A substation equipment deicing device and a composite motion control method thereof

Abstract

The application discloses a substation equipment deicing device and a composite motion control method thereof. The device comprises a bearing plate provided with a heating element, and the bearing plate is fixedly connected with a control assembly through a connecting rod. The control assembly comprises a motor, a mounting box, a driving pulley, a driven pulley, a transmission belt, a pull rod, an adjusting frame, a crank and a control pipe. The driving pulley is coaxially fixedly connected with one end of the crank and is connected with the driven pulley through the transmission belt, the other end of the crank is matched with the adjusting frame, the adjusting frame is fixedly connected with the top of the vertically sliding pull rod, and the bottom of the pull rod is matched and connected with the connecting rod slidingly installed on the control pipe. The control pipe is provided with a cross guide groove, and the cross guide groove is matched with an adjusting assembly coaxially connected with the driven pulley, so as to drive the control pipe to rotate by a predetermined angle after the pull rod completes one vertical reciprocating motion. The application realizes the non-interference operation of 'first lifting and then rotating' through single power input, and improves the deicing efficiency and coverage.

Description

Technical Field

[0001] This invention relates to the field of power system operation and maintenance equipment technology, and more specifically, to a device for de-icing substation equipment and its composite motion control method. Background Technology

[0002] As the core hub of the power system, substations are highly susceptible to ice accumulation on their equipment during harsh winter weather. Ice accumulation not only increases the load on equipment but also degrades insulation performance, potentially leading to serious accidents such as flashovers, tripping, and even equipment damage. Therefore, timely and effective removal of ice and snow from the surfaces of substation equipment is crucial.

[0003] Existing substation de-icing devices are mainly divided into two categories: one is handheld or simple mounted de-icing tools, which rely on manual operation, are labor-intensive, and pose safety hazards when operating in low-temperature environments; the other is de-icing robots or devices with a higher degree of automation. However, these automated devices usually have the following drawbacks.

[0004] First, to achieve complete coverage of equipment surfaces (such as insulator strings, transformer heat sinks, etc.), such devices often require complex multi-degree-of-freedom robotic arms or multiple sets of independent drive motors. For example, one motor might be dedicated to controlling lifting, while another motor might be dedicated to controlling rotation or translation. This not only increases the manufacturing cost, weight, and size of the device but also significantly increases the complexity of the circuit control and the failure rate.

[0005] Secondly, existing composite motion devices have shortcomings in motion coordination. Lifting and rotating motions often interfere with each other, or there are dead zones when switching motion modes, resulting in discontinuous de-icing operations and leaving blind spots. Although some devices can switch actions through programming of the electronic control system, they require high computing power from the controller, and the mechanical structure itself lacks fault tolerance mechanisms in the event of a control system failure.

[0006] Therefore, there is an urgent need for a de-icing device for substation equipment that is simple in structure, low in cost, and can achieve high-precision timing coordination of lifting and rotation through a single power source. Summary of the Invention

[0007] The purpose of this invention is to provide a de-icing device for substation equipment, so as to solve the problems of complex structure, difficulty in multi-motor coordinated control and high cost of existing de-icing devices.

[0008] The second objective of this invention is to provide a composite motion control method based on the above-mentioned device, which achieves natural temporal decoupling of lifting and rotation through a purely mechanical structure.

[0009] To achieve the above objectives, the present invention provides the following technical solution.

[0010] A de-icing device for substation equipment includes a support plate and a control assembly. A heating element is mounted on the support plate. The control assembly includes a motor, a mounting box, a driving pulley, a driven pulley, a transmission belt, a tie rod, an adjusting frame, a crank, and a control tube. Both the driving and driven pulleys are rotatably mounted within the mounting box, with the driving pulley connected to the output end of the motor. The driving pulley is coaxially fixedly connected to one end of the crank, and the other end of the crank is connected to the adjusting frame. One side of the adjusting frame is fixedly connected to the top of a vertically sliding tie rod, and the bottom of the tie rod is connected to a connecting rod slidably mounted on the control tube, thereby driving the support plate to perform vertical reciprocating motion. The driving pulley is connected to the driven pulley via the transmission belt, and the driven pulley is coaxially connected to the adjusting assembly used to drive the control tube to rotate. The control tube is provided with a cross guide groove, and the adjusting assembly cooperates with the cross guide groove to drive the control tube to rotate a predetermined angle after the tie rod completes one vertical reciprocating motion. The beneficial effects of this technical solution are: by driving the vertical reciprocating lifting and rotational orientation switching of the bearing plate simultaneously with a single power source, interference-free composite motion is achieved by utilizing the timing difference of the mechanical transmission chain, thereby reducing manufacturing costs and circuit control complexity.

[0011] Furthermore, the adjusting assembly includes a movable rod and a limiting plate. The movable rod is coaxially and fixedly connected to the driven pulley, and the limiting plate and movable rod are arranged in a cross shape. The end of the movable rod extends into the cross guide groove and slides into the cross guide groove. The beneficial effect of this technical solution is that the cross-shaped movable rod and limiting plate provide axial limiting function while transmitting torque, and the structure is compact.

[0012] Furthermore, a notch is provided on the outer edge of the control tube, the shape of which matches the movement trajectory of the limiting plate. The limiting plate rotates with the movable rod within the notch to restrict the axial displacement of the control tube. The beneficial effect of this technical solution is that, through the cooperation of the notch and the limiting plate, the control tube maintains a stable axial position during rotation, avoiding swaying and improving operational reliability.

[0013] Furthermore, ice-breaking rollers are installed on both sides of the support plate. These rollers are driven by a second motor located inside the support plate, and their surfaces are decorated with spirally distributed ice-breaking teeth. The beneficial effect of this technical solution is that after the heating element is preheated and melted, the ice-breaking rollers mechanically break up the residual ice layer or stubborn thick ice, forming a dual-stage de-icing mechanism of "thermal melting + mechanical" to improve the thoroughness of de-icing.

[0014] Furthermore, a U-shaped adjustment groove is provided inside the adjustment frame, and the other end of the crank is embedded in the U-shaped adjustment groove via a pin, which has sliding freedom within the U-shaped adjustment groove. The beneficial effect of this technical solution is that the structure of the U-shaped adjustment groove ensures that the end of the crank slides smoothly within the adjustment groove, stabilizing the circular motion into vertical reciprocating motion.

[0015] Furthermore, a pull plate is fixedly connected to the top of the pull rod, and the pull plate is rotatably connected to the adjusting frame via a rotating shaft. The bottom of the pull rod is rotatably connected to the pull plate at the top of the connecting rod via a rotating groove. The beneficial effect of this technical solution is that the rotatable connection between the pull plate and the adjusting frame, as well as the engagement of the rotating groove, allows the connecting rod to move vertically driven by the pull rod, and also to rotate with the control tube when the control tube rotates, thus achieving decoupling and coordination of the two degrees of freedom of motion: lifting and rotation.

[0016] Furthermore, a support frame is fixedly installed on the side of the mounting box. The advantages of this technical solution are: the entire device can be fixedly installed by the support frame, eliminating the need for manual hand operation, reducing the labor intensity of operators, and effectively avoiding safety risks when working in low-temperature and freezing environments.

[0017] Furthermore, the diameter of the driving pulley is smaller than that of the driven pulley to create a reduction transmission ratio. The beneficial effect of this technical solution is that by configuring the reduction transmission ratio between the driving and driven pulleys, the driving pulley rotates more times than the driven pulley, ensuring a suitable matching relationship between the lifting motion frequency and the orientation switching motion frequency.

[0018] Furthermore, the trajectory equation of the intersecting guide groove is a piecewise function, and the angle in polar coordinates is defined as... The radial displacement is It satisfies:

[0019]

[0020] in, It is a monotonically increasing continuous function. The radius is constant. to The starting and ending phases of the control tube's rotation are defined. The beneficial effects of this technical solution are: it precisely defines the geometric trajectory of the cross guide groove in a mathematical form, and the alternation of the circular arc segment (without rotation) and the oblique / curved segment (rotation) of the piecewise function forces the timing of the lifting motion and the rotational motion to be staggered, thus forming a powerful creative feature.

[0021] Furthermore, this invention also provides a composite motion control method for a substation equipment de-icing device, implemented based on the substation equipment de-icing device described in any of the above-mentioned solutions. The method includes the following steps: responding to a motor start signal, driving the drive pulley to rotate continuously; converting the motor's rotational motion into the reciprocating oscillation of the adjusting frame via a coaxially connected crank and drive pulley, thereby driving the bearing plate to perform continuous vertical reciprocating lifting and lowering motion via a pull rod; synchronously, driving the driven pulley to rotate via a transmission belt, causing the movable rod to slide within a cross guide groove; when the movable rod slides to the inflection point of the cross guide groove's trajectory, driving the control tube to generate intermittent rotation to change the working orientation of the bearing plate; repeating the aforementioned steps, the vertical reciprocating lifting and lowering motion and the rotation of the control tube are staggered on the time axis, forming a composite sweeping path until the full-coverage de-icing operation on the equipment surface is completed. The beneficial effects of this technical solution are: achieving timing control of lifting and rotation through a purely mechanical structure, eliminating the need for programming and sensor feedback, resulting in extremely high reliability and repeatability, and reducing dependence on the control system. Attached Figure Description

[0022] Fig. 1 This is a schematic diagram of the front cross-sectional structure of the de-icing device for substation equipment in an embodiment of the present invention.

[0023] Fig. 2 This is a three-dimensional partial structural diagram of the pull rod in an embodiment of the present invention.

[0024] Fig. 3 This is a side view of the control tube in an embodiment of the present invention.

[0025] The markings in the diagram are: 1. Support frame; 2. Bearing plate; 3. Mounting box; 4. Motor; 5. Driving pulley; 6. Driven pulley; 7. Transmission belt; 8. Connecting rod; 9. Adjusting frame; 10. Control tube; 11. Movable rod; 12. Limiting plate; 13. Pull plate; 14. Cross guide groove; 15. Outer edge. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] Example 1

[0028] Reference Figs. 1 to 3This invention provides a de-icing device for substation equipment, mainly used for automated de-icing of equipment such as transformers, circuit breakers, and insulator strings within a substation. The device includes a core actuator—a support plate 2—and a control assembly that drives the support plate 2 in complex spatial motion.

[0029] The support plate 2 is the actuating component that directly acts on the surface of the equipment body. In this embodiment, the support plate 2 is made of lightweight, high-strength aluminum alloy, and a heating element (not shown in the figure) is embedded inside. This heating element can be a resistance wire or a carbon fiber heating film, which generates heat after being powered by an external power source to melt the ice on the surface of the equipment, reducing the difficulty of subsequent mechanical scraping. The lower surface (i.e., the working surface) of the support plate 2 can also be covered with a thermally conductive silicone pad or a metal heat-conducting plate with excellent thermal conductivity to evenly conduct heat to the entire working surface of the support plate 2. Optionally, a temperature sensor can also be installed on the support plate 2. The temperature sensor is connected to a controller signal. The controller adjusts the heating power of the heating element according to the temperature signal fed back by the temperature sensor, so that the temperature of the working surface of the support plate 2 is maintained within a suitable temperature range that can effectively melt the snow without causing thermal damage to the surface of the electrical equipment (for example, controlling the working surface temperature between 50°C and 80°C).

[0030] The top center of the support plate 2 is connected to the control assembly via a connecting rod 8. The connecting rod 8 is preferably a high-strength stainless steel rod, the upper end of which passes through the housing of the control assembly and is connected to the internal drive mechanism.

[0031] The control component is the core innovation of this invention, and its outer casing is the mounting box 3. The mounting box 3 integrates a power source and a multi-stage transmission mechanism. The power source is a high-performance brushless DC motor 4 (i.e., the main motor).

[0032] The output shaft of motor 4 extends vertically downwards and is coaxially fixedly connected to a drive pulley 5. The drive pulley 5 has a relatively small diameter and is located on one side of the mounting box 3. On the other side of the mounting box 3, a driven pulley 6 with a larger diameter is rotatably mounted. The drive pulley 5 and the driven pulley 6 are connected by a closed-loop transmission belt 7 (such as a synchronous belt or V-belt). Because the diameter of the drive pulley 5 is smaller than the diameter of the driven pulley 6, a reduction and torque increase transmission ratio is formed here, i.e. ,in For the driven pulley, the diameter is 6. The drive pulley has a diameter of 5 mm. This design ensures smooth subsequent rotational motion and high torque output.

[0033] The first motion branch (lifting branch) of this invention is as follows:

[0034] On the hub of the drive pulley 5, a crank is rigidly connected coaxially (e.g., by welding or keying) in a direction perpendicular to the pulley surface. This crank is not a traditional circular eccentric wheel, but a straight crank of a certain length. The free end of the crank is connected to the adjusting bracket 9 via a pin.

[0035] The adjustment frame 9 is a key conversion component. It has a frame structure with a U-shaped adjustment groove machined or integrally formed inside. The aforementioned pin is embedded in this U-shaped adjustment groove, allowing the crank to drive the adjustment frame 9 to reciprocate when rotated. To prevent the adjustment frame 9 from shaking during movement, a vertical sliding fit structure is provided between the side of the adjustment frame 9 and the inner wall of the mounting box 3.

[0036] A pull rod is connected to the top side of the adjusting frame 9 via a hinge or pivot. The pull rod extends vertically. A pull plate 13 is fixedly connected to the top of the pull rod, and the pull plate 13 is rotatably connected to the adjusting frame 9 via a pivot to accommodate minor angular deviations. A pull plate 13 is fixedly installed at the bottom of the pull rod (the pull plate at the bottom and the pull plate at the top of the pull rod in the figure are different positions of the same structure; see [reference needed] for details). Fig. 2 The pull plate 13 is rotatably connected to the rotating groove at the top of the connecting rod 8.

[0037] When motor 4 starts, the drive pulley 5 drives the crank to make circular motion. The crank pushes the adjusting frame 9 to reciprocate under the constraint of vertical sliding fit, which in turn pulls the tie rod to make high-frequency vertical reciprocating linear motion. This linear motion is transmitted to the support plate 2 through the connecting rod 8, so that the support plate 2 and the heating element and ice-breaking roller on it reciprocate up and down on the surface of the equipment body to achieve sweeping and de-icing at different height positions.

[0038] The second motion branch (rotation branch) of this invention is as follows:

[0039] The driven pulley 6 not only reduces speed, but also has an adjusting assembly coaxially fixed to its hub. This adjusting assembly is the core of the timing control. The adjusting assembly includes a movable rod 11 and a limit plate 12.

[0040] The movable rod 11 is a slender metal rod, one end of which is rigidly connected to the center of the driven pulley 6 via a key or interference fit, and rotates synchronously with the driven pulley 6. The other end of the movable rod 11 is a free end, and a needle roller bearing or a smooth contact head is machined on the end face of the free end.

[0041] The limiting plate 12 and the movable rod 11 are arranged in a cross shape, and the two can be fixed by welding or integral casting. The function of the limiting plate 12 is not only to transmit torque, but more importantly, to limit the movement of subsequent components in the axial direction.

[0042] A control tube 10, which can rotate but cannot move axially, is fitted onto the upper middle part of the connecting rod 8. The control tube 10 is the convergence point of the entire compound motion. A special cross guide groove 14 is machined on the side wall of the control tube 10 along its circumference and axial direction.

[0043] The free end of the aforementioned movable rod 11 extends into the cross guide groove 14 and can slide freely within the groove. Meanwhile, a notch of a specific shape is machined on the lower outer edge 15 of the control tube 10. The notch cooperates with the limiting plate 12, and the limiting plate 12 rotates with the movable rod 11 within the notch to limit the axial displacement of the control tube 10.

[0044] The trajectory design of the intersecting guide grooves is the soul of the mechanical logic of this invention. For example... Fig. 3 As shown, a cross guide groove 14 is formed on the outer circumferential surface of the control tube 10, and the end of the movable rod 11 extends into the groove. When the driven pulley 6 drives the movable rod 11 to rotate, the movable rod 11 slides in the cross guide groove 14. Since the extension trajectory of the cross guide groove 14 is not linear, the sliding of the movable rod 11 will force the control tube 10 to generate a rotational motion relative to the mounting box 3. By reasonably designing the trajectory shape of the cross guide groove 14, the movable rod 11 can rotate freely in the groove without pushing the control tube 10 in most rotation angle ranges, and only push the control tube 10 to rotate a predetermined angle in a specific angle range.

[0045] Example 2

[0046] Based on Example 1, this example further optimizes the arrangement of the heating elements. Multiple electric heating wires are spaced apart along the width of the support plate 2, each electrically connected to an onboard or external power source. A thermally conductive silicone pad or metal heat-conducting plate with excellent thermal conductivity is also attached to the working surface of the support plate 2 to evenly conduct the heat generated by the electric heating wires to the entire working surface of the support plate 2. Through closed-loop temperature control, snow removal and de-icing efficiency is ensured while also fully considering the safety protection of the substation's electrical equipment.

[0047] Example 3

[0048] Based on Embodiment 1, this embodiment further improves the structure of the ice-breaking roller. The ice-breaking roller includes a roller shaft and multiple ice-breaking blades or ice-breaking cones evenly spaced along the circumference of the roller shaft. The cutting edge of the ice-breaking blades preferably adopts an undulating, pointed tooth structure to improve mechanical crushing efficiency. Driven by a second motor (not shown in the figure) located inside the support plate 2, the ice-breaking rollers on both sides rotate synchronously, mechanically crushing the residual ice after the preheating and melting of the heating element and the stubborn thick ice attached to the equipment surface, breaking the ice layer and removing it from the equipment surface, thereby ensuring thorough de-icing. The rotation direction of the ice-breaking roller can be set to be opposite to the movement direction of the support plate 2 to enhance the shearing and crushing effect on the ice layer. At the same time, an elastic floating connection structure is configured between the ice-breaking roller and the support plate 2. When encountering uneven equipment surfaces, the ice-breaking roller can adaptively float to avoid damage to the equipment due to rigid contact or cause the device to jam.

[0049] Example 4

[0050] Based on Embodiment 1, this embodiment provides a further detailed description of the cooperation structure between the adjusting frame 9 and the crank. The adjusting frame 9 is provided with an adjusting groove, which is U-shaped overall. Its main body is a vertically extending straight groove structure, and the top two sides of the adjusting groove extend outwards to form laterally expanded guide sections, facilitating the smooth sliding of the crank end into the adjusting groove. A cylindrical slide head or roller is provided at the end of the crank, rotatably mounted on the end of the crank. During operation, as the crank rotates, the cylindrical slide head or roller slides back and forth within the U-shaped adjusting groove, guiding the adjusting frame 9 to smoothly rise or fall vertically. The U-shaped adjusting groove design ensures that the crank end will not jam due to sudden changes in direction during rotation, thus stably converting the crank's circular motion into the vertical reciprocating motion of the adjusting frame 9 and the pull rod, thereby driving the bearing plate 2 to perform lifting and lowering actions.

[0051] Example 5

[0052] Based on Embodiment 1, this embodiment further defines the connection method between the pull rod and the connecting rod 8. A pull plate 13 is fixedly installed at the bottom of the pull rod. The pull plate 13 is a flat plate structure, and its plane direction is perpendicular to the axis direction of the pull rod. A rotating groove is provided at the top of the connecting rod 8. The rotating groove is a circular groove structure provided on the top end face of the connecting rod 8. The pull plate 13 is rotatably connected to the rotating groove. The pull plate 13 can rotate freely in the circumferential direction in the rotating groove, but it is locked and limited in the vertical direction with the rotating groove. This ensures that when the pull plate 13 moves vertically reciprocating with the pull rod, it can drive the connecting rod 8 to move up and down synchronously. At the same time, when the connecting rod 8 rotates with the control tube 10, the top of the connecting rod 8 can rotate freely relative to the pull plate 13, thereby avoiding motion interference and ensuring the decoupling and coordination of the two degrees of freedom of motion of lifting and rotation.

[0053] Example 6

[0054] Based on Embodiment 1, this embodiment provides a more detailed description of the cooperative structure of the adjusting assembly and the control tube 10. The adjusting assembly consists of a movable rod 11 and a limiting plate 12. The movable rod 11 is a cylindrical straight rod structure, and the limiting plate 12 is a circular or fan-shaped plate structure. The movable rod 11 and the limiting plate 12 are fixedly connected in a cross-shaped manner, that is, the middle position of the movable rod 11 passes through the central hole of the limiting plate 12 and is fixed thereto. The side of the cross-shaped intersection of the movable rod 11 and the limiting plate 12 is coaxially fixedly connected to the driven pulley 6. When the driven pulley 6 rotates, the movable rod 11 and the limiting plate 12 rotate synchronously around the axis as a whole. The control tube 10 is rotatably installed in the inner cavity of the mounting box 3. The top and bottom of the control tube 10 are provided with outer edges 15. The diameter of the outer edges 15 is larger than the main body diameter of the control tube 10. The two outer edges 15 are located on the outer sides of the upper and lower walls of the mounting box 3, respectively, to limit the axial movement of the control tube 10 within the mounting box 3. Two notches are provided at positions corresponding to the cross guide grooves 14 on the two outer edges 15. The notches are arc-shaped gaps extending circumferentially along the outer edges 15 and are connected to the limiting plate 12. The cross guide grooves 14 are formed on the outer circumferential surface of the control tube 10. The extension trajectory of the cross guide grooves 14 is an intersecting curve shape, usually using two intersecting spiral grooves or curved grooves, extending from one end of the control tube 10 to the other end. The two ends of the movable rod 11 extend into the cross guide grooves 14 and are slidably connected to the cross guide grooves 14. When the driven pulley 6 drives the movable rod 11 to rotate, the end of the movable rod 11 slides in the cross guide grooves 14. Since the extension trajectory of the cross guide grooves 14 is not linear, the sliding of the movable rod 11 will force the control tube 10 to rotate relative to the mounting box 3. At the same time, the limiting plate 12 rotates synchronously with the movable rod 11 within the notch of the outer edge 15. The notch provides circumferential limiting for the limiting plate 12, thereby ensuring that the control tube 10 maintains a stable rotational posture during rotation and avoiding swaying due to vibration or load changes.

[0055] Example 7

[0056] Based on Embodiment 1, this embodiment further defines the sliding fit structure between the connecting rod 8 and the control tube 10. A vertical groove is formed inside the control tube 10 along its axial direction, and the cross-sectional shape of the groove is preferably rectangular, T-shaped, or dovetail-shaped. A slider is provided on the top outer wall of the connecting rod 8, and the cross-sectional shape of the slider matches the cross-sectional shape of the groove. The slider slides vertically within the groove. When the pull rod drives the connecting rod 8 to move vertically via the pull plate 13, the slider of the connecting rod 8 slides freely within the vertical groove of the control tube 10 without generating additional torque. When the control tube 10 rotates under the combined drive of the movable rod 11 and the cross guide groove 14, the control tube 10 transmits torque to the connecting rod 8 through the interaction of the vertical groove and the slider, thereby driving the connecting rod 8 to rotate synchronously. This design allows the lifting and rotating movements to be independent and synchronously decoupled, enabling arbitrary adjustment of the height of the bearing plate 2 within the spatial range and switching between different positions according to operational needs, achieving comprehensive snow and ice removal coverage.

[0057] Example 8

[0058] Based on Example 1, this example further defines the structure and installation method of the support frame. The support frame 1 is an L-shaped or U-shaped bracket structure, one end of which is fixed to the side of the mounting box 3 by bolts or welding, and the other end is equipped with a standard interface flange or snap-fit ​​structure for quickly installing the entire snow removal and de-icing device onto a substation inspection robot, lifting platform vehicle, or manual operating lever. A vibration damping pad or buffer spring can also be installed in the middle of the support frame 1 to absorb the impact and vibration generated during operation, protecting the transmission mechanism inside the control components from damage. Through the fixed installation of the support frame 1, operators do not need to directly hold the device close to live equipment, thus significantly reducing the safety risks of operation in low-temperature icing environments. Simultaneously, an angle adjustment mechanism can be installed on the support frame 1 to pre-adjust the overall working angle of the device to adapt to equipment surfaces with different tilt angles.

[0059] Example 9

[0060] Based on Embodiment 1, this embodiment provides a further detailed description of the trajectory equation of the intersecting guide groove 14. The trajectory equation of the intersecting guide groove 14 is a piecewise function, and the angle in polar coordinates is defined as... The radial displacement is It satisfies the formula:

[0061]

[0062] in, It is a monotonically increasing continuous function. The radius is constant. to The start and end phases of the rotation of the control tube 10 are defined. This piecewise function mathematically precisely defines the geometric characteristics of the cross guide groove 14: when the movable rod 11 rotates by an angle... lie in When the interval is reached, the radial displacement remains constant. The movable rod 11 slides within the arc segment but does not push the control tube 10 to rotate, corresponding to the stage where the bearing plate 2 performs vertical reciprocating lifting and lowering; when lie in When the interval is reached, the radial displacement is calculated according to... Monotonous change, the movable lever 11 forces the control tube 10 to rotate, corresponding to the rotation and orientation switch of the bearing plate 2 after one lifting and lowering cycle; when lie in When the interval is reached, the radial displacement remains constant again. The control tube 10 stops rotating, and the support plate 2 resumes vertical reciprocating lifting and lowering operations. Through the design of this trajectory equation, the lifting and rotational degrees of freedom of the support plate 2 are forced to be staggered in timing. The orientation will only switch after the lifting and sweeping is completed, and the lifting and sweeping will start again after the rotation is completed, forming a complete composite operation cycle.

[0063] Example 10

[0064] This embodiment discloses a composite motion control method for a substation equipment de-icing device. The method is implemented using the substation equipment de-icing device described in any of the above embodiments. The control method includes the following steps.

[0065] The snow removal and de-icing device is mounted on the inspection robot, lifting platform, or manual operating lever via the support frame 1, so that the working surface of the bearing plate 2 is aligned with the surface of the substation equipment to be snow-removed and de-iced. In response to the start signal of the motor 4, the drive pulley 5 is driven to rotate continuously.

[0066] The rotational motion of the motor 4 is converted into the reciprocating oscillation of the adjusting frame 9 by a crank and drive pulley 5 connected coaxially, which in turn drives the support plate 2 to perform continuous vertical reciprocating lifting and lowering motion via a tie rod. When the support plate 2 descends to be close to the equipment surface, the heating element inside the support plate 2 starts to heat up and melt the snow and thin ice on the equipment surface; when the support plate 2 rises away from the equipment surface, the water vapor from the melted snow naturally dissipates.

[0067] Synchronously, the driven pulley 6 is driven to rotate by the transmission belt 7, which in turn drives the movable rod 11 to slide in the cross guide groove 14.

[0068] When the movable rod 11 slides to the inflection point of the trajectory of the cross guide groove 14 (i.e., the position where it transitions from the arc segment to the oblique / curved segment), the drive control tube 10 rotates intermittently to change the working position of the support plate 2. During the lifting and rotation of the support plate 2, when residual ice melted by the preheating element or stubborn thick ice adheres to the equipment surface, the second motor is started to drive the ice-breaking rollers on both sides of the support plate 2 to rotate synchronously, mechanically breaking the ice layer and removing it from the equipment surface.

[0069] Repeat the aforementioned steps, with the vertical reciprocating lifting motion and the rotation of the control tube 10 staggered on the time axis to form a composite sweeping path until the de-icing operation covering the entire surface of the equipment is completed.

[0070] Through the aforementioned control method, driven by the same motor 4, the lifting and lowering motion and rotational orientation switching of the support plate 2 can be completed simultaneously. The lifting motion enables the support plate 2 to sweep and remove ice from different height positions on the equipment surface in the vertical direction, while the rotational motion enables the support plate 2 to switch coverage positions in different horizontal directions. The two work together to complete the full-coverage snow and ice removal operation on different positions of the substation equipment surface without manual intervention. This method fundamentally solves the technical defects of existing devices that require manual adjustment of direction, which is time-consuming and labor-intensive, and significantly improves the automation level and operational safety of substation operation and maintenance.

[0071] In summary, the substation equipment de-icing device and its composite motion control method provided in this embodiment of the invention, by integrating a crank-slider lifting transmission mechanism and a belt drive-cross guide groove-control tube rotation transmission mechanism under a single power source, achieves automatic coordinated motion of the de-icing actuator (bearing plate 2) in both lifting and rotational degrees of freedom. Combined with a dual de-icing mechanism of preheating and melting ice with mechanical crushing by ice-breaking rollers, it can efficiently, safely, and automatically complete the full-coverage snow and ice removal operation on the surface of substation power equipment. Compared with existing technologies, this invention eliminates the need for manual direction adjustment, significantly reducing the labor intensity and safety risks for maintenance personnel in low-temperature and frigid environments, and has high practical value and broad application prospects.

[0072] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A de-icing device for substation equipment, characterized in that, include: The support plate (2) is equipped with a heating element inside; The control assembly includes a motor (4), a mounting box (3), a drive pulley (5), a driven pulley (6), a transmission belt (7), a tie rod, an adjusting bracket (9), a crank, and a control tube (10). Both the driving pulley (5) and the driven pulley (6) are rotatably mounted in the mounting box (3), and the driving pulley (5) is connected to the output end of the motor (4); The drive pulley (5) is coaxially fixedly connected to one end of the crank, and the other end of the crank is connected to the adjustment frame (9). One side of the adjustment frame (9) is fixedly connected to the top of the vertically sliding pull rod, and the bottom of the pull rod is connected to the connecting rod (8) slidably mounted on the control tube (10) to drive the bearing plate (2) to perform vertical reciprocating motion. The driving pulley (5) is connected to the driven pulley (6) via the transmission belt (7), and the driven pulley (6) is coaxially connected to the adjustment assembly for driving the control tube (10) to rotate. The control tube (10) is provided with a cross guide groove (14), and the adjustment component cooperates with the cross guide groove (14) to drive the control tube (10) to rotate a predetermined angle after the pull rod completes one vertical reciprocating motion.

2. The substation equipment de-icing device according to claim 1, characterized in that, The adjustment assembly includes a movable rod (11) and a limiting plate (12). The movable rod (11) is coaxially and fixedly connected to the driven pulley (6). The limiting plate (12) and the movable rod (11) are arranged in a cross shape. The end of the movable rod (11) extends into the cross guide groove (14) and slides in cooperation with the cross guide groove (14).

3. The substation equipment de-icing device according to claim 2, characterized in that, The control tube (10) has a notch on its outer edge. The shape of the notch matches the movement trajectory of the limiting plate (12). The limiting plate (12) rotates with the movable rod (11) within the notch to limit the axial displacement of the control tube (10).

4. The substation equipment de-icing device according to claim 1, characterized in that, Ice-breaking rollers are also provided on both sides of the support plate (2). The ice-breaking rollers are driven by a second motor located inside the support plate. The surface of the ice-breaking rollers is provided with spirally distributed ice-breaking teeth.

5. The substation equipment de-icing device according to claim 1, characterized in that, The adjustment frame (9) is provided with a U-shaped adjustment groove. The other end of the crank is embedded in the U-shaped adjustment groove by a pin. The pin has a sliding degree of freedom in the U-shaped adjustment groove.

6. The substation equipment de-icing device according to claim 1, characterized in that, The top of the pull rod is fixedly connected to a pull plate (13), the pull plate (13) is rotatably connected to the adjusting frame (9) through a rotating shaft, and the bottom of the pull rod is rotatably connected to the pull plate at the top of the connecting rod (8) through a rotating groove.

7. The substation equipment de-icing device according to claim 1, characterized in that, The mounting box (3) has a support frame (1) fixedly mounted on its side.

8. The substation equipment de-icing device according to claim 1, characterized in that, The diameter of the driving pulley (5) is smaller than the diameter of the driven pulley (6) to form a reduction transmission ratio.

9. The substation equipment de-icing device according to claim 1, characterized in that, The trajectory equation of the cross guide groove (14) is a piecewise function, and the angle in polar coordinates is defined as... The radial displacement is It satisfies: in, It is a monotonically increasing continuous function. The radius is constant. to The rotation start and stop phases of the control tube (10) are defined.

10. A composite motion control method for a de-icing device in a substation, characterized in that, Based on the substation equipment de-icing device according to any one of claims 1 to 9, the method includes: In response to the start signal of the motor (4), the drive pulley (5) is driven to rotate continuously; The rotational motion of the motor (4) is converted into the reciprocating swing of the adjusting frame (9) by the crank and the driving pulley (5) connected coaxially, and then the bearing plate (2) is driven by the pull rod to perform continuous vertical reciprocating lifting motion; Synchronously, the driven pulley (6) is driven to rotate by the transmission belt (7), which in turn drives the movable rod (11) to slide in the cross guide groove (14); When the movable rod (11) slides to the inflection point of the trajectory of the cross guide groove (14), it drives the control tube (10) to generate intermittent rotation to change the working position of the bearing plate (2); Repeat the aforementioned steps, in which the vertical reciprocating lifting motion and the rotation of the control tube (10) are staggered on the time axis to form a composite sweeping path until the de-icing operation covering the entire surface of the equipment is completed.

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