Ground wire clamping wheel optimization method, clamping force adjustment method and deicing device

Abstract

The invention relates to the technical field of overhead ground wire deicing, in particular to a ground wire clamping wheel optimizing method, a clamping force adjusting method and a deicing device. The method comprises the following steps that S1, a clamping wheel optimization database is constructed, the clamping wheel optimization database comprises the corresponding mapping relation between design parameters and relation parameters of a clamping wheel, the design parameters comprise the radian of the clamping wheel and the height of the clamping wheel, and the relation parameters comprise the radian of the clamping wheel and the height of the clamping wheel; the relation parameters comprise the mass of the clamping wheel, the contact rigidity of the clamping wheel, the air resistance coefficient of the clamping wheel and the maximum ground wire icing radius capable of being accommodated by the clamping wheel; and S2, obtaining a constraint function and a design parameter of the clamping wheel, and querying a corresponding relation parameter from the clamping wheel optimization database based on the constraint function and the design parameter of the clamping wheel, so that the contact rigidity of the clamping wheel is the maximum value under the condition of meeting the constraint function. The clamping stability of the clamping wheel of the deicing device can be improved under the condition that the mass of the clamping wheel is not increased or is slightly increased.

Description

Technical Field

[0001] The invention relates to the technical field of deicing of overhead ground wires, and in particular to a ground wire clamping wheel optimization method, a clamping force adjustment method and a deicing device. Background Art

[0002] In my country, ice often forms on transmission lines in winter. If they are not cleaned in time, ice will easily form, causing the weight of the transmission lines to increase, breaking the transmission lines, causing circuit interruptions and affecting the normal lives of residents.

[0003] The deicing robot is an automated deicing device for overhead ground wires, which is mostly composed of a walking mechanism that can walk along the ground wire and a deicing mechanism that can perform deicing operations. In order to ensure that the walking mechanism can stably walk on the ground wire without tipping over, the walking mechanism mostly uses a clamping wheel to clamp the ground wire, as described in the text of a deicing device and deicing method for a power transmission line ground wire deicing robot with a Chinese patent publication number of CN115800164B and a text of a power transmission line deicer and deicing method with a Chinese patent number of CN114944634A.

[0004] The three-point clamping method circumferentially distributed on the periphery of the ground wire is one of the clamping methods for the deicing device and the ground wire. The wheels distributed on the upper part of the ground wire are driving wheels, and the wheels located on both sides of the lower part of the ground wire are clamping wheels, so as to achieve stable clamping and power transmission between the ground wire and the deicing device. In order to ensure the stability of the ground wire clamping by this clamping method, the outer periphery of the clamping wheel and the ground wire abutment are mostly set to a gradually closing structure from bottom to top, and the outer surface of the closing structure is used to cooperate with the ground wire wedge to squeeze the ground wire and the driving wheel to fit stably. Even so, due to the high wind force in the high-altitude environment where the overhead ground wire is located, in order to further prevent the deicing device from tipping over, in the prior art, some auxiliary devices such as locking mechanisms, elastic slide grooves, and limit devices are often set to improve stability. However, the setting of the auxiliary device undoubtedly increases the processing difficulty of the deicing device, and also increases the mass of the clamping wheel, causing the load on the ground wire to increase. Therefore, how to improve the clamping stability of the clamping wheel without increasing or increasing the weight of the clamping wheel by optimizing the relevant parameters of the clamping wheel, namely the axial height of the clamping wheel itself and the inclination arc of the closing structure, is a problem that needs to be solved urgently. Summary of the invention

[0005] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides a ground wire clamping wheel optimization method, a clamping force adjustment method and a de-icing device, which can improve the clamping stability of the clamping wheel of the de-icing device without increasing the mass of the clamping wheel or increasing it very little.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The method for optimizing the ground wire clamping wheel is characterized by comprising the following steps:

[0008] S1. Construct a clamping wheel optimization database, which includes the corresponding mapping relationship between the design parameters of the clamping wheel and the relationship parameters of the clamping wheel, wherein the design parameters include the arc θ of the clamping wheel and the height H of the clamping wheel, and the relationship parameters include the mass M of the clamping wheel, the contact stiffness K of the clamping wheel, and the air resistance coefficient C of the clamping wheel. d The maximum radius R of ice on the ground wire that the clamping wheel can accommodate i ;

[0009] S2. Obtain the constraint function and design parameters of the clamping wheel, and query the corresponding relationship parameters from the clamping wheel optimization database based on the constraint function and design parameters of the clamping wheel, so that the contact stiffness K of the clamping wheel is the maximum value under the condition of satisfying the constraint function.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] 1. The present invention quantifies the maximum contact stiffness of the clamping effect of the clamping wheel as the target parameter for clamping wheel optimization, and based on the corresponding mapping relationship between the design parameters of the clamping wheel and the relationship parameters of the clamping wheel in the clamping wheel optimization database, the mass of the clamping wheel, the contact stiffness of the clamping wheel, the air resistance coefficient of the clamping wheel, and the maximum radius of ground ice that the clamping wheel can accommodate under different clamping wheel curvatures and clamping wheel heights can be searched. In addition, the mass of the clamping wheel, the air resistance coefficient of the clamping wheel, and the maximum radius of ground ice that the clamping wheel can accommodate are constrained by the constraint values ​​of the constraint function under different environmental conditions, thereby optimizing the curvature of the clamping wheel and the height of the clamping wheel under different working conditions, ensuring that the clamping wheel has the best clamping effect under different working conditions.

[0012] 2. Since the finite element simulation method is inefficient in obtaining the mass of the clamping wheel, the contact stiffness of the clamping wheel, the air resistance coefficient, and the maximum radius of ground ice that the clamping wheel can accommodate, in the present invention, the finite element simulation method is first used to obtain parameters and construct a training sample set, and then the SVR approximate model is input for model training, and the SVR approximate model is optimized using the PSO algorithm to obtain a PSO-SVR approximate model. Thereafter, the arc of the clamping wheel and the height of the clamping wheel are used as input, and the mass of the clamping wheel, the contact stiffness of the clamping wheel, the air resistance coefficient of the clamping wheel, and the maximum radius of ground ice that the clamping wheel can accommodate are used as outputs, and the corresponding mapping relationship between multiple sets of clamping wheel design parameters and the clamping wheel relationship parameters can be quickly obtained, thereby efficiently realizing the construction of a clamping wheel optimization database.

[0013] 3. In the present invention, the high-altitude wind and the ground wire jumping action caused by the large amount of ice falling during the de-icing process are regarded as the main factors for the de-icing device to roll over. The rollover torque caused by the high-altitude wind and the bouncing torque caused by the acceleration caused by the ground wire bouncing are used as the basic parameters for adjusting the clamping force of the clamping wheel. According to the above basic parameters obtained in real time, the preset clamping force calculation model is input to obtain the minimum clamping force F of the clamping wheel. min In addition, a safety factor Y is obtained based on other minor factors that may cause the de-icing device to roll over; using the safety factor Y and the minimum clamping force F min Calculate the actual clamping force F of the clamping wheel real Finally, the actual clamping force F real By comparing with the preset safety clamping force threshold, a clamping force adjustment instruction is generated according to the prediction strategy, thereby realizing real-time adjustment of the clamping force of the clamping wheel according to the different working conditions of the de-icing device during operation, thereby realizing optimal control of the clamping force of the clamping wheel during the operation of the de-icing device, and thus ensuring the stable operation of the de-icing device with the lowest possible resistance.

[0014] 4. The deicing device of the present invention is provided with a clamping mechanism and a crawling mechanism, which can realize the removal of ice covering the initial section of the ground wire through the reciprocating clamping of the first clamping plate and the second clamping plate. In addition, the arrangement of the crawling cylinder between the clamping mechanism and the crawling mechanism enables the clamping mechanism and the crawling mechanism to have the function of crawling and sliding along the ground wire. Since the wire-passing channel of the skeleton is sequentially arranged as a running cavity and an initial deicing cavity from top to bottom, and the running cavity is only for the ground wire to pass through, and the power mechanism is located in the running cavity, the clamping areas of the clamping mechanism and the crawling mechanism are located on both sides of the channel where the initial deicing cavity is located. Therefore, before the ice covering the initial section of the ground wire is completely removed, the ground wire will always be located in the clamping area of ​​the clamping mechanism and the crawling mechanism, and cannot slide into the running cavity to form power coordination with the power mechanism. At this time, the clamping mechanism and the crawling mechanism of the de-icing device can cooperate with each other to crawl and de-ice until the ice covering the initial section of the ground wire is completely removed. After that, the skeleton slides downward under the action of gravity, and the walking cavity is sleeved on the outer periphery of the ground wire, and forms a dynamic coordination with the walking mechanism, so that the initial section of the ground wire can realize the normal movement of the walking mechanism, thereby finally realizing the automated installation of the de-icing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the deicing device in the present invention.

[0016] Figure 2 It is a left-side structural schematic diagram of the deicing device in the present invention.

[0017] Figure 3 It is a schematic diagram of the connection structure between the frame, the clamping unit and the crawling unit in the present invention.

[0018] Figure 4 It is a schematic structural diagram of the clamping unit in the present invention.

[0019] Figure 5 It is a schematic diagram of the connection structure between the walking unit and the skeleton in the present invention.

[0020] Figure 6 It is a structural schematic diagram of the spraying mechanism in the present invention.

[0021] Figure 7 It is a structural schematic diagram of the ice-breaking mechanism in the present invention.

[0022] Figure 8 It is a schematic diagram of the structure of the locking assembly in the present invention.

[0023] Fig. 9 It is a schematic diagram of the working process of the locking assembly in the present invention.

[0024] Fig.10 The flowchart is a flowchart of the ground wire clamping wheel optimization method of the present invention.

[0025] Fig.11 It is a flowchart of the working process of the clamping force adjustment method in the present invention.

[0026] In the figure: 10, frame; 11, air supply unit; 12, power supply unit; 13, wire passage; 20, walking mechanism; 21, walking wheel; 22, walking motor; 30, ice breaking mechanism; 31, pedestal; 32, lifting mechanism; 33, lifting seat; 34, reciprocating power mechanism; 35, ice breaking impact hammer; 351, hammer head; 40, crawling mechanism; 41, first two-way cylinder; 42, first clamping plate; 421, first anti-slip convex strip; 43, crawling gas Cylinder; 50, clamping mechanism; 51, second bidirectional cylinder; 52, C-shaped seat; 53, clamping wheel; 54, second clamping plate; 541, second anti-skid convex strip; 60, spraying mechanism; 61, liquid storage tank; 62, rotary drive mechanism; 63, rotating ring; 64, nozzle; 70, locking assembly; 71, outer shell; 711, wire inlet groove; 72, U-shaped locking buckle; 73, release torsion spring; 74, locking hook; 75, locking spring; 76, sling assembly. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] For ease of understanding, the specific structure and working mode of the present invention are further described below in conjunction with the accompanying drawings:

[0029] 1. Optimization method of ground wire clamping wheel

[0030] like Fig.10 As shown, the following steps are included:

[0031] S1. Construct a clamping wheel optimization database, which includes the corresponding mapping relationship between the design parameters of the clamping wheel and the relationship parameters of the clamping wheel, wherein the design parameters include the arc θ of the clamping wheel and the height H of the clamping wheel, and the relationship parameters include the mass M of the clamping wheel, the contact stiffness K of the clamping wheel, and the air resistance coefficient C of the clamping wheel. d and the maximum radius Ri of ice covering the ground line that the clamping wheel can accommodate;

[0032] S2. Obtain the constraint function and design parameters of the clamping wheel, and query the corresponding relationship parameters from the clamping wheel optimization database based on the constraint function and design parameters of the clamping wheel, so that the contact stiffness K of the clamping wheel is the maximum value under the condition of satisfying the constraint function.

[0033] The contact stiffness K is a parameter that describes the degree of rigidity of the contact surface between two contacting objects when a force is applied. It reflects the response characteristics of the contact surface to the applied force. Under the same conditions, the higher the contact stiffness, the larger the contact area and the more uniform the contact force distribution. In the present invention, the contact stiffness K is used to quantify the clamping effect of the clamping wheel, and the contact stiffness K is used as the target parameter in the present invention.

[0034] That is, in step S2, the contact stiffness K of the clamping wheel is maximized under the condition that the constraint function is satisfied, specifically:

[0035] maxK(θ,H)

[0036] Where, K is the contact stiffness of the clamping wheel, unit: MPa;

[0037] θ is the arc of the clamping wheel, in rad;

[0038] H is the height of the clamping wheel, in mm;

[0039] maxK(θ,H) is the maximum value of the contact stiffness K when the arc θ of the clamping wheel and the height H of the clamping wheel satisfy the constraint function condition.

[0040] In addition, since the load capacity of the ground wire is limited, the overall mass of the de-icing device cannot be too heavy, so the mass M of the clamping wheel is restricted and the mass M of the clamping wheel is used as one of the constraint parameters.

[0041] Considering that the de-icing device needs to work on the high ground line, the clamping wheel will face challenges in stability and contact effect in a high wind speed environment. High wind speed will not only affect the structural stability of the clamping wheel, but may also interfere with its normal working performance. When the arc θ of the clamping wheel is too large, it may cause the airflow to separate on the surface of the clamping wheel, generate vortices, and increase the air resistance coefficient. In addition, the higher height H of the clamping wheel will also affect the passage of the airflow, creating greater resistance to the fluid, which increases the air resistance coefficient. Therefore, in the present invention, the air resistance coefficient C is also d as one of the constraint parameters.

[0042] In addition, in extreme weather, the radius of ground ice is too large, and it is difficult for a heavy-load UAV equipped with a de-icing device to land on the ground. Therefore, it is necessary to appropriately increase the maximum radius of ground ice that the clamping wheel can accommodate. i It is also used as one of the constraint parameters.

[0043] Therefore, the constraint function st in step S2 is specifically:

[0044]

[0045] Wherein, M is the mass of the clamping wheel, in kg;

[0046] C d is the air resistance coefficient of the clamping wheel;

[0047] R i The maximum radius of ice on the ground wire that the clamping wheel can accommodate, in mm;

[0048] M fit is the constraint value of the objective function of the mass of the clamping wheel, in kg;

[0049] C fit is the constraint value of the objective function of the air resistance coefficient of the clamping wheel, in kg;

[0050] R fit It is the constraint value of the constraint function of the maximum radius of ice covering the ground line that the clamping wheel can accommodate, in mm;

[0051] θ L and θ U They are the lower and upper limits of the arc θ of the clamping wheel, in rad;

[0052] H L and H U They are the lower and upper limits of the height H of the clamping wheel, in rad.

[0053] The constraint value of the above objective function is set according to actual needs. fitIt can be determined according to the ground wire load capacity and the overall quality of the de-icing device. fit The constraint value of the objective function for the air resistance coefficient of the clamping wheel can be determined according to the average wind force level in the local icing season. fit The constraint value of the constraint function for the maximum radius of ground wire ice that the clamping wheel can accommodate can be determined according to the average ice thickness in the local ice season. The lower and upper limits of the arc θ of the clamping wheel and the lower and upper limits of the height H of the clamping wheel can be determined according to the actual ground wire size.

[0054] The present invention quantifies the maximum contact stiffness K of the clamping effect of the clamping wheel as the target parameter for clamping wheel optimization, and uses the corresponding mapping relationship between the design parameters of the clamping wheel and the relationship parameters of the clamping wheel in the clamping wheel optimization database to optimize the mass M of the clamping wheel, the contact stiffness K of the clamping wheel, and the air resistance coefficient C of the clamping wheel under different clamping wheel arcs θ and clamping wheel heights H. d 、The maximum radius R of ice on the ground wire that the clamping wheel can accommodate i In addition, through the constraint values ​​of the constraint function under different environmental conditions, the mass M of the clamping wheel and the air resistance coefficient C of the clamping wheel are constrained. d 、The maximum radius R of ice on the ground wire that the clamping wheel can accommodate i , thereby optimizing the arc θ of the clamping wheel and the height H of the clamping wheel under different working conditions, ensuring that the clamping wheel has the best clamping effect under different working conditions.

[0055] On the basis of the above, the clamping wheel optimization database is constructed in the above step S1, specifically:

[0056] Construct a training sample set, which includes the corresponding mapping relationship between the design parameters of the clamping wheel and the relationship parameters of the clamping wheel, wherein the mass M of the clamping wheel, the contact stiffness K of the clamping wheel, the air resistance coefficient C d The maximum radius R of ice on the ground wire that the clamping wheel can accommodate i All of them are obtained by finite element simulation method;

[0057] Taking the design parameters of the clamping wheel as input and the relationship parameters of the clamping wheel as output, the preset SVR approximate model is trained, and the SVR approximate model is optimized using the PSO algorithm to obtain the PSO-SVR approximate model;

[0058] The design parameters of the clamping wheel are obtained and input into the optimized PSO-SVR approximate model, and the relational parameters of the clamping wheel are output, thereby completing the construction of the clamping wheel optimization database.

[0059] The finite element simulation method is used to solve the mass M of the clamping wheel, the contact stiffness K of the clamping wheel, and the air resistance coefficient C. dThe maximum radius R of ice on the ground wire that the clamping wheel can accommodate i The efficiency is low. In the present invention, a training sample set is first constructed by a finite element simulation method, and the SVR approximate model is input for model training. The SVR approximate model is optimized using a PSO algorithm to obtain a PSO-SVR approximate model. After that, the arc θ of the clamping wheel and the height H of the clamping wheel are used as inputs, the mass M of the clamping wheel, the contact stiffness K of the clamping wheel, the air resistance coefficient C of the clamping wheel d 、The maximum radius R of ice on the ground wire that the clamping wheel can accommodate i For output, the corresponding mapping relationship between multiple groups of clamping wheel design parameters and clamping wheel relationship parameters can be quickly obtained, thereby efficiently realizing the construction of the clamping wheel optimization database.

[0060] Among them, in the above steps, the preset steps of the preset SVR approximate model specifically include:

[0061] (1) Define the kernel function, where the kernel function includes:

[0062] Gaussian Kernel Function (GKF):

[0063] Polynomial Kernel Function (PKF): k(x,x′)=(x T x′+h) d ;

[0064] K-type kernel function (KKF):

[0065] Linear Kernel Function (LKF): k(x,x′)=x T x′.

[0066] (2) The mass M of the clamping wheel in the relationship parameter and the design parameters of the clamping wheel corresponding to the mapping relationship are used to construct an approximate model through a linear kernel function (LKF); the contact stiffness K in the relationship parameter and the design parameters of the clamping wheel corresponding to the mapping relationship, the air resistance coefficient C d The design parameters of the clamping wheel corresponding to the mapping relationship and the maximum radius R of ice on the ground wire that the clamping wheel can accommodate i The design parameters of the clamping wheel corresponding to the mapping relationship are modeled by any function among Gaussian kernel function (GKF), polynomial kernel function (PKF) and K-type kernel function (KKF).

[0067] (3) Define the precision coefficients of Gaussian kernel function (GKF), polynomial kernel function (PKF) and K-type kernel function (KKF):

[0068] The precision coefficients include:

[0069]

[0070]

[0071] Among them, m is the number of verification points, y i is the training data value of the i-th validation sample point, is the data value to be tested at the i-th verification sample point, is the average value of the training data of all validation sample points. 2 and RMSE are coefficients reflecting the global accuracy of the approximate model, E r It is a coefficient that reflects the local accuracy of the approximate model.

[0072] (4) Define the objectives and constraints of the Gaussian kernel function (GKF), polynomial kernel function (PKF) and K-type kernel function (KKF) respectively:

[0073] The goal of the polynomial kernel function (PKF): constraint:

[0074] The goal of the Gaussian kernel function (GKF): constraint:

[0075] The goal of K-type kernel function (KKF): constraint:

[0076] Among them, C is the penalty coefficient of the SVR approximate model;

[0077] C L , C U is the lower and upper bounds of the penalty coefficient;

[0078] ε is the insensitivity coefficient of the SVR approximate model;

[0079] ∈ L ,∈ U is the lower and upper bounds of the insensitivity coefficient;

[0080] h and d are the parameters of PKF;

[0081] s is the parameter of GKF;

[0082] q is the parameter of KKF;

[0083] h L 、s L , q L, d L are the lower bounds of each parameter respectively;

[0084] d U 、s U 、h U ,q U are the upper bounds of each parameter.

[0085] On the basis of the above, the SVR approximate model is optimized using the PSO algorithm. The steps to obtain the PSO-SVR approximate model include:

[0086] 1) Initialize the parameters in the SVR approximate model and set the value range of the objective function and constraint function in this optimization process;

[0087] 2) Establish the particle swarm evolution equation and initialize the particle swarm parameters;

[0088] 3) Update the particle fitness of the initial particle swarm and record the individual historical optimal value and the group historical optimal value of the particle;

[0089] 4) Iterate, update the fitness and speed of particles, and update the individual historical optimal value and group historical optimal value of the overall particle swarm;

[0090] S5), repeat step 4), until the maximum number of iterations is reached, and then stop iterating.

[0091] 6) After the optimization is completed, determine whether the approximate model meets the accuracy requirements. Specifically, use the data of the training sample set to test the approximate model:

[0092] If yes, the design vector corresponding to the individual combination with the current optimal fitness value is output as the optimal design vector, and the approximate model is built;

[0093] If not, the number of sample points will be increased, the sample set will be updated, and the construction of the training sample set will be returned.

[0094] 2. Method for adjusting the clamping force of the ground wire deicing device

[0095] Reference Fig.11 As shown, the following steps are included:

[0096] K1. Real-time acquisition of basic parameters related to the clamping effect, including the rollover moment caused by high-altitude wind and the bounce moment caused by acceleration caused by ground line bounce;

[0097] K2. Input the basic parameters into the preset clamping force calculation model to obtain the minimum clamping force F of the clamping wheel. min ;

[0098] K3, obtain the safety factor Y, and according to the safety factor Y and the minimum clamping force F min Calculate the actual clamping force of the clamping wheel;

[0099] K4, the actual clamping force F real The actual clamping force F is compared with the preset safety clamping force threshold, and a clamping force adjustment instruction is generated according to the prediction strategy to achieve dynamic adjustment of the clamping force of the de-icing device. Specifically, the prediction strategy in step S4 includes: when the actual clamping force F real When the preset safety clamping force threshold is exceeded, a clamping force adjustment instruction is generated according to the safety clamping force threshold; when the actual clamping force F real If the preset safety clamping force threshold is not exceeded, the actual clamping force F real Generate a clamping force adjustment instruction. In the present invention, the safe clamping force threshold can be set according to the maximum clamping force that can be exerted by the power mechanism that performs the clamping action of the clamping wheel, or can be set according to the maximum clamping force that does not cause damage to the ground wire. Specifically, it is set based on the selection of the power mechanism and the model and material of the ground wire.

[0100] According to the applicant's research, the rollover moment M caused by high-altitude wind force is roll It is one of the main factors that cause the de-icing device to roll over in the ground wire, so it is one of the basic parameters that need to be obtained in the present invention. In addition, according to the applicant's actual de-icing operation, when a large amount of ice falls off during the de-icing process, the ground wire will also cause a jump action. Under this jump action, the rollover of the de-icing device is greatly affected. Therefore, the bouncing torque M generated by the acceleration caused by the ground wire bouncing is calculated. bounce It is also one of the basic parameters for adjusting the clamping force of the clamping wheel.

[0101] According to the above basic parameters obtained in real time, the preset clamping force calculation model is input to obtain the minimum clamping force F of the clamping wheel. min , and obtain a safety factor Y based on other minor factors that may cause the de-icing device to roll over; using the safety factor Y and the minimum clamping force F min Calculate the actual clamping force F of the clamping wheel real ; Finally, use the actual clamping force F real By comparing with the preset safety clamping force threshold, a clamping force adjustment instruction is generated according to the prediction strategy, thereby realizing real-time adjustment of the clamping force of the clamping wheel according to different working conditions of the de-icing device during operation.

[0102] Specifically, in the above step S1, the rollover moment M caused by high-altitude wind force rollThe calculation formula is:

[0103]

[0104] Among them, M roll is the rollover moment caused by high-altitude wind force, unit is N·m;

[0105] ρ is the air density, unit is kg / m 3 , when implemented in real time, 1.225kg / m 3 ;

[0106] v is the wind speed, in m / s, which can be obtained through an anemometer in actual implementation;

[0107] d is the vertical height difference between the wind action point and the center of gravity of the deicing device, in meters, and is a constant. In the present invention, the wind action point is a theoretical action point. According to actual tests, the center point of the overall projection of the deicing device is taken, and the center of gravity of the deicing device is determined according to the overall structure of the device.

[0108] A0 is the windward area of ​​the de-icing device, in m 2 In the present invention, A0 = A·cos(β), β is the angle between the wind direction and the front of the deicing device, in rad, and A is the orthographic projection area of ​​the deicing device, in m 2 In actual implementation, the angle β between the wind direction and the front of the de-icing device can be obtained in real time through the wind vane, and the orthographic projection area A of the device is calculated and obtained according to the actual device drawings.

[0109] In summary, the rollover moment M caused by high-altitude wind force roll In the real-time acquisition, the parameters that need to be acquired in real time include the wind speed v, the angle β between the wind direction and the front of the de-icing device.

[0110] Specifically, in the above step S1, the bouncing torque M generated by the acceleration caused by the ground line bouncing is bounce The calculation formula is:

[0111] M bounce =m×a t ×h cg

[0112] Among them, M bounce It is the bouncing torque caused by the acceleration caused by the ground bounce, in N·m;

[0113] m is the total mass of the deicing device, in kg, which is a constant and depends on the actual deicing device;

[0114] h cg It is the vertical distance from the center of gravity of the de-icing device to the ground line, in meters, which is a constant and depends on the actual working conditions;

[0115] at The acceleration of the ground line bouncing during deicing, in m / s 2 , measured in real time by an accelerometer.

[0116] In summary, the bouncing torque M caused by the acceleration caused by the ground line bouncing bounce In the real-time acquisition of the deicing process, the parameters that need to be acquired in real time include the acceleration a that causes the ground line to bounce during the deicing process. t .

[0117] On the basis of the above, the stable moment M generated by the stable clamping force of the de-icing device is stability The calculation formula is:

[0118]

[0119] Among them, F clamp is the clamping force of the clamping wheel;

[0120] is the tilt angle of the de-icing device, in rad, and the tilt angle of the device is obtained by integrating the roll angular velocity measured by the gyroscope;

[0121] μ is the friction coefficient between the clamping wheel and the ground wire, which is a constant and depends on the material of the ground wire and the outer wall of the clamping wheel;

[0122] d cg It is the vertical distance from the center of gravity of the de-icing device to the ground line, in meters, which is a constant and depends on the actual working conditions;

[0123] In order to initially ensure the stability of the de-icing device, it is obvious that the stabilizing moment M generated by the clamping force stability The rollover moment M caused by high-altitude wind force needs to be overcome roll The bouncing torque M caused by the acceleration caused by the ground line bouncing bounce ,Right now:

[0124] M stability ≥M roll +M bounce

[0125] Among them,

[0126]

[0127] Clamping force F of clamping wheel clamp The minimum value is the minimum clamping force F of the clamping wheel required for this application. min .

[0128] In summary, the clamping force calculation model preset in the above step S2 is:

[0129]

[0130] Among them, F min is the minimum clamping force of the clamping wheel, in N;

[0131] ρ is the air density, unit is kg / m 3 ;

[0132] v is wind speed, in m / s;

[0133] β is the angle between the wind direction and the front of the de-icing device, in rad;

[0134] is the tilt angle of the de-icing device, in rad;

[0135] A is the orthographic projection area of ​​the de-icing device, in m 2 ;

[0136] μ is the friction coefficient between the clamping wheel and the ground wire;

[0137] h cg is the vertical distance from the center of gravity of the de-icing device to the ground, in meters;

[0138] d is the vertical height difference between the wind action point and the center of gravity of the de-icing device, in meters;

[0139] m is the total mass of the de-icing device, in kg;

[0140] a t The acceleration of the ground line bouncing during deicing, in m / s 2 .

[0141] Since there are other factors that may cause the de-icing device to roll over, the present invention also introduces a safety factor Y in actual implementation to further reduce the minimum clamping force F of the clamping wheel. min The actual clamping force F of the clamping wheel is calculated based on real , specifically:

[0142] F real =F min ×Y;

[0143] Among them, F min is the minimum clamping force of the clamping wheel, in N;

[0144] F real is the actual clamping force of the clamping wheel, in N;

[0145] Y is the safety factor, which is related to the design parameters of the de-icing device itself.

[0146] Specifically, the selection of the safety factor Y depends on the actual situation, and its selection needs to consider the following factors:

[0147] Environmental factors: Factors such as temperature and humidity changes may affect the actual effect of the clamping force, and the clamping force needs to be adjusted according to these factors.

[0148] Temperature: Temperature changes can cause changes in the physical properties of the clamp wheel material. De-icing devices are usually used in the cold winter and early spring, and the low temperatures may cause the material to harden, thereby increasing the clamping force required. The expansion and contraction characteristics of the material under temperature changes may cause the contact pressure between the clamp wheel and the ground wire to change. This requires adjusting the clamping force under different temperature conditions to ensure that the clamping effect is always maintained.

[0149] Humidity: Changes in ambient humidity can affect the friction coefficient and clamping force of the clamping wheel. High ambient humidity may cause the surface of the clamping wheel and the ground wire material to become slippery, affecting the friction coefficient and requiring adjustment of the clamping force.

[0150] Actual operating conditions: The clamping device is subjected to vibration, impact or other external forces during de-icing work, and the clamping force may need to be increased to ensure the clamping effect; the ice debris remaining on the ground wire after de-icing may cause uneven contact between the clamping wheel and the ground wire, thereby generating uneven clamping force, and the ice debris may affect the surface adhesion of the ground wire, thereby affecting the effective transmission of the clamping force, and this change needs to be compensated by increasing the clamping force.

[0151] Vibration and shock: Vibration and shock may cause the stability of the clamping device to decrease, making the contact force between the clamping wheel and the ground wire uneven. In order to ensure the clamping effect, the clamping force needs to be increased to offset the looseness caused by these external forces.

[0152] Residual ice: After de-icing, the ice remaining on the ground wire will cause uneven contact between the clamping wheel and the ground wire. The ice may prevent the clamping wheel from evenly contacting the ground wire, thus affecting the distribution and transmission of the clamping force.

[0153] Effect of adhesion: The presence of ice may also reduce the adhesion of the ground wire surface, making it impossible for the clamping wheel to effectively clamp the ground wire. The reduction in adhesion will further weaken the effective transmission of the clamping force.

[0154] Adjustment capability of the equipment: The adjustment step and accuracy of the clamping equipment may also affect the final clamping force setting. It is necessary to ensure that the equipment can work reliably within the required clamping force range.

[0155] Adjustment step: The clamping force provided by the clamping device should be adjusted in real time as much as possible. The adjustment step is the smallest incremental change during the adjustment process. However, if the adjustment step of the device is too large, the expected value cannot be achieved during the clamping force implementation, and the clamping force needs to be further adjusted.

[0156] Adjustment accuracy: Accuracy is usually ensured by sensors and control systems. These systems can monitor the clamping force in real time, but sensors generally have certain errors, and control systems have response time delays. The clamping force needs to be further adjusted to compensate for the error in order to maintain it near the set value.

[0157] Specifically, the safety factor Y can be obtained through existing neural network model training based on the above considerations.

[0158] 3. De-icing device:

[0159] The specific structure of the de-icing device refers to Figure 1-9 As shown, its main structure includes a frame 10, which serves as the overall support of the de-icing device; an ice-breaking mechanism 30 installed on the frame 10, which is used to break the ice; a walking mechanism 20 installed on the frame 10, which is used for the de-icing device to walk on the ground wire; a crawling mechanism 40 and a clamping mechanism 50 installed on the frame 10, which cooperate with each other to realize the removal of ice in the initial section of the ground wire. In addition, the clamping mechanism 50 in the present invention can also be used to clamp the ground wire so that the walking mechanism 20 forms a dynamic match with the ground wire; a spraying mechanism 60 installed on the frame 10, which is used to spray antifreeze on the ground wire after the de-icing device is completed; a locking assembly 70 installed on the frame 10, which is used to prevent the de-icing device from falling on the ground wire. Specifically:

[0160] 1) Skeleton 10

[0161] like Figure 1 and Figure 2 As shown, an open wire-passing channel 13 is formed at the bottom of the frame 10, and a running cavity is formed at the upper part of the wire-passing channel 13 for only the ground wire to pass through, and an initial deicing cavity is formed at the lower part of the wire-passing channel 13 for the ground wire and ice to enter. In actual implementation, the running mechanism 20 is installed at the running cavity, and the clamping area for deicing on the crawling mechanism 40 and the clamping mechanism 50 is located at the initial deicing cavity. When the frame 10 is hoisted to the initial section of the ground wire, the crawling mechanism 40 and the clamping mechanism 50 cooperate with each other (for specific cooperation, see the clamping mechanism 50 and the crawling mechanism 40 below) to remove the ice on the initial section of the ground wire; thereafter, the initial section of the ground wire can slide into the running cavity, and at this time, the running mechanism 20 can drive the deicing device to operate normally on the initial section of the ground wire without ice, so as to enter the subsequent normal deicing process.

[0162] In addition, if Figure 2 As shown, the skeleton 10 also includes an air supply unit 11 and a power supply unit 12 distributed on both sides thereof to supply air and power to other mechanisms.

[0163] 2) Clamping mechanism 50 and crawling mechanism 40

[0164] like Figure 3As shown, the clamping mechanism 50 includes two second clamping plates 54, and the crawling mechanism 40 includes two first clamping plates 42. The two second clamping plates 54 and the two first clamping plates 42 are symmetrically distributed on both sides of the channel where the initial deicing cavity is located, and an open clamping area is formed between the two second clamping plates 54 and the two first clamping plates 42. The two second clamping plates 54 and the two first clamping plates 42 can both perform horizontal reciprocating clamping motions in a direction perpendicular to the wire-passing channel 13 to clamp and remove ice on the ground wire, and form a clamp with the ground wire after the ice is removed. In addition, a crawling cylinder 43 arranged along the length direction of the wire-passing channel 13 is provided between the clamping mechanism 50 and the crawling mechanism 40.

[0165] The specific working principle is as follows: Figure 3 As shown, the initial section of the ground wire is section A, and the section adjacent to the initial section of the ground wire along the deicing direction of the ground wire is section B. When in use, the deicing device is first hoisted to section B of the ground wire. Since the running cavity of the frame 10 is only for the ground wire to pass through, at this time, the ground wire is located at the initial deicing cavity of the frame 10, and the clamping mechanism 50 and the two second clamping plates 54 and the two first clamping plates 42 of the crawling mechanism 40 are all horizontally reciprocating clamping motions in a direction perpendicular to the wire passage 13 to clamp and remove the ice on section B of the ground wire. After the ice is removed, since there is still ice on the ground wire at other positions of the frame 10, the ground wire is still in the initial deicing cavity. At this time, the clamping mechanism 50 forms a clamp with section B on the ground wire, and then the two first clamping plates 42 on the crawling mechanism 40 are unfolded, and the crawling cylinder 43 drives the crawling mechanism 40 to move toward section A. When the crawling cylinder 43 drives the crawling mechanism 40 to move toward section A, the two first clamping plates 42 on the crawling mechanism 40 perform a reciprocating clamping action, thereby removing the ice in the movement stroke. After the crawling cylinder 43 is stretched to the limit position, i.e., section A on the ground line, the crawling mechanism 40 removes the ice at this position, and the two first clamping plates 42 of the crawling mechanism 40 clamp the section A on the ground line. After that, the clamping mechanism 50 is released from section B on the ground line, and the crawling cylinder 43 contracts, so that the deicing device as a whole moves toward section A of the ground line where deicing is completed. During the movement, the two second clamping plates 54 of the clamping mechanism 50 still perform a reciprocating clamping action to remove the ice that has not been completely removed from sections A and B of the ground line. Since the walking cavity of the skeleton 10 is only for the ground wire to pass through, during the de-icing process of the above-mentioned sections A and B of the ground wire, the skeleton 10 cannot slide downward so that the ground wire is always in the initial de-icing cavity of the skeleton 10. As the continuous ice-breaking operation is achieved through the crawling mechanism 40 and the clamping mechanism 50, and until the ice covering sections A and B is cleared, the skeleton 10 slides downward under the action of gravity, and the walking cavity is sleeved on section A of the ground wire. At this time, the walking mechanism 20 forms a power coordination with the ground wire, so that the initial section of the ground wire can realize the normal walking of the walking mechanism 20, and the ice-breaking mechanism 30 realizes subsequent normal walking and ice-breaking operations, thereby realizing the automatic installation of the de-icing device at the initial section of the ground wire.

[0166] On the basis of the above, if Figure 3 As shown, since the water on the ground wire will flow downward under the action of gravity, the ice on the ground wire gradually increases from top to bottom. In the present invention, the edges on both sides of the clamping area are in an "eight" structure, which increases the contact area with the ice during the clamping process as much as possible to improve the ice removal effect. In addition, in view of the "eight" structure of the edges on both sides of the clamping area, in order to ensure that the clamping mechanism 50 and the crawling mechanism 40 can eventually form a stable clamp with the ground wire, in this embodiment, the upper part of the clamping area is at the same height as the upper part of the initial deicing chamber.

[0167] On the basis of the above, if Figure 3 As shown, the clamping mechanism 50 includes a second bidirectional cylinder 51 installed on the frame 10, and both telescopic ends of the second bidirectional cylinder 51 can perform horizontal telescopic movements perpendicular to the wire-passing channel 13, and two second clamping plates 54 are respectively connected to the telescopic ends of the two second bidirectional cylinders 51. The second bidirectional cylinder 51 is used as an actuator to drive the second clamping plates 54 to perform reciprocating clamping movements. Compared with the hydraulic cylinder driving method, there is no problem of driving medium freezing due to low temperature, and compared with other linear motion power mechanisms such as other screw sliders, it has the advantage of efficient clamping action execution.

[0168] On the basis of the above, if Figure 3 As shown, the crawling mechanism 40 includes a first bidirectional cylinder 41, and the two ends of the crawling cylinder 43 are respectively connected to the fixing seat of the first bidirectional cylinder 41 and the fixing part of the clamping mechanism 50, the fixing part here can be the fixing seat of the second bidirectional cylinder 51 mentioned above, or the connecting part of the clamping mechanism 50 and the skeleton 10; the two telescopic ends of the first bidirectional cylinder 41 can both perform horizontal telescopic movements perpendicular to the wire-passing channel 13, and the two first clamping plates 42 are respectively fixed on the two telescopic ends of the first bidirectional cylinder 41. Similarly, the first bidirectional cylinder 41 is used as the actuator to drive the first clamping plate 42 to perform reciprocating clamping movements. Compared with the hydraulic cylinder drive method, there will be no problem of driving medium freezing due to low temperature, and compared with other linear power mechanisms such as other screw sliders, it has the advantage of efficient clamping action execution.

[0169] On the basis of the above, if Figure 3 As shown, the first anti-skid convex strip 421 and the second anti-skid convex strip 541 are fixed to the inner sides of the first clamping plate 42 and the second clamping plate 54 respectively, which ensures the stability of the clamping between the first clamping plate 42 and the second clamping plate 54 and the ground wire.

[0170] It is worth mentioning that Figure 3 and Figure 4 As shown, the clamping mechanism 50 in the present application is also provided with a clamping wheel 53 for use in conjunction with the walking mechanism 20 , and the specific cooperation method is further described below in the walking mechanism 20 .

[0171] 3) Walking mechanism 20

[0172] like Figure 5 As shown, the walking mechanism 20 includes a walking wheel 21 installed on the upper part of the walking cavity, and the axis of the walking wheel 21 is horizontally arranged perpendicular to the wire passage 13, so that the wheel surface of the walking wheel 21 is located above the ground wire. When the walking wheel 21 is driven by the walking motor 22, the movement of the de-icing device is achieved by the friction between the walking wheel 21 and the ground wire.

[0173] Specifically, Figure 3-5 As shown, the clamping mechanism 50 also includes two clamping wheels 53 respectively mounted on the two second clamping plates 54. Specifically, a C-shaped seat 52 and a second clamping plate 54 are fixed on the telescopic end of the second bidirectional cylinder 51 in the clamping mechanism 50 from top to bottom in sequence. The C-shaped seat 52 is a structure that bulges outward, and the inner cavity of the C-shaped seat 52 is at the same height as the travel cavity. The clamping wheels 53 are mounted in the inner cavity of the C-shaped seat 52. The outer periphery of the two clamping wheels 53 has a wedge surface that forms an oblique wedge with the ground wire. When the two clamping wheels 53 on the clamping mechanism 50 perform a clamping action, the travel wheel 21 and the two clamping wheels 53 clamp the ground wire together.

[0174] Compared with the prior art, the traveling mechanism 20 adopts two conventional vertically arranged traveling wheels 21, and the two traveling wheels 21 are driven by a linear mechanism to produce a clamping action on the ground wire, so as to realize a clamping driving mode for the ground wire. In the present invention, a clamping wheel 53 is provided on the clamping mechanism 50 for deicing the ground wire in the initial stage. After the deicing in the initial stage is completed, the clamping wheel 53 on the clamping mechanism 50 and the traveling wheel 21 form a clamping with the ground wire together, and there is no need to additionally equip the traveling mechanism 20 with a linear mechanism, thereby reducing the cost and weight of the deicing device.

[0175] It is worth mentioning that in actual implementation, Figure 3 As shown, in order to ensure the stability of the connection between the de-icing device and the ground wire, the clamping mechanism 50 is set as two groups distributed on the sides of the wire-passing channel 13, and the walking wheels 21 can be set as two groups distributed at both ends of the wire-passing channel 13 to ensure stable contact friction with the ground wire and realize stable power output of the de-icing device.

[0176] 4) Ice breaking mechanism 30

[0177] like Figure 7As shown, the ice-breaking mechanism 30 includes a pedestal 31 installed at the forward end of the skeleton 10, and a reciprocating power mechanism 34 driving an ice-breaking impact hammer 35 to perform reciprocating impact motion is installed on the pedestal 31, which has the advantages of low cost, strong power, and small radial force on the ground line. Of course, in actual implementation, other ice-breaking forms in the prior art can also be used, such as a swing arm rotating shaft is arranged parallel to the ground line axis, and a swing arm hammer connected to the swing arm rotating shaft is arranged. By swinging the swing arm hammer back and forth around the swing arm rotating shaft, stable de-icing of the ground line can also be achieved, but there is a disadvantage of a large radial force on the ground line. In addition, laser de-icing can also be used. Although the de-icing effect is good, it has the disadvantages of high cost and fast energy consumption.

[0178] On the basis of the above, if Figure 7 As shown, the hammer head 351 of the ice-breaking impact hammer 35 is in an inverted U-shaped structure, and the inner cavity of the hammer head 351 is sleeved on the outer periphery of the ground wire, so that the hammer head 351 can effectively cover most of the area around the ground wire, ensuring the de-icing effect on the ice covering the outer periphery of the ground wire. In addition, a lifting mechanism 32 is also installed on the ice-breaking mechanism 30, and the ice-breaking impact hammer 35 and the reciprocating power mechanism 34 are installed on the lifting seat 33 of the lifting mechanism 32, and the position of the hammer head 351 can be adjusted to ensure that the inner cavity of the hammer head 351 can be stably sleeved on the outside of the ground wire.

[0179] 5) Spraying mechanism 60

[0180] like Figure 1 As shown, the spraying mechanism 60 is arranged near the rear end of the frame 10, wherein Figure 6 As shown, the spraying mechanism 60 includes a rotating ring 63, a notch for the ground wire to pass through is provided on the ring body of the rotating ring 63, and a nozzle 64 for spraying antifreeze is installed on the inner side of the rotating ring 63. Further, the rotating ring 63 is provided with three rotating rings coaxially distributed with the ground wire and arranged in sequence along the length direction of the ground wire, and each rotating ring 63 is driven by the rotating driving mechanism 62 and can be independently rotated and adjusted around the axis of the ground wire to adjust the relative position of the nozzle 64 located on the periphery of the ground wire respectively.

[0181] Compared with the traditional method of directly arranging a plurality of nozzles 64 evenly distributed around the periphery of the ground wire, which can only achieve uniform spraying on the surface of the object under windless conditions, if applied to the working conditions of the high-altitude ground wire in the present invention, due to the strong wind in the high-altitude environment, the traditional arrangement of the nozzles 64 often leads to a large amount of overlapping spraying of antifreeze and a large amount of antifreeze cannot be sprayed on the ground wire, resulting in a waste of antifreeze. Figure 6As shown, in the present invention, three rotating rings 63 are provided, and all of them can be independently rotated and adjusted around the axis of the ground wire, so that the positions of the inner nozzles 64 of the three rotating rings 63 can be adjusted according to different wind speeds to ensure that the antifreeze sprayed by the nozzles 64 can cover the outer surface of the ground wire. At the same time, it can also effectively reduce the overlapping spraying of antifreeze caused by wind energy, reduce the waste of antifreeze, and effectively reduce the number of shutdowns to wait for the addition of antifreeze, thereby improving the efficiency of deicing and antifreezing throughout the day.

[0182] On the basis of the above, if Figure 6 As shown, when the gaps of the three rotating rings 63 are aligned, the three nozzles 64 are evenly distributed around the axis of the ground wire, so that after the ground wire passes through the gap and enters the center of the rotating ring 63, the three nozzles 64 are evenly distributed around the axis of the ground wire. At this time, the distance that each nozzle 64 needs to adjust according to the wind speed is the smallest. In addition, the misaligned state of the three nozzles 64 evenly distributed around the axis of the ground wire also ensures that at least one nozzle 64 can be adjusted to this position in any area within the 360° range of the outer periphery of the ground wire, preventing the nozzle 64 from having a dead angle area that cannot be adjusted, and providing technical support for the subsequent automatic real-time adjustment of the nozzle 64.

[0183] Further, such as Figure 6 As shown, the spraying mechanism 60 also includes a liquid storage tank 61 connected to the nozzle 54 through a hose, and the rotating ring 63 forms a swivel fit with the liquid storage tank 61. Specifically, each nozzle 54 is supplied with liquid through a separate water pump, and the hose can adopt a spiral tube structure. For the installation structure in which the nozzle 64 is fixed to the inner periphery of the rotating ring 63 in the present application, the end of the hose can be connected to the middle of the nozzle 64 or penetrate from the outer periphery of the rotating ring 63 and connected to the nozzle 64. A gear ring is fixed to the outer periphery of the rotating ring 63. In actual implementation, if the hose is in the form of penetrating the outer periphery of the rotating ring 63, the gear ring can also be set on the end face of the rotating ring 63. The rotary drive mechanism 62 includes three motors, and gears are fixed on the output shafts of the three motors, and the gears on the three motors are respectively meshed with the gear rings on the three rotating rings 63 to realize the separate driving of the three rotating rings 63. This driving method is stable, which is convenient for obtaining the rotation angle of the rotating ring 63, and provides technical support for the subsequent automatic real-time adjustment of the nozzle 64. Of course, in actual implementation, other driving modes may also be used, such as a motor-driven friction wheel and the outer circumference of the rotating ring 63 to drive friction.

[0184] 6) Locking assembly 70

[0185] like Figure 8 and Fig. 9As shown, the lock assembly 70 includes an outer shell 71, the lower part of the outer shell 71 is provided with a wire entry groove 711 that can be sleeved on the outer periphery of the ground wire, and a U-shaped lock 72 is provided on the side of the wire entry groove 711. The U-shaped bottom end of the U-shaped lock 72 forms a swivel fit with the outer shell 71 through a horizontal rotating shaft, and the inner cavity length direction of the horizontal rotating shaft and the U-shaped lock 72 are arranged along the length direction of the wire entry groove 711. Specifically, as Fig. 9 As shown in the state A, the U-shaped lock buckle 72 has an initial state in which the inner cavity and the groove cavity of the wire inlet groove 711 share the same opening, as shown in FIG. Fig. 9 As shown in the B state and the C state, the ground wire entering the inner cavity of the U-shaped lock buckle 72 pushes it to rotate to form a locked state in which the inner cavity of the U-shaped lock buckle 72 and the groove cavity of the wire inlet groove 711 cross each other, and the inner cavity wall of the U-shaped lock buckle 72 in the locked state and the groove wall of the wire inlet groove 711 jointly enclose a locked cavity for locking the ground wire. In addition, a locking member for elastically locking the U-shaped lock buckle 72 in the locked state is also provided on the outer shell 71, and the locking member is connected to the sling assembly 76 arranged outside the outer shell 71, and when the hoisting part of the sling assembly 76 is pulled, it generates a resisting elastic locking force on the locking member and unlocks the U-shaped lock buckle 72.

[0186] During installation, the U-shaped lock buckle 72 is initially located at Fig. 9 As shown in state A, in the initial state where the inner opening end of the U-shaped lock buckle 72 intersects with the groove cavity of the wire inlet groove 711, the de-icing device with the lock assembly 70 is suspended just above the ground wire by hoisting the de-icing device with the ear of the UAV or crane, and the groove length direction of the wire inlet groove 711 in the lock assembly 70 is aligned with the length direction of the ground wire. Thereafter, the UAV or crane drives the de-icing device to move downward as a whole, so that the ground wire slides into the groove cavity of the wire inlet groove 711, and then continues to move the de-icing device downward, so that the ground wire will enter the inner cavity of the U-shaped lock buckle 72 through the inner opening end of the U-shaped lock buckle 72 aligned with the groove cavity of the wire inlet groove 711. Then continue to move the de-icing device downward, as shown in FIG. Fig. 9 As shown in the state B, the ground wire will push the lock assembly 70 to rotate until it rotates to the position shown in FIG. Fig. 9 The inner cavity of the U-shaped lock buckle 72 shown in the middle C state crosses with the groove cavity of the wire inlet groove 711 and is locked by a locking member to form a locking state in which the ground wire is locked in the locking cavity.

[0187] During disassembly, the drone or crane no longer directly hoists the de-icing device's hanging ears, but hoists the hoisting part of the sling assembly 76, and applies a lifting pulling force to the hoisting part to generate an unlocking action to resist the elastic locking force on the locking member and unlock the U-shaped lock buckle 72. When the locking member moves to the extreme position against the elastic locking force, the sling assembly 76 drives the lock buckle assembly 70 to move upward as a whole. At this time, the ground wire has a downward movement trend relative to the lock buckle assembly 70, thereby driving the U-shaped lock buckle 72 to generate a rotation action to switch to the initial state. As the lock buckle assembly 70 continues to move upward, until the ground wire is released from the inner cavity of the U-shaped lock buckle 72 and the groove cavity of the wire inlet groove 711, the automatic disassembly of the lock buckle assembly 70 is completed.

[0188] The locking of the above-mentioned locking assembly 70 is stable and does not require power support from the power supply unit 12, so it has higher reliability. Moreover, the installation and disassembly processes can be completed by drones or cranes, without the need for manual high-altitude operations. This is not only more efficient, but also effectively reduces the safety hazards of high-altitude operations.

[0189] Specifically, Figure 8As shown, the locking member includes a locking hook 74, and the locking hook 74 and the U-shaped lock buckle 72 are respectively arranged on both sides of the wire feed slot 711. The base of the locking hook 74 forms a swivel fit with the outer shell 71 through an unlocking shaft, and the unlocking shaft is parallel to the horizontal shaft. One end of the sling assembly 76 is fixed on the locking hook 74 away from the outer side of the wire feed slot 711, and the outer side of the hook of the locking hook 74 is connected to the outer shell 71 through a locking spring 75, that is, the locking hook 74 can be pulled by the sling assembly 76 to resist the elastic extrusion force of the locking spring 75 and move outward to unlock the U-shaped lock buckle 72. In addition, a wedge surface is provided on one side of the outer wall of the hook portion adjacent to the U-shaped lock buckle 72. The wedge surface forms an oblique wedge fit with the U-shaped lock buckle 72 during the rotation process of the U-shaped lock buckle 72 switching from the initial state to the locked state, and drives the hook portion to rotate outward. Thereafter, the hook portion is elastically driven by the locking spring 75 on the outer shell 71, and rotates to sleeve the side wall of the open end of the U-shaped lock buckle 72 in the locked state to form an elastic lock. In this embodiment, the locking hook 74 adopts a rotation unlocking method, which effectively reduces the resistance when the sling assembly 76 pulls the locking hook 74 to produce an unlocking action. In addition, the wedge surface of the hook portion of the locking hook 74 forms an oblique wedge fit with the U-shaped lock buckle 72 during the rotation process of the U-shaped lock buckle 72 switching from the initial state to the locked state. During the hoisting process of the deicing device, the drone can adopt the form of a lifting ear for hoisting the deicing device. With respect to the hoisting portion of the hoisting sling assembly 76, the locking assembly 70 needs to be sleeved on the ground wire and the lifting force on the hoisting portion needs to be relaxed to achieve elastic reset of the locking member to form a lock. In this embodiment, the lifting lug enables the U-shaped lock 72 to automatically and smoothly switch from the initial state to the locked state during the process of the locking assembly 70 being in place. At this time, the locking member automatically resets under the action of the locking spring 75 to achieve locking. In this embodiment, the locking method of the locking assembly 70 is formed before the lifting force is withdrawn, which further improves the safety of the locking process of the locking assembly 70.

[0190] In specific implementation, the locking member may also adopt other implementations, such as a horizontal latch that is perpendicular to the length direction of the inlet slot 711, and the horizontal latch slides along its own axis to fit on the outer shell 71, and the inner end of the horizontal latch can be inserted into the inner side of the U-shaped lock buckle 72 in the locked state to form a rotation lock for the U-shaped lock buckle 72. In addition, a spring is provided on the horizontal latch to drive the horizontal latch to slide inward, and the sling assembly 76 is connected to the outer end of the horizontal latch to drive the horizontal latch to slide and unlock. Furthermore, the inner end of the horizontal latch can form an oblique wedge fit with the U-shaped lock buckle 72, so that the U-shaped lock buckle 72 can automatically and smoothly switch from the initial state to the locked state.

[0191] On the basis of the above, if Figure 8As shown, a release torsion spring 73 is also installed on the outer shell 71. The release torsion spring 73 generates a driving action to drive the U-shaped lock buckle 72 to switch to the initial state when the U-shaped lock buckle 72 is unlocked. It not only facilitates the maintenance of the initial state during the installation of the lock buckle assembly 70, but also assists the U-shaped lock buckle 72 to reset to the initial state after unlocking.

[0192] It is worth mentioning that Figure 1 As shown, the outer shell 71 of the lock assembly 70 is fixed to the frame 10, and the lock assembly 70 is arranged in two groups distributed on both sides of the walking mechanism 20, so that the walking mechanism 20 and the lock assembly 70 can be stably sleeved on the periphery of the ground wire, and the arrangement of the two groups of lock assemblies 70 ensures stable locking of both sides of the walking mechanism 20. Further, the hoisting parts of the sling assemblies 76 of the two groups of lock assemblies 70 are fixed to each other, ensuring that the two lock assemblies 70 can be unlocked synchronously.

[0193] Of course, it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0194] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0195] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. A method for optimizing a ground wire clamping wheel, characterized in that: The following steps are involved: S1. Construct a clamping wheel optimization database, which includes the corresponding mapping relationship between the design parameters of the clamping wheel and the relationship parameters of the clamping wheel, wherein the design parameters include the arc θ of the clamping wheel and the height H of the clamping wheel, and the relationship parameters include the mass M of the clamping wheel, the contact stiffness K of the clamping wheel, and the air resistance coefficient C of the clamping wheel. d The maximum radius R of ice on the ground wire that the clamping wheel can accommodate i ; S2. Obtain the constraint function and design parameters of the clamping wheel, and query the corresponding relationship parameters from the clamping wheel optimization database based on the constraint function and design parameters of the clamping wheel, so that the contact stiffness K of the clamping wheel is the maximum value under the condition of satisfying the constraint function.

2. The method for optimizing the ground wire clamping wheel according to claim 1, characterized in that: The constraint function st is specifically: Wherein, M is the mass of the clamping wheel, in kg; C d is the air resistance coefficient of the clamping wheel; R i The maximum radius of ice on the ground wire that the clamping wheel can accommodate, in mm; M fit is the constraint value of the objective function of the mass of the clamping wheel, in kg; C fit is the constraint value of the objective function of the air resistance coefficient of the clamping wheel, in kg; R fit It is the constraint value of the constraint function of the maximum radius of ice covering the ground line that the clamping wheel can accommodate, in mm; θ L and θ U They are the lower and upper limits of the arc θ of the clamping wheel, in rad; H L and H U They are the lower and upper limits of the height H of the clamping wheel, in rad.

3. The method for optimizing the ground wire clamping wheel according to claim 1, characterized in that: The construction of the clamping wheel optimization database is specifically as follows: Construct a training sample set, which includes the corresponding mapping relationship between the design parameters of the clamping wheel and the relationship parameters of the clamping wheel, wherein the mass M of the clamping wheel, the contact stiffness K of the clamping wheel, the air resistance coefficient C d The maximum radius R of ice on the ground wire that the clamping wheel can accommodate i All of them are obtained by finite element simulation method; Taking the design parameters of the clamping wheel as input and the relationship parameters of the clamping wheel as output, the preset SVR approximate model is trained, and the SVR approximate model is optimized using the PSO algorithm to obtain the PSO-SVR approximate model; The design parameters of the clamping wheel are obtained and input into the optimized PSO-SVR approximate model, and the relational parameters of the clamping wheel are output, thereby completing the construction of the clamping wheel optimization database.

4. The clamping force adjustment method is characterized in that: The clamping force adjustment method uses the ground wire clamping wheel optimization method according to any one of claims 1 to 3 to optimize the clamping wheel and the ground wire to clamp and cooperate; The clamping force adjustment method comprises the following steps: K1. Real-time acquisition of basic parameters related to the clamping effect, including the rollover moment caused by high-altitude wind and the bounce moment caused by acceleration caused by ground line bounce; K2. Input the basic parameters into the preset clamping force calculation model to obtain the minimum clamping force F of the clamping wheel. min ; K3, obtain the safety factor Y, and according to the safety factor Y and the minimum clamping force F min Calculate the actual clamping force of the clamping wheel; K4, the actual clamping force F real The clamping force is compared with the preset safety clamping force threshold and a clamping force adjustment instruction is generated according to the prediction strategy to achieve dynamic adjustment of the clamping force of the de-icing device.

5. The clamping force adjustment method according to claim 4, characterized in that: The clamping force calculation model preset in step K2 is: Among them, F min is the minimum clamping force of the clamping wheel, in N; M roll is the rollover moment caused by high-altitude wind force, unit is N·m; M bounce It is the bouncing torque caused by the acceleration caused by the ground bounce, in N·m; is the tilt angle of the de-icing device, in rad; μ is the friction coefficient between the clamping wheel and the ground wire; h cg is the vertical distance from the center of gravity of the de-icing device to the ground, in meters; The calculation formula of the rollover moment caused by the high-altitude wind force is: Among them, M roll is the rollover moment caused by high-altitude wind force, unit is N·m; ρ is the air density, unit is kg / m 3 ; v is wind speed, in m / s; d is the vertical height difference between the wind action point and the center of gravity of the de-icing device, in meters. A0 is the windward area of ​​the de-icing device, in m 2 , and A0 = A·cos(β), β is the angle between the wind direction and the front of the deicing device, unit rad, A is the orthographic projection area of ​​the deicing device, unit m 2 ; The calculation formula for the bouncing torque generated by the acceleration caused by the ground wire bouncing is: M bounce =m×a t ×h cg Among them, M bounce It is the bouncing torque caused by the acceleration caused by the ground bounce, in N·m; m is the total mass of the de-icing device, in kg; h cg is the vertical distance from the center of gravity of the de-icing device to the ground, in meters; a t The acceleration of the ground line bouncing during deicing, in m / s 2 ; According to the safety factor Y and the minimum clamping force F min Calculate the actual clamping force of the clamping wheel, specifically: F real =F min ×Y; Among them, F min is the minimum clamping force of the clamping wheel, in N; F real is the actual clamping force of the clamping wheel, in N; Y is the safety factor, which is related to the design parameters of the de-icing device itself.

6. The clamping force adjustment method according to claim 4, characterized in that: The prediction strategy specifically includes: When the actual clamping force exceeds the preset safety clamping force threshold, a clamping force adjustment instruction is generated according to the safety clamping force threshold; When the actual clamping force does not exceed the preset safety clamping force threshold, a clamping force adjustment instruction is generated according to the actual clamping force.

7. A deicing device, wherein the deicing device is applied with the clamping force adjustment method as claimed in claim 4, characterized in that: The invention comprises a frame (10) having an open wire-passing channel (13) at the bottom and an ice-breaking mechanism (30) installed on the frame (10); the upper part of the wire-passing channel (13) forms a running cavity for only the ground wire to pass through; the lower part of the wire-passing channel (13) forms an initial deicing cavity for the ground wire and ice to enter; a running mechanism (20) for the deicing device to move on the ground wire is installed in the running cavity; a clamping mechanism (50) and a crawling mechanism (40) are also installed on the frame (10); the clamping mechanism (50) includes two second clamping plates (54); and the crawling mechanism (40) includes two first clamping plates (42) The two second clamping plates (54) and the two first clamping plates (42) are symmetrically distributed on both sides of the channel where the initial de-icing chamber is located, and an open clamping area is formed between the two second clamping plates (54) and between the two first clamping plates (42). The two second clamping plates (54) and the two first clamping plates (42) can perform horizontal reciprocating clamping motion in a direction perpendicular to the wire-passing channel (13) to clamp and remove ice on the ground wire, and clamp the ground wire after the ice is removed; a crawling cylinder (43) is arranged along the length direction of the wire-passing channel (13) between the clamping mechanism (50) and the crawling mechanism (40).

8. The deicing device according to claim 7, characterized in that: The walking mechanism (20) includes a walking wheel (21) installed on the upper part of the walking cavity, the axis of the walking wheel (21) is arranged horizontally and perpendicular to the wire passage (13), and the walking wheel (21) is driven to rotate by a walking motor (22); the clamping mechanism (50) also includes two clamping wheels (53) respectively installed above the two second clamping plates (54), the outer peripheries of the two clamping wheels (53) have wedge surfaces that form an oblique wedge fit with the ground wire, and when the two clamping wheels (53) on the clamping mechanism (50) perform a clamping action, the walking wheel (21) and the two clamping wheels (53) jointly clamp the ground wire.

9. The deicing device according to claim 7, characterized in that: The ice-breaking mechanism (30) comprises a pedestal (31) mounted on the forward end of the frame (10), and a reciprocating power mechanism (34) is mounted on the pedestal (31) for driving the ice-breaking impact hammer (35) to perform a reciprocating impact motion.

10. The deicing device according to claim 7, characterized in that: The hammer head (351) of the ice-breaking impact hammer (35) is in an inverted U-shaped structure, and the inner cavity of the hammer head (351) is sleeved on the outer periphery of the ground wire. The ice-breaking mechanism (30) is also equipped with a lifting mechanism (32), and the ice-breaking impact hammer (35) and the reciprocating power mechanism (34) are installed on a lifting seat (33) of the lifting mechanism (32).

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