北方输电线路冬季因受冰雪危害引起的供电中断事故严重,修复工作难度大、周期长、停电面积广,是全世界范围内需解决的难点问题.针对高压输电线路覆冰情况,提出了一种线路除冰机器人,由移动机构、除冰刀具、电源系统和控制系统组成,机器人利用固定在前端的三角形刀具的撞击力清除覆冰;驱动轮采用V型结构.适应一定范围的线径,采用的锁紧机构和防倾倒机构,为机器人提供了足够的稳定支撑,有效防止了机器人激烈碰撞时向后倾斜.该机器人体较小、除冰效率高,可清除厚度20mm的覆冰.%Transmission lines of power in northern region are being harmed because of overloading snows and ice during winter. This kind of accident often can cause large-areas blackout for days and masses of complicated repair as well, which has come into notice not only in china but all around the world. According to the icing condition of high voltage transmission lines, a kind of deicing robot is proposed. By moving mechanism, deicing tool, power system and control system, this robot uses the impact force of the triangular tools which are fixed in front of the robot. Using V type structure of driving wheel can adapt to a range of wire diameter. The locking mechanism and the dumping mechanism can provide sufficient stability support and effectively prevent robot tilted backwards. The robot has the advantages of light weight,small size and high deicing efficiency and can remove the20mm thickness of ice.
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