Design Of The De-icing Robot For High-voltage Transmission Lines

Icing disaster of high- voltage transmission is inconvenience not only to the industry but also to our daily life. What’s worse, it has caused huge economic losses. it has become an important and hot problem. Therefore, countries have started research on an efficient and convenient method for line deicing, At the same time, de- icing robotics emerged. Deicing robot technology has a promising prospect and practical significance, and provides a safe, economical and effic ient method to prevent the high- voltage transmission line from the icing disaster.In this thesis, the current research statuses of the domestic and international deicing robot are analyzed. Based on that, a three-arm robot scheme was proposed, which can deice the 220 k V high- voltage transmission lines constantly. The robot is able to avoid the various fittings on the line to achieve a continuous operation effectively between towers.Combined with the application requirements, together with the general scheme of the deicing robot, the mechanical structure of the deicing robot, including mechanical structure of the program and solutions of the control system are designed. The mechanical structure of the robot is mainly composed of the deicing mechanism, traveling mechanism, the obstacle bodies and the supporting bodies, etc. The core components of the robot are the deicing mechanism and obstacle bodies.On the basis of the mechanical structure, deicing robot’s movement feature is analyzed in the thesis, and the kinematical equation of the deicing robot is derived. Besides, ADAMS software is used to simulate the prototype of the robot and verify the kinematical equation.What is more, the process of obstacle avoiding of the deicing robot in terms of kinematics and dynamics were analyzed in ADAMS software. Deficiencies in the structural design are discovered, and the corresponding design amendments are made.Based on the method of finite element, the static characteristics of deicing robot are studied. Besides, a finite element model of deicing robot was carried out separately for static and modal analysis by static analysis. Through static analysis, the response of the system under static loads is examined. In addition, the deicing robot’s inherent frequencies and model shapes through modal analysis are obtained. Finally, the key components of deicing robot, namely the travelling wheel, the base and the connection plate, the force and deformation finite element analysis, and analyzed the angular natural frequency of the robot are gave.