Design And Experimental Study Of Deicing Robot On High-voltage Transmission Line

China has a very wide land area. And power grid and power equipment cover a wide area. According to accident-prone problem which the power equipment was damaged by ice covered on transmission line in winter in China, the deicing robot on high-voltage transmission line became a research topic in this paper. This paper provided the analysis of the structure of the deicing robot on transmission line. In this paper a new type of “T” high-voltage transmission line deicing robot have been researched and manufactured. The main research contents were as follows:(1)Based on a large number of literature research, the background and basic properties of deicing robot on transmission line were mastered. Ice types on transmission line and ice characteristics were analyzed. Deicing methods commonly used at present on the transmission line was summarized. The development trend of the deicing robot on transmission line was discussed.(2)In consideration of the working environment of deicing robot, this paper proposed a design goal of deicing robot. And also important parts of some existing robots including ice removing mechanism, frame structure, running mechanism,clamping mechanism were analyzed and researched. This task would provide the technical basis for the detailed design of the robot.(3)A new type of “T” deicing robot on transmission line was designed and developed in this subject. By using 3D design software Solid Works, the deicing robot was 3D designed in detail. 3D and 2D drawings of parts and assembly were rendered.Virtual manufacturing and assembly were carried out in computer.(4)Stress and strength of the key parts were analyzed and checked. Driving force required for walking and deicing force was analyzed and calculated. The motor for walking and the motor for deicing were selected. According to the power consumption characteristics and work conditions, the battery was selected. Effective work time and walking distance were calculated. Stress and strength were analyzed and checked respectively in these key parts including deicing mechanism, machine frame, chain drive mechanism, intermediate transmission shaft.( 5) The control system of deicing robot was designed in this paper. The functions of the control system were analyzed. And appropriate remote control equipment was selected. The control program of actions was made for deicing mechanism, running mechanism, clamping mechanism and so on. The wireless camera system was designed to realize the on-line monitoring function of deicing robot.(6)The new type of deicing robot designed and developed in this paper was virtually manufactured in Solid Works, really manufactured in a factory. Artificial simulation test and field test were made. The results showed that: actual climbing ability and efficient de-icing capability of the deicing robot were sufficient for working on high-voltage transmission line.