架空输电线路除冰机器人的研制

摘要

Deicing with robotics could be operated on line for the transmission lines to prevent damage.For single line deicing between two towers,a practical deicing robot for overhead transmission lines is manufactured.The robot deices by impacting on ice with fixed tools.Three driving wheels and pressure wheel mechanism could increase friction for driving.A locking mechanism and anti-overturning mechanism are developed for high stability and safety during working.The robot has the advantages of light weight,small size and high deicing efficiency.Many experiments have been carried out on simulative lines and 500 kV live-lines.It is varified that the deicing speed is more than 0.13 m/s,even through the ice diameter is 50 mm.%利用机器人技术实现输电线路在线除冰,可以在不停电的情况下提早消除覆冰隐患,防止重大灾害的发生。针对一档内单股线除冰作业,设计并研制出一种实用性较高的输电线路除冰机器人。该机器人采用固定刀具,前推撞击方式除冰;3个并行排列同时驱动的行走轮与压紧轮机构配合增大摩擦驱动力;采用的锁紧机构和防倾倒机构,确保作业稳定,保障作业安全。该机器人体积小、重量轻、除冰效率高,已经在模拟线路和500 kV带电线路等进行过多次除冰试验,在直径超过50 mm的高硬度覆冰环境下,平均除冰速度可达0.13 m/s。