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高压线除冰机械人设计【10张CAD图纸和说明书】

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参考图纸
刀片.dwg
刀片.gif
刀片轮.dwg
刀片轮.gif
大齿30.dwg
大齿30.gif
小齿轮15.dwg
小齿轮15.gif
行走轮2.dwg
行走轮2.gif
行走轴1.dwg
行走轴1.gif
装配图-1.dwg
装配图-1.gif
装配图-2.dwg
装配图-2.gif
装配图.dwg
装配图.gif
除冰大齿轮.dwg
除冰大齿轮.gif
除冰小齿轮.dwg
除冰小齿轮.gif
除冰轴.dwg
除冰轴.gif
刀片.dwg
刀片轮.dwg
大齿30.dwg
小齿轮15.dwg
行走轮2.dwg
行走轴1.dwg
装配图.dwg
除冰大齿轮.dwg
除冰小齿轮.dwg
除冰轴.dwg
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摘要

   机械式输电线除冰技术是利用传统的工具通过机构运动方式达到输电线除冰的目的。由于机械式输电线除冰技术除冰效率高，操作简单，因此受到很多国家的重视，在国内也引起了极高的重视，尤其是各大院校和科研院所。本文从输电线覆冰原理及其危害综合说明了输电线覆冰对人们生产生活的影响，提出了一种新的输电线除冰解决方案。研发一款新式输电线除冰机。

本输电线除冰机主要由4部分组成，行走部分和除冰部分。行走部分主要通过齿轮传动机构实现，除冰部分通过对滚刀具实现除冰。


关键词：输电线除冰  机械式  覆冰


Abstract

     Mechanical transmission line de-icing technology is used tools by body movements in traditional means to achieve the purpose of transmission line icing. The mechanical transmission line de-icing deicing technology, high efficiency, easy operation. Therefore, the attention by many countries, high in the country also attracted attention, especially in the major universities and research institutes. The ice on the transmission line theory and the consolidated statement of the transmission line against ice impact on people's production and life, to provide new transmission line de-icing solutions. Developing a new transmission line de-icing machine. 

The transmission line de-icing machine mainly consists of 4 parts, Chassis parts and de-icing. Walking through the gear transmission part, achieved by de-icing rolling tool to achieve some de-icing.


Key words: Transmission line de-icing; Mechanical; Ice on the line



目录

摘要 I

Abstract II

第1章  绪论 1

1.1输电线覆冰概况 1

1.2输电线覆冰危害及机理 3

1.3国内外相关除冰设备及技术的特点、发展趋势 4

1.4除冰机研究的内容和意义 4

第2章  方案设计 6

2.1 工作原理 6

2.2 机构的设计方案 6

2.3 主体结构设计 9

第3章  结构设计 12

3.1  传动零件的设计 12

3.1.1  齿轮机构设计 12

3.1.2  轴的设计 17

3.1.3  轴承校核 20

3.2  除冰机构的设计 23

3.2.1  除冰方式选择 23

3.2.2刀架设计 25

3.2.3 除冰机构电机选择 25

3.3 整机三维装配图 26

第4章  功能及创新点 29

总结 30

参考文献 31

致谢 33


第1章  绪论

1.1输电线覆冰概况

输电线路因受结冰危害通常容易引起严重的断线、杆塔倒塌、大面积停电、限电等事故。对电力系统的安全运行造成了严重威胁,也一直是电力系统研究中急待解决的难点问题。据不完全统计,自上世纪50年代以来,我国输电线路便不断遭受覆冰危害。2003年,由覆冰引起的110～500kV输电线路跳闸79次,占总事故的3127%,其中500kV线路跳闸13次;由于覆冰引起110～500kV线路非计划停运47次,占总事故的41。24% 。2004年12月至2005年2月,我国华中电网出现大面积冰灾事故,仅湖南省就有700多万人受灾,直接经济损失超过10亿元。2008年1月,南方多个省份遭受了50年一遇的冰雪灾害,华中、华东部分地区出现长时间持续的大强度、大范围低温雨雪冰冻天气, 导致湖南、江西、浙江、安徽、湖北等地的电网发生倒塔、断线、舞动、覆冰闪络等多种灾害, 湖南电网14条500 kV、44条220 kV和121条110 kV线路停运; 江西电网17条500 kV、57条220 kV和168条110 kV线路停运; 浙江电网23条500 kV、21条220 kV和14条110 kV线路停运, “西电东送”大通道江城、宜华500 kV直流线路损坏严重, 河南、重庆、四川等地的电网也受到不同程度的冲击和破坏。部分地区的线路覆冰厚度达到40～60mm,远远超出了15～20 mm的设计值,如图1-1。贵州500kV骨干网基本瘫痪,华中、华东电网几十条500kV线路倒塔、倒杆、解列和停运,最大电力缺口接近4000万kW。截至2月12日,全国因灾停运线路共35968条,停运变电站1731座, 110～500kV线路倒塔8709座,全国13个省份拉闸限电,共有17个省级电网电力供应紧张。全国受灾人口达1亿多,直接经济损失超过1100亿元。


内容简介：
中 国 地 质 大 学 长 城 学 院本 科 毕 业 设 计 外 文 资 料 翻 译系 别：工程技术系 专 业：机械设计制造及其自动化 姓 名：赵鹏飞 学 号：05208325 2012年 3 月 22 日外文原文Abstract-This paper describes the improvements of Line ROV er, a mobile robot for de-icing of overhead transmission lines. A low-voltage DC motor and a Lithium-ion battery are used which increase the duration time without increasing the weight of the robot. A wireless transmission module that can be expanded arbitrarily with bidirectional transmission is applied.The electrical control box and battery are specially dealt and anew kind of water resistant joint is used. All these measure sim prove the waterproofness of the robot and enhance its reliability. Outdoor de-icing experiments were carried out, and the de-icing tools were then modified according to the results. Anim prove ment of the performance was measured.Index Terms-de-icing, mobile robot, transmission line, deicing tool.I. INTRODUCTIONAtmospheric icing structures, such as overhead transmission lines of sand in many countries, peoples lives brought about serious consequences, you can make a huge impact.It is generally known, occurred in 2008 in Quebec, Canada in 1998 in southern China.Modern transmission line de-icing methods, including hot-melt method and mechanical methods to break the ice additives 1-6. However, thermal methods have several shortcomings. First, the use of high current is applied to the results of the transmission lines in high-energy and mechanical methods. As evidenced by the literature. 7, thermal method requires about 100 times more energy than the mechanical method to force the ice off. Second, the thermal method is usually used for de-icing of the conductors, but there is no ground wire (GWS). In contrast, mechanical methods can be easily applied to the GWS very little or no modification.Conductor using different materials and GWS, GWS loaded with heavy ice can be widely extended and too close to the conductor, leading to flashover Cause short circuits. Therefore, the de-icing work for the GWS must be seriously considered.Line the ROV er, tele operation transmission line de-icing to become demand requirements. The third prototype has been developed to the generation of this robot from 2000 8 and improve the work in progress 9 10. In this article, the introduction of the latest developments and refurbishment Line the ROV er. Extension of time with the standard-voltage lithium-ion battery and a new type of low voltage DC motor is put into use, the duration does not increase the weight robot. A new wireless transmission module, it can be an arbitrary expansion of two-way transmission. The electrical control box is used to seal joints to deal specifically with, and a new, waterproof to improve these two robots. The de-icing tests were conducted two outdoor experiments line. According to the experimental results, we modify the de-icing tools, and a higher performance. All of the above elements will be discussed in detail in the following discussion section.Two.Transmission line de-icing machine technology development background batteries and update the driver of the motor to the important role of the motor in the robot motion system. A new type of lightweight but powerful brushless DC motor with low voltage (48 volts and 340 volts) has provided the current robot. With DC motors, linear velocity of the robot can reach 1.5 m / sec. Battery technology advances very quickly, and its innovations have led to a large number of new product development in many areas of Many outstanding features such as light weight cycle long life, and no memory effect, a lithium-ion battery (voltage 48 V) power package applications and use nickel-metal hydride batteries. Rated capacity of 2.2Ah battery to increase 18.2Ah output power improved significantly. Sufficient to provide the daily operation of the energy and the battery weight significantly decreased from 10.6 to 6.9 kilograms, at the same time. Table 1 shows the improvement of current robot specificationsB. Updating the wireless transmission modules and remote controllerBased on the same frequency hopping and spread spectrum in the Line ROV er third generation technology, a new wireless transmission module is applied to the Improve the robot. This smaller, lighter, and more than the price than the previous. In addition, there are only eight digital channels and six modules in the previous one-way analog channels, digital transmission can expand any two-way transmission of channels and analog channels in order to be modified according to customer requirements. Can be seen from Table 1, the remote control range to expand to a sharp increase from 0.8 km to 6.4 kmAs we all know, the use of high-quality commercial components can reduce design time and production costs. To this end, the portable remote control model aircraft use lithium-ion battery and a real-time voltage. This controller is lighter, higher reliability and easier operation than the previous generationC. updated waterproofConsider the robots actual working conditions in the de-icing process, should be noted that all the components of the water, in particular, leaving the cable plug in the air. Good business waterproof connector water resistance is used as a connection between the motor and control box and battery. In addition, the electrical control box and the processing of the lithium-ion battery and sealing. All of these methods to ensure that the robot waterproof and verification through field trials. Figure 1 shows the prototype with a remote control unit improve Line ROV er the rights.Go out. 18.6 mm in diameter is bare, and other diameter 26.4mm rubber cover. Use several to the formation of ice nozzle with 10 hours of water spray intermittently. The ambient temperature is below 13 degrees Celsius to zero. Coated with ice oval cross-section diameter wire measurements in two lines of about 63 mmA. de-icing experimentsA smooth start of the experimental progress of the bare conductor, but twice to stop before the process is complete. It robots seem to be having an ice resistance block and stop the robot station. We can see that when the robot passed through the line, there are still some ice still can. (The former and the latter two) three traction wheels standing on the ice completely correct, the middle wheel to hang a line, resulting in slipping in situ robot. On the other side, it was discovered that the robot ran with smooth rubber cover ray experiment on the bare line apply ice along the lines of the rapid decline, the robot hit the ice.After careful analysis of the results, the area between the accumulation of ice de-icing tools and bare conductor. In previous experiments in the creation of ice, compared to the adhesion strength between ice and ice hardness of the conductor were higher than before. Thus, a possible explanation is that due to the extreme hardness of coated ice, it does not break into small pieces, but the formation process than a big impact. The gradual accumulation of ice, and finally block robot. Although there are some differences between the two previously mentioned, the reason to stop can be attributed to the experience of the conductor after leaving the ice robot, and attributed to the large area between the de-icing tools and wireDiscuss the experimental results is proposed to improve the style of de-icing tool. Two to install the baffle behind the knife, can be seen in Figure 7. Proved by improving the performance of the subsequent test, and no other station in the process of de-icing. With regard to the situation represented in the diagram. 5, it can be attributed to ice and low adhesion strength between the lines outside the presence of rubber 11. In addition, the baffle of improved de-icing tool in order to speed up the process of de-icing, you can uninstall if appropriate, for example, if the hardness of ice is not too high a smooth and quickly cleared, or if the line is a rubber cover. Then, the robot successfully moved on overhead 500 kV EHV Liu zhou Bureau, ground power transmission of the China Southern Power Grid Company in December 2009, and obtained the good reputation of the user.In this paper, in sustained development Line ROV er, teleoper ted robot de-icing of overhead transmission lines, because it appeared in 2000. New features, such as a low voltage DC motors, lithium-ion battery, the wireless transmission modules can be introduced to expand with two-way transmission and waterproof control box. All these measures increase the duration, to improve the reliability of the robot. De-icing tool on the basis of the outdoor de-icing, modify experiments and better performance verification testing the improvement Line ROV er has been successfully in southern China of a 500 kV overhead ground wire run外文资料翻译译文 输电线除冰机些人的改进 摘 要 本文介绍了改进输电线除冰机，架空输电线路除冰机器人线。低电压直电动机和锂离子电池用于增加持续时间不增加机器人的重量。无线传输模块，可以任意扩大双向传输。电气控制箱和电池是专门处理和一种新型防水联合使用。所有这些措施提高机器人的防水性和提高其可靠性。室外进行除冰实验，除冰工具，然后根据结果修改。一个测量性能的改善。关键词： 除冰，移动机器人，输电线路除冰工具。一，导言 大气结冰可以使一个巨大的影响如架空输电线路的人造结构在许多人的生活带来严重的后果国家。它一般发生在魁北克省，加拿大在 1998 年和 2008 年的中国南方。现代输电线路除冰的方法，包括热融化的方法和机械方法，打破冰添加物。然而，热的方法有几种缺点。首先，使用大电流应用到输电线路在高能耗的结果与机械方法。作为证明文献。热方法需要更多的能量的 100 倍左右比机械的方法来迫使冰脱落。其次，热方法通常用于除冰的导体但没有接地线（GWS ） 。相比之下，机械方法可以很容易地应用到 GWS 很少或根本没有修改。由于导体使用不同的材料和 GWS，GWS 满载重冰区可广泛延伸和太靠近的导体，导致闪络造成短路。因此，为 GWS 除冰工作必须认真考虑。输电线除冰机，可以远程操作机器人输电线路除冰成为需求要求。已经发展到第三个原型代从 2000 年和改进工作这个机器人是正在进行中。在本文中，最新的发展和整修输电线除冰机介绍。与标准电压的锂离子电池和一种新型的低电压直流电动机投入使用，使工期不增加重量的情况下延长时间机器人。一个新的无线传输模块，它可以是任意扩大双向传输。电气控制箱是专门处理和新型用于密封接头，防水改善这两个机器人。除冰试验进行了两个室外实验线。根据实验结果，我们修改除冰工具，并得到了一个更高的性能。所有上述内容将在下面的讨论节中详细讨论。二。 输电线除冰机科技发展背景A.电池和电机的更新驱动电机在机器人的重要作用运动系统。一种新型的轻量级但功能强大的无刷直流电机与低电压（48 伏与 340 伏）已提供了当前的机器人。与此 DC 电机，机器人的线速度可以达到 1.5 米/ 秒。电池技术进步非常迅速，其创新导致大量的新产品开发许多领域。由于其中许多突出特点如重量轻循环寿命长，并没有“记忆效应”，1 锂离子电池（电压为 48 伏）的包应用电源与之前使用的镍氢电池。由于额定容量从 2.2Ah 电池增加 18.2Ah，输出功率显着提高。足够可以提供多个日常运作的能量和电池的重量显着下降10.6 公斤至 6.9 公斤，在同一时间。表 1 显示了改进目前的机器人规格。B.更新的无线传输模块和远程控制器基于同样的跳频和扩频在的输电线除冰机的第三代技术，一个新的一种无线传输模块被应用到提高机器人。这更小，更轻以及多价格比前。此外，还有只有 8 个数字通道和 6个单向类比通道以前的模块，而数字传输现在可以扩大渠道和类比通道任意双向传输，以便进行修改根据客户的要求。可以看出，远程控制范围也扩大急剧增加，从 0.8 公里至 6.4公里众所周知，使用高品质的商业组件可以减少设计时间和生产成本。为为此，航模使用的便携式遥控器锂离子电池和一个实时的
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