Transmission line icing seriously influences normal operation of power system and so brings huge losses to social economy. Recently, deicing heavily relies on humans, which is high danger and low efficiency. To address this problem, this paper proposes an efficient and safe deicing robot. It mainly contains an antiskid mechanism, deicing mechanism, and walking mechanism. The antiskid mechanism are composed of clamping gears and a motor reducer, which can ensure the safety and stability of the deicing robot when working at height. Electric rotating blade and spring are used in combination by deicing mechanism. This scheme can not only protect the transmission line from damage but also deicing efficiently. The walking mechanism provides enough driving force for the deicing robot and adopts the design of double driving wheels and three driven wheels. In addition, variations in humidity, temperature, and wind speed will result in different shapes and hardness of ice on power line, so transmission line icing mechanism, as well as calculation of cutting force of deicing, are revealed in the article. Meanwhile, the cutting force of ice whose thickness is 10mm on transmission line will be figured out as an example.Last, permanent magnet linear synchronous motors (PMLSM) which are based on field-oriented control (FOC) are simulated in a matlab environment, the speed and electric current of PMLSM remain stable under constant workloads. Its torque can fully meet the requirements of removing 10mm thick ice of transmission line and that can prove the feasibility of the scheme.This paper provides a new idea for deicing transmission lines, which has great social benefits and application prospects.


 

robot,decing,efficient,safe