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中國地質(zhì)大學(xué)長城學(xué)院 本科畢業(yè)設(shè)計(jì)外文資料翻譯 系 別：工程技術(shù)系 專 業(yè)：機(jī)械設(shè)計(jì)制造及其自動(dòng)化 姓 名：趙鵬飛 學(xué) 號(hào)：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. INTRODUCTION Atmospheric icing structures, such as overhead transmission lines of sand in many countries, people's 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 specifications B. Updating the wireless transmission modules and remote controller Based 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 km As 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 generation C. updated waterproof Consider the robot's 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 mm A. de-icing experiments A 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 wire Discuss 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 外文資料翻譯譯文 輸電線除冰機(jī)些人的改進(jìn) 摘 要 本文介紹了改進(jìn)輸電線除冰機(jī)，架空輸電線路除冰機(jī)器人線。低電壓直電動(dòng)機(jī)和鋰離子電池用于增加持續(xù)時(shí)間不增加機(jī)器人的重量。無線傳輸模塊，可以任意擴(kuò)大雙向傳輸。電氣控制箱和電池是專門處理和一種新型防水聯(lián)合使用。所有這些措施提高機(jī)器人的防水性和提高其可靠性。室外進(jìn)行除冰實(shí)驗(yàn)，除冰工具，然后根據(jù)結(jié)果修改。一個(gè)測量性能的改善。 關(guān)鍵詞： 除冰，移動(dòng)機(jī)器人，輸電線路除冰工具。 一，導(dǎo)言 大氣結(jié)冰可以使一個(gè)巨大的影響如架空輸電線路的人造結(jié)構(gòu)在許多人的生活帶來嚴(yán)重的后果國家。它一般發(fā)生在魁北克省，加拿大在1998年和2008年的中國南方。現(xiàn)代輸電線路除冰的方法，包括熱融化的方法和機(jī)械方法，打破冰添加物。然而，熱的方法有幾種缺點(diǎn)。首先，使用大電流應(yīng)用到輸電線路在高能耗的結(jié)果與機(jī)械方法。作為證明文獻(xiàn)。熱方法需要更多的能量的100倍左右比機(jī)械的方法來迫使冰脫落。其次，熱方法通常用于除冰的導(dǎo)體但沒有接地線（GWS）。相比之下，機(jī)械方法可以很容易地應(yīng)用到GWS很少或根本沒有修改。由于導(dǎo)體使用不同的材料和GWS，GWS滿載重冰區(qū)可廣泛延伸和太靠近的導(dǎo)體，導(dǎo)致閃絡(luò)造成短路。因此，為GWS除冰工作必須認(rèn)真考慮。 輸電線除冰機(jī)，可以遠(yuǎn)程操作機(jī)器人輸電線路除冰成為需求要求。已經(jīng)發(fā)展到第三個(gè)原型代從2000年和改進(jìn)工作這個(gè)機(jī)器人是正在進(jìn)行中。在本文中，最新的發(fā)展和整修輸電線除冰機(jī)介紹。與標(biāo)準(zhǔn)電壓的鋰離子電池和一種新型的低電壓直流電動(dòng)機(jī)投入使用，使工期不增加重量的情況下延長時(shí)間機(jī)器人。一個(gè)新的無線傳輸模塊，它可以是任意擴(kuò)大雙向傳輸。電氣控制箱是專門處理和新型用于密封接頭，防水改善這兩個(gè)機(jī)器人。除冰試驗(yàn)進(jìn)行了兩個(gè)室外實(shí)驗(yàn)線。根據(jù)實(shí)驗(yàn)結(jié)果，我們修改除冰工具，并得到了一個(gè)更高的性能。所有上述內(nèi)容將在下面的討論節(jié)中詳細(xì)討論。 二。 輸電線除冰機(jī)科技發(fā)展背景 A. 電池和電機(jī)的更新驅(qū)動(dòng)電機(jī)在機(jī)器人的重要作用運(yùn)動(dòng)系統(tǒng)。一種新型的輕量級(jí)但功能強(qiáng)大的無刷直流電機(jī)與低電壓（48伏與340伏）已提供了當(dāng)前的機(jī)器人。與此DC電機(jī)，機(jī)器人的線速度可以達(dá)到1.5米/秒。電池技術(shù)進(jìn)步非常迅速，其創(chuàng)新導(dǎo)致大量的新產(chǎn)品開發(fā)許多領(lǐng)域。由于其中許多突出特點(diǎn)如重量輕循環(huán)壽命長，并沒有“記憶效應(yīng)”，1鋰離子電池（電壓為48伏）的包應(yīng)用電源與之前使用的鎳氫電池。由于額定容量從2.2Ah電池增加18.2Ah，輸出功率顯著提高。足夠可以提供多個(gè)日常運(yùn)作的能量和電池的重量顯著下降10.6公斤至6.9公斤，在同一時(shí)間。表1顯示了改進(jìn)目前的機(jī)器人規(guī)格。 B.更新的無線傳輸模塊和遠(yuǎn)程控制器 基于同樣的跳頻和擴(kuò)頻在的輸電線除冰機(jī)的第三代技術(shù)，一個(gè)新的一種無線傳輸模塊被應(yīng)用到提高機(jī)器人。這更小，更輕以及多價(jià)格比前。此外，還有只有8個(gè)數(shù)字通道和6個(gè)單向類比通道以前的模塊，而數(shù)字傳輸現(xiàn)在可以擴(kuò)大渠道和類比通道任意雙向傳輸，以便進(jìn)行修改根據(jù)客戶的要求?？梢钥闯?，遠(yuǎn)程控制范圍也擴(kuò)大急劇增加，從0.8公里至6.4公里 眾所周知，使用高品質(zhì)的商業(yè)組件可以減少設(shè)計(jì)時(shí)間和生產(chǎn)成本。為為此，航模使用的便攜式遙控器鋰離子電池和一個(gè)實(shí)時(shí)的電壓。這種控制器是比與上一代更輕更高的可靠性和更容易操作 C.更新的防水 考慮機(jī)器人的實(shí)際工作條件在除冰過程中，應(yīng)注意的所有組件的防水，尤其是在空氣中留下電纜插頭。具有良好的商業(yè)防水接頭水的阻力被用作電機(jī)之間的連接，控制箱和電池。此外，電氣控制框和鋰離子電池的處理與密封處理。所有這些方法確保機(jī)器人的防水和通過現(xiàn)場試驗(yàn)驗(yàn)證。顯示的原型與遠(yuǎn)程控制單元上的改進(jìn)輸電線除冰機(jī)的權(quán)利。 第三。實(shí)驗(yàn)與討論 出門。直徑為18.6毫米是光禿禿的，和其他直徑26.4mm是橡膠覆蓋。使用幾種形成冰噴嘴與10小時(shí)的噴水間歇。環(huán)境溫度低于攝氏13度為零。涂冰橢圓截面直徑導(dǎo)線測量在63毫米左右的兩條線 A. 除冰實(shí)驗(yàn) 在裸導(dǎo)體的實(shí)驗(yàn)進(jìn)展順利開始，但前兩次停止過程完成。它機(jī)器人似乎遇到了一個(gè)從冰阻力塊和停止之后顯示了機(jī)器人的其他站。我們可以看到，當(dāng)機(jī)器人通過該行通過，有仍有一些冰仍就可以了。兩個(gè)（前者和后者）三個(gè)牽引車輪站在冰塊上完全正確，中間輪掛了線，從而導(dǎo)致了滑倒在原位機(jī)器人。在另一邊，它被發(fā)現(xiàn)的機(jī)器人跑了多少與比較順利的橡膠覆蓋線實(shí)驗(yàn)上裸行 “敷冰沿著線迅速下降時(shí)，機(jī)器人打冰。 B.討論和修改 仔細(xì)分析后，結(jié)果發(fā)現(xiàn)，有很多積累的冰塊除冰工具及裸導(dǎo)體之間的區(qū)域。在以前的實(shí)驗(yàn)中創(chuàng)造了冰，相比冰和冰之間的粘合強(qiáng)度硬度售票員均高于前。因此，一個(gè)可能的解釋是由于極端的硬度涂冰，它沒有打破成小塊，但形成到比大的影響過程中的。冰塊逐漸積累，終于'封殺'的機(jī)器人。雖然有一些在這兩個(gè)之間的差異前面提到的，其原因停止可以歸因于導(dǎo)體后留下的冰機(jī)器人的經(jīng)歷，并進(jìn)一步歸結(jié)到超大地區(qū)之間的除冰工具和導(dǎo)線 根據(jù)實(shí)驗(yàn)結(jié)果討論，提出改進(jìn)作風(fēng)的除冰工具。兩件安裝擋板背后的刀，可以看出通過提高性能證明隨后的測試，并沒有其他站發(fā)生在除冰的過程。關(guān)于圖中所表示的情況。 5，它可以是歸因之間的冰和低粘合強(qiáng)度線外橡膠的存在。此外，改進(jìn)的除冰工具的擋板為了加快除冰的過程中，可以卸載如果適當(dāng)?shù)模?，如果冰的硬度是不是太高順利和迅速被清除，或如果該行是橡膠覆蓋。然后，機(jī)器人成功移動(dòng)上的開銷在500千伏超高壓柳州局，地線中國南方電網(wǎng)的電力傳輸公司在2009年12月，并獲得用戶的良好贊譽(yù)。 四。結(jié)論 本文提出了在持續(xù)發(fā)展輸電線除冰機(jī)，遙控輪式機(jī)器人除冰的開銷輸電線路，因?yàn)樗霈F(xiàn)在2000年。新功能，例如作為一個(gè)低電壓直流電動(dòng)機(jī)，鋰離子電池，無線傳輸模塊，可以任意擴(kuò)大與雙向傳輸和防水的控制箱等進(jìn)行了介紹。所有這些措施增加持續(xù)時(shí)間，提高了機(jī)器人的可靠性。 “除冰工具在戶外除冰的基礎(chǔ)上進(jìn)行修改通過實(shí)驗(yàn)和更好的性能驗(yàn)證測試之后。改進(jìn)輸電線除冰機(jī)已成功中國南方一個(gè)500千伏架空地線運(yùn)行