CN-122000824-A - Method for deicing overhead transmission line ground wire by helicopter suspension deicing robot

CN122000824ACN 122000824 ACN122000824 ACN 122000824ACN-122000824-A

Abstract

The invention provides a method for deicing overhead transmission line ground wire by a helicopter suspension deicing robot, which belongs to the technical field of transmission line ground wire deicing and aims to avoid the safety risk of deicing operation of helicopter suspension personnel, the method for deicing the overhead transmission line ground wire by the helicopter suspension deicing robot adopts an overhead transmission line ground wire deicing robot kit suitable for a helicopter, and the overhead transmission line ground wire deicing robot kit suitable for the helicopter comprises an overhead crane connecting cover (2) and an overhead transmission line ground wire deicing robot (1) suitable for the helicopter. The method for deicing the ground wire of the overhead transmission line by the helicopter suspension deicing robot has the advantages of being free of terrain limitation on a helicopter operation platform, wide in coverage range and the like, and meanwhile, the method can also have the advantages of safety in deicing operation, high efficiency and stable performance of the deicing robot.

Inventors

LI LIUYI
XU WENCHAO
WANG HAOMIAO
YANG LIMING
TIAN YANMING
HAN FUQUAN
ZHANG GUOQING
DUAN WENYUN
XIN FUQIANG
KANG GUONA
YANG JINGANG
LI SHUAI
ZHU YUE
WANG GE
ZHAO PENGCHENG
ZHOU CHENGUANG
WANG HAO
XING QIFENG

Assignees

国网电力空间技术有限公司
国家电网有限公司

Dates

Publication Date: 20260508
Application Date: 20251205

Claims (10)

1. The method for deicing the overhead transmission line ground wire by the helicopter suspension deicing robot is characterized in that the method for deicing the overhead transmission line ground wire by the helicopter suspension deicing robot adopts an overhead transmission line ground wire deicing robot kit suitable for a helicopter, the overhead transmission line ground wire deicing robot kit suitable for the helicopter comprises an overhead transmission line ground wire deicing robot (1) suitable for the helicopter and an overhead transmission line ground wire connecting cover (2), the overhead transmission line ground wire deicing robot (1) suitable for the helicopter comprises a hanging mechanism (11) and a robot main body (12) which are connected up and down, the hanging mechanism (11) comprises an outer barrel (111) and a hanging claw arm (112), the outer barrel (111) is in an upright barrel-shaped structure, the hanging claw arm (112) can extend out of the outer barrel (111) and is in an extending state, and the hanging claw arm (112) can also retract into the outer barrel (111) and is in a retracting state, the overhead transmission line ground wire deicing robot (1) suitable for the helicopter comprises an upper joint (21) and a lower connecting barrel (22) which are arranged up and down at intervals, and the lower connecting barrel (22) is in an upright state; The method for deicing the ground wire of the overhead transmission line by the helicopter suspension deicing robot sequentially comprises the following steps of: Step 1, a helicopter (3) flies to a position right above an overhead transmission line ground wire deicing robot (1) suitable for the helicopter through a sling (4) to hang an overhead crane connecting cover (2), and a lifting claw arm (112) of the overhead transmission line ground wire deicing robot (1) suitable for the helicopter is in a retracted state; Step 2, the helicopter (3) descends, the outer cylinder (111) of the hanging mechanism (11) passes through the lower connecting cylinder (22) of the empty hanging connecting cover (2) until the empty hanging connecting cover (2) is abutted with the robot main body (12), and the hanging claw arm (112) is converted into an extending state from a retracting state; Step 3, lifting the helicopter (3), clamping the overhead transmission line ground wire deicing robot (1) applicable to the helicopter by the overhead crane connecting cover (2), and hanging the overhead transmission line ground wire deicing robot (1) applicable to the helicopter by the helicopter (3) to fly to an operation position above the overhead transmission line (5); Step 4, the helicopter (3) descends, an overhead transmission line ground wire deicing robot (1) suitable for the helicopter is hung on an overhead transmission line (5), and after the sling (4) is in a loose state, the claw hanging arm (112) is converted into a retracted state from an extended state; And 5, lifting the helicopter (3) away, separating the overhead transmission line ground wire deicing robot (1) applicable to the helicopter from the overhead transmission line ground wire deicing robot (2), and hanging the overhead transmission line ground wire deicing robot (1) applicable to the helicopter on the overhead transmission line (5) for deicing operation.
2. The method of deicing an overhead transmission line ground wire with a helicopter suspension deicing robot of claim 1, further comprising, in order, the steps of: step 6, after deicing operation is finished, the helicopter (3) flies to the position right above the overhead transmission line ground wire deicing robot (1) suitable for the helicopter through the hanging rope (4) hanging the empty hanging connection cover (2), and the hanging claw arm (112) suitable for the overhead transmission line ground wire deicing robot (1) of the helicopter is in a retracted state; Step 7, the helicopter (3) descends, the outer cylinder (111) of the hanging mechanism (11) passes through the lower connecting cylinder (22) of the empty hanging connecting cover (2) until the empty hanging connecting cover (2) is abutted with the robot main body (12), and the hanging claw arm (112) is converted into an extending state from a retracting state; Step 8, lifting the helicopter (3), clamping the overhead transmission line ground wire deicing robot (1) applicable to the helicopter by the overhead crane connecting cover (2), and suspending the overhead transmission line ground wire deicing robot (1) applicable to the helicopter by the helicopter (3) to fly to a ground departure position; Step 9, the helicopter (3) descends, an overhead transmission line ground wire deicing robot (1) suitable for the helicopter steadily descends to the ground, after the sling (4) is in a loose state, the sling arm (112) is converted into a retracted state from an extended state, ground personnel recover the overhead transmission line ground wire deicing robot (1) suitable for the helicopter, and the overhead transmission line ground wire deicing robot (1) suitable for the helicopter is separated from the overhead transmission line ground wire deicing cover (2); And step 10, lifting the helicopter (3) to fly off, and returning to the landing point to land.
3. The method for deicing an overhead transmission line ground wire by a helicopter suspension deicing robot according to claim 1, wherein the outer cylinder (111) comprises a cylinder wall (1111) and a cylinder inner cavity (1112), the lifting claw arms (112) are of a strip-shaped structure, the lifting claw arms (112) are arranged at intervals along the circumferential direction of the outer cylinder (111), the cylinder inner cavity (1112) comprises a telescopic driving assembly (113), the lifting claw arms (112) are connected with the telescopic driving assembly (113) through connecting rods (114), one ends of the lifting claw arms (112) are connected with the cylinder wall (1111) through rotating shafts (115), the rotating shafts (115) are located at the upper part in the cylinder inner cavity (1112), the lifting claw arms (112) can rotate around the rotating shafts (115), the axis of the rotating shafts (115) is perpendicular to the axis of the outer cylinder (111), one ends of the connecting rods (114) are hinged with the middle parts of the lifting claw arms (112), the other ends of the connecting rods (114) are hinged with the telescopic driving assembly (113), and the other ends of the telescopic driving assembly (113) can drive the lifting claw arms (112) to extend out of the outer cylinder (111) or retract into the outer cylinder (111).
4. A method for deicing an overhead transmission line ground wire by a helicopter suspension deicing robot according to claim 3, characterized in that the telescopic driving assembly (113) comprises a screw rod (1131), a nut (1132) and a rotating motor (1133), the nut (1132) is sleeved outside the screw rod (1131), the other end of the connecting rod (114) is hinged with the nut (1132) of the telescopic driving assembly (113), the axis of the screw rod (1131) is coincident with the axis of the outer cylinder (111), the screw rod (1131) is connected with the rotating motor (1133) up and down, and the rotating motor (1133) can drive the nut (1132) to reciprocate along the axis direction of the screw rod (1131) through the screw rod (1131).
5. The method for deicing an overhead transmission line ground wire by a helicopter suspension deicing robot according to claim 1 characterized in that the robot body (12) comprises an outer shell (121), an outer traveling wheel (122), an inner traveling wheel (123) and a spring suspension assembly (124), the outer shell (121) is in a saddle-shaped structure, the outer shell (121) comprises a front side wall (1211), a top wall (1212) and a rear side wall (1213) which are sequentially connected from front to back, the front side wall (1211), the top wall (1212) and the rear side wall (1213) enclose a mounting cavity (1214), the lower end of the mounting cavity (1214) is in an open state, the outer traveling wheel (122), the inner traveling wheel (123) and the spring suspension assembly (124) are all positioned in the mounting cavity (1214), the two outer traveling wheels (122) and the two inner traveling wheels (123) are all arranged in a bilateral symmetry manner, the two outer traveling wheels (122) and the two inner traveling wheels (123) are positioned between the two outer traveling wheels (122) along the left-right direction, the two outer traveling wheels (122) and the two inner traveling wheels (123) can be bent downwards and can be matched with the inner traveling wheels (123) which can be hung downwards by the inner traveling wheels (124) and can be arranged downwards, the inner traveling wheels (124) can be hung downwards by the inner traveling wheels (124) and can be arranged downwards and can be matched with the inner traveling wheels (124), the spring suspension assembly (124) is capable of providing a downward restoring force to the inner running wheel (123).
6. The method for deicing an overhead transmission line ground wire by a helicopter suspension deicing robot according to claim 5, wherein the spring suspension assembly (124) comprises a movable seat (1241) and two movable shafts (1242), the two movable shafts (1242) are in an upright state, the two movable shafts (1242) are arranged at left and right intervals, the left and right ends of the movable seat (1241) are respectively fixedly connected with the lower ends of the two movable shafts (1242), a shaft sleeve (1243) is sleeved outside the two movable shafts (1242), a linear bearing (1244) is sleeved between the movable shafts (1242) and the shaft sleeve (1243), a spring (1245) is sleeved outside the shaft sleeve (1243), the upper end of the shaft sleeve (1243) is fixedly connected with the top wall (1212), the upper end of the spring (1245) is in butt joint with the top wall (1212), and the lower end of the spring (1245) is in butt joint with the movable seat (1241).
7. The method for deicing an overhead transmission line ground wire by a helicopter suspension deicing robot according to claim 5, characterized in that an outer traveling motor (125) is provided in the outer traveling wheel (122), the outer traveling motor (125) can drive the outer traveling wheel (122) to rotate clockwise or counterclockwise, an inner traveling motor (126) is provided in the inner traveling wheel (123), and the inner traveling motor (126) can drive the inner traveling wheel (123) to rotate clockwise or counterclockwise.
8. The method for deicing an overhead transmission line ground wire by a helicopter suspension deicing robot according to claim 5, characterized in that the robot body (12) further comprises a beating assembly (127), the beating assembly (127) is located at the left end and the right end of the outer shell (121), the beating assembly (127) comprises a mounting seat (1271), a rotary beating motor (1272), a rotary beating arm (1273) and a beating block (1274) which are sequentially connected, and the rotary beating motor (1272) can drive the rotary beating arm (1273) and the beating block (1274) to rotate and beat an ice layer on the overhead transmission line (5).
9. The method for deicing an overhead transmission line ground wire by a helicopter suspension deicing robot according to claim 5, characterized in that the robot body (12) further comprises clamping and impacting assemblies (128), the clamping and impacting assemblies (128) are located at left and right ends of the outer shell (121), the clamping and impacting assemblies (128) comprise rotary clamping motors (1281), rotary clamping arms (1282), pinch rollers (1283) and impact heads (1284), one ends of the rotary clamping arms (1282) are connected with the rotary clamping motors (1281), the pinch rollers (1283) and the impact heads (1284) are fixed to the other ends of the rotary clamping arms (1282), the rotary clamping motors (1281) can drive the rotary clamping arms (1282) to rotate, the pinch rollers (1283) and the outer travelling wheels (122) clamp and fix the overhead transmission line (5), and the impact heads (1284) can impact an ice layer on the overhead transmission line (5).
10. The method for deicing the overhead transmission line ground wire by the helicopter suspension deicing robot according to claim 1 is characterized in that the upper end and the lower end of the lower connecting cylinder (22) are both in an open state, the lower connecting cylinder (22) is of a truncated cone-shaped structure, the top end of the lower connecting cylinder (22) is upwards and downwards, the upper joint (21) and the lower connecting cylinder (22) are fixedly connected through an outer connecting rod (23), the outer connecting rod (23) is positioned on the outer side of the lower connecting cylinder (22), the outer diameter of an outer cylinder (111) of the overhead transmission line ground wire deicing robot (1) suitable for a helicopter is smaller than the inner diameter of the upper end of the lower connecting cylinder (22), the distance from the lower end of the lifting claw arm (112) to the lower end of the outer cylinder (111) is larger than the height of the lower connecting cylinder (22) when the lifting claw arm (112) is in a retracted state, the distance from the outer end of the lifting claw arm (112) to the axis of the outer cylinder (111) is larger than half the inner diameter of the upper end of the lower connecting cylinder (22), and the lower connecting cylinder (22) can be sleeved in the lower connecting cylinder (22).

Description

Method for deicing overhead transmission line ground wire by helicopter suspension deicing robot Technical Field The invention relates to the technical field of ground wire deicing of transmission lines, in particular to a method for deicing an overhead transmission line by a helicopter suspension deicing robot. Background The transmission line has long mileage, complex terrains and special environments including mountains, jungles and the like, and the line is on the way to form ice coating in winter. Icing can increase vertical load and windage of the ground lead, resulting in increased sag, insufficient safety distance to ground or cross-over, and triggering flashover. When the ice is seriously covered, the tension of the ground wire can be greatly increased, and the design limit is exceeded, so that catastrophic accidents such as wire breakage, tower falling and the like are caused. The large-area power failure of the power grid is caused, and huge economic loss is caused. In the prior art, the deicing of the transmission line can be performed by adopting a helicopter sling method suspending personnel, the deicing mode is the extension application of the sling method, namely, the deicing operation is performed by adopting a mode that 1 worker suspending the helicopter is used for holding a tool to knock the icing, and the deicing device is suitable for a repeated icing scene. And the ice coating on the optical cable is successfully removed by nearly 300 meters in Shaan, so that the tension of the optical cable is restored to be within an allowable range, conditions are created for the follow-up operation of removing the optical cable, and the line rush-repair efficiency is greatly improved. However, the deicing risk of the helicopter hanging personnel exists that the deicing jump strikes the operating personnel, and the deicing operating personnel carry out deicing in a hanging state for a long time, so that adverse weather such as severe cold and the like needs to be overcome, the labor intensity of the personnel is high, and the deicing operating personnel only carry out application in emergency scenes. Disclosure of Invention In order to avoid the safety risk of deicing operation of the helicopter suspending personnel, the invention provides a method for deicing the ground wire of the overhead transmission line by the helicopter suspending deicing robot, the method for deicing the ground wire of the overhead transmission line by the helicopter suspension deicing robot has the advantages of being free of terrain limitation on a helicopter operation platform, wide in coverage range and the like, and meanwhile, the method can also have the advantages of safety in deicing operation, high efficiency and stable performance of the deicing robot. The technical scheme adopted by the embodiment of the invention for solving the technical problems is as follows: The method for deicing the overhead transmission line ground wire by the helicopter suspension deicing robot comprises a set of overhead transmission line ground wire deicing robots suitable for helicopters, wherein the set of overhead transmission line ground wire deicing robots suitable for helicopters comprises an overhead connection cover and overhead transmission line ground wire deicing robots suitable for helicopters, the overhead transmission line ground wire deicing robots suitable for helicopters comprise a hanging mechanism and a robot main body which are connected up and down, the hanging mechanism comprises an outer barrel and a hanging claw arm, the outer barrel is in an upright barrel-shaped structure, the hanging claw arm can extend out of the outer barrel and is in an extending state, the hanging claw arm can also retract into the outer barrel and is in a retracting state, the overhead connection cover comprises an upper connector and a lower connection barrel which are arranged at intervals up and down, and the lower connection barrel is in an upright state; The method for deicing the ground wire of the overhead transmission line by the helicopter suspension deicing robot sequentially comprises the following steps of: Step 1, a helicopter flies to hover right above an overhead transmission line ground wire deicing robot suitable for the helicopter through a sling hanging an overhead crane connecting cover, and a hanging claw arm suitable for the overhead transmission line ground wire deicing robot of the helicopter is in a retracted state; Step 2, the helicopter descends, the outer cylinder of the hanging mechanism penetrates through the lower connecting cylinder of the empty hanging connecting cover until the empty hanging connecting cover is abutted with the robot main body, and the hanging claw arm is converted into an extending state from a retracting state; step 3, lifting the helicopter, clamping the aerial hoist connecting cover with an overhead transmission line ground wire deicing robot applicable to the helicopter, and suspend