in body（1）On controller be connected；Oscillating motor is also connected with the controller（2）With deicing wheel drive Motor（5）.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711044103.8A CN107681610A (en) | 2017-10-31 | 2017-10-31 | A kind of lose-lose electricity protection robot using ice melting agent deicing |
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| CN201711044103.8A CN107681610A (en) | 2017-10-31 | 2017-10-31 | A kind of lose-lose electricity protection robot using ice melting agent deicing |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110233460A (en) * | 2019-06-21 | 2019-09-13 | 国网山东省电力公司平阴县供电公司 | A kind of conducting wire deicing device |
| CN112310921A (en) * | 2020-09-24 | 2021-02-02 | 国网河北省电力有限公司行唐县供电分公司 | A 10kV distribution line deicing device |
| WO2025008637A1 (en) * | 2023-07-04 | 2025-01-09 | Cable Coatings Limited | Robotic device for coating and/or pre-treatment of overhead transmission or distribution line conductors |
-
2017
- 2017-10-31 CN CN201711044103.8A patent/CN107681610A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110233460A (en) * | 2019-06-21 | 2019-09-13 | 国网山东省电力公司平阴县供电公司 | A kind of conducting wire deicing device |
| CN112310921A (en) * | 2020-09-24 | 2021-02-02 | 国网河北省电力有限公司行唐县供电分公司 | A 10kV distribution line deicing device |
| CN112310921B (en) * | 2020-09-24 | 2022-05-31 | 国网河北省电力有限公司行唐县供电分公司 | 10kV distribution lines defroster |
| WO2025008637A1 (en) * | 2023-07-04 | 2025-01-09 | Cable Coatings Limited | Robotic device for coating and/or pre-treatment of overhead transmission or distribution line conductors |
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Application publication date: 20180209 |
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