Study On Deicing Sub Robot&Icing Detection System For Multi-cable Transmission Line

In recent years all over the country ice and snow disasters constantly, especially in thesouthern of the freezing rain weather to local power supply system bring serious damage. Inview of this situation, and puts forward the subject "transmission line freezing rain icedetection system and deicing robot technology", to be used for overhead transmission line onthe ice load testing and forecast, and through the robot technology realize deicing work.This paper describes the development status of the existing Transmission Line Icing loaddetection system and deicing robot. A new of deicing robot mechanical structure wasdesigned, and the de-icing sub-structure of the robot was detailed studied, including structuraldesign and telescopic boom arm walking robot. Line Icing load detection algorithm based onthe stress analysis of the transmission lines was proposed. The Transmission Line loaddetection system design was identified, and its host computer system was designed.For commonly used for overhead transmission lines feature multi-line symmetricalarrangement, the de-icing the robot is to take the master-slave and the symmetrical structureof the program. The design of deicing robot of friction telescopic arm mechanism makes theirwork space from a transmission cable extended to three. Thereby greatly improving the workefficiency of the deicing.Using analysis software made modal analysis and kinematicsimulation of the telescopic boom work status respectively.On the basis of ice mechanism of transmission lines, this paper comes up with thealgorithm used by the freezing rain ice detection system of transmission lines,through theformulas,such as equation of state,sag,line length and stress combined with the measuredclimate parameters, coordinate data, wire parameters.This paper designed the host computer system load detection and hazard prediction LineIcing, according to the proposed overhead transmission lines overlying ice load algorithms.The paper made simulation experiment which combined transmission lines with the measuredcoordinate data and climate parameters and verified the feasibility of detection system. Thepaper uses the overhead wire ropes analog overhead transmission wire to test and verify theaccuracy of the algorithm. Provide the basis for the algorithm to find out the accuracy ofimpact factors for subsequent improvements.