Design And Analysis Of The Anti-icing And Deicing Robot System For Transmission Lines

Overhead high-voltage transmission lines are usually erected at a relatively high height and are mostly distributed between mountains,rivers and lakes with complex environments,making manual inspection and maintenance difficult and costly.When the line is severely iced due to heavy snow,the manual cleaning method will often cause the line to collapse due to untimely handling,and it may cause casualties in more serious cases.Therefore,the use of manual snow processing has disadvantages such as low work efficiency and poor safety.However,the current research on deicing robots for power transmission lines almost always adopts the method of deicing after the line is coated with ice.This method has the problem that it is difficult to put the robots online on the ice-coated transmission lines and iron towers.The use of robots in ice-coated areas poses a safety hazard for operators.At the same time,the current deicing robots still have the disadvantages of heavy weight and short continuous operation time.These problems all affect the practical effect of the robot.Therefore,this subject takes 110 k V transmission lines as the research object,and uses the concept of "anti-icing as the mainstay,deicing as a supplement",and designs an anti-icing and deicing robot that can work for a long time and has environmental awareness and active operations,And carried out the detailed design and research analysis of the following aspects for the robot.(1)According to the design index requirements,the overall structure design of the antiicing and deicing robot has been completed,including the walking anti-falling mechanism,the anti-icing and deicing mechanism,the power switch mechanism and the corresponding protection design,etc;(2)The static characteristics of the robot are analyzed in detail,and the finite element analysis software is used to verify that the performance of the key components meets the design requirements.In the study of dynamic characteristics,the dynamic analysis of the climbing state of the robot was carried out,and the dynamic equation of the robot movement and the Lagrange dynamic model,as well as the inclination angle and wind speed of the robot under wind load,were established.The relationship with pressing force.A simulation line with a pitch of 50 m was constructed through the oblique parabola model of the transmission line,and dynamic simulation was performed in Adams to obtain the swing curve of the anti-icing and deicing robot’s center of mass and the force of the walking wheel,which further verified the overall stability of the robot,And ensure that the robot can perform tasks such as normal movement and climbing;(3)Use multi-sensor to collect data and analyze the cause of icing,and identify the type of icing based on the Makkonen icing prediction theoretical model.By designing the robot’s active operation control strategy,the robot’s autonomy is realized,and a sinusoidal S-curve acceleration and deceleration algorithm used to control the impact deicing operation is designed.Finally,using the Simulink module of MATLAB software and Adams software,and using the co-simulation analysis method,the validity of the discrimination of the ice coating type and the rationality of the operation control strategy are verified;(4)According to the mechanical design,static and dynamic characteristics analysis and simulation,and active operation control research of the anti-icing and de-icing robot,the selection of related hardware modules and software design and construction of the control system are completed.Finally,a prototype of the robot product was produced,and the robot was tested in a straight line,climbing,and anti-icing and deicing operations and endurance functions on the simulated circuit and on-site test line environment built in the laboratory.After various functional modules are tested separately,the results show that the designed and manufactured anti-icing and deicing robot meets the requirements and runs stably.