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

Abstract

The present invention relates to the technical field of overhead ground wire deicing, and specifically to a ground wire clamping wheel optimization method, a clamping force adjustment method, and a deicing device. The present invention includes the following steps: S1, constructing a clamping wheel optimization database, the clamping wheel optimization database including corresponding mapping relationships between design parameters of the clamping wheel and relationship parameters, wherein the design parameters include the radian of the clamping wheel and the height of the clamping wheel, and the relationship parameters include 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 wire ice that the clamping wheel can accommodate; S2, obtaining the constraint function and design parameters of the clamping wheel, and querying 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 of the clamping wheel is maximized under the condition that the constraint function is satisfied. The present invention can improve the clamping stability of the clamping wheel of the deicing device without increasing or increasing the mass of the clamping wheel very little.

Description

Technical Field

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

[0002] In winter in my country, ice often forms on transmission lines. If they are not cleaned in time, ice layers 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] A deicing robot is an automated deicing device for overhead ground wires. Most deicing robots consist of a walking mechanism that can move along the ground wire and a deicing mechanism that can perform deicing operations. To ensure the walking mechanism can stably move along the ground wire and prevent it from tipping over, the walking mechanism often uses a clamping wheel to clamp the ground wire. This is described in Chinese Patent Publication No. CN115800164B, entitled "A Deicing Device and Method for Deicing Transmission Line Ground Wires," and Chinese Patent No. CN114944634A, entitled "Deicer and Deicing Method for Transmission Lines."

[0004] The three-point clamping method distributed circumferentially around the periphery of the ground wire is one of the clamping methods used to clamp the de-icing device and the ground wire. The wheels distributed on the upper part of the ground wire serve as driving wheels, and the wheels located on both sides of the lower part of the ground wire serve as clamping wheels, thereby achieving stable clamping of the ground wire and the de-icing device and power transmission. To ensure the stability of the ground wire clamping method, the outer periphery of the clamping wheel and the contact point with the ground wire are mostly configured as a gradually closing structure from bottom to top. The outer surface of the closing structure cooperates with the ground wire wedge to squeeze the ground wire and the driving wheel into a stable fit. Even so, due to the strong wind in the high-altitude environment where the overhead ground wire is located, in order to further prevent the de-icing device from tipping over, in the prior art, some auxiliary devices such as locking mechanisms, elastic slide grooves, and limit devices are often provided to improve stability. However, the provision of auxiliary devices undoubtedly increases the processing difficulty of the de-icing device and increases the mass of the clamping wheel, resulting in an increased load on the ground wire. 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 an urgent problem to be solved. 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 or increasing the mass of the clamping wheel very little.

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

[0007] The method for optimizing a ground wire clamping wheel comprises 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 radian 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 covered by the ground line 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 that the constraint function is satisfied.

[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 wheel's clamping effect as the target parameter for clamping wheel optimization. Based on the corresponding mapping relationship between the clamping wheel's design parameters and the clamping wheel's relationship parameters in the clamping wheel optimization database, data on the clamping wheel's mass, contact stiffness, air resistance coefficient, and maximum radius of ground ice that the clamping wheel can accommodate under different clamping wheel curvatures and clamping wheel heights can be searched. Furthermore, the clamping wheel's mass, air resistance coefficient, and maximum radius of ground ice that the clamping wheel can accommodate are constrained by the constraint function's constraint values ​​under different environmental working conditions. This allows the clamping wheel's curvature and height to be optimized while satisfying different working conditions, ensuring that the clamping wheel has the optimal clamping effect under different working conditions.

[0012] 2. Because the finite element simulation method is inefficient in obtaining the mass, contact stiffness, air drag coefficient, and maximum radius of ice coverage that the clamping wheel can accommodate using the finite element simulation method, the present invention first uses the finite element simulation method to obtain parameters and construct a training sample set. This is then input into the SVR approximation model for model training. The SVR approximation model is then optimized using the PSO algorithm to obtain a PSO-SVR approximation model. Subsequently, using the radian and height of the clamping wheel as input and the mass, contact stiffness, air drag coefficient, and maximum radius of ice coverage that the clamping wheel can accommodate as output, the corresponding mapping relationships between multiple sets of clamping wheel design parameters and their relationship parameters can be quickly obtained, thereby efficiently constructing a clamping wheel optimization database.

[0013] 3. In the present invention, high-altitude wind and the ground wire jumping caused by the falling of a large amount of ice during the de-icing process are considered as the main factors causing the de-icing device to roll over. The rollover torque caused by 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. Based on 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. In this way, the clamping force of the clamping wheel can be adjusted in real time according to the different working conditions of the de-icing device during operation, thereby achieving 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 de-icing device of the present invention is provided with a clamping mechanism and a crawling mechanism, which can clear the ice covering the initial section of the ground wire through the reciprocating clamping of the first and second clamping plates. In addition, the provision of a crawling cylinder between the clamping mechanism and the crawling mechanism enables the clamping mechanism and the crawling mechanism to crawl and slide along the ground wire. Since the wire-passing channel of the skeleton is sequentially arranged as a running cavity and an initial de-icing cavity from top to bottom, and the running cavity is only for the passage of the ground wire, while 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 de-icing cavity is located. Therefore, before the ice covering the initial section of the ground wire is completely cleared, the ground wire will always be located in the clamping areas of the clamping mechanism and the crawling mechanism, unable to slide into the running cavity to form power coordination with the power mechanism. At this time, the clamping mechanism and 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 skeleton, the clamping unit and the crawling unit in the present invention.

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

[0019] Figure 5 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 Schematic diagram of the structure of the locking assembly in the present invention.

[0023] Figure 9 Schematic diagram of the working process of the locking assembly in the present invention.

[0024] Figure 10 This is a flowchart of the working process of the ground wire clamping wheel optimization method of the present invention.

[0025] Figure 11 This is a flowchart of the workflow of the clamping force adjustment method of 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 hammer; 351, hammer head; 40, crawling mechanism; 41, first two-way cylinder; 42, first splint; 421, first anti-slip ridge; 43, crawling air Cylinder; 50, clamping mechanism; 51, second bidirectional cylinder; 52, C-shaped seat; 53, clamping wheel; 54, second clamping plate; 541, second anti-slip ridge; 60, spraying mechanism; 61, liquid storage tank; 62, rotary drive mechanism; 63, rotating ring; 64, nozzle; 70, locking assembly; 71, outer shell; 711, wire feed groove; 72, U-shaped lock; 73, tripping torsion spring; 74, locking hook; 75, locking spring; 76, sling assembly. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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 with reference to the accompanying drawings:

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

[0030] like Figure 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 radian 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 ground ice 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 that the constraint function is satisfied.

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

[0037] θ is the arc of the clamping wheel, unit is 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 meet the constraint function condition.

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

[0041] Considering that the de-icing device needs to work on a high-altitude 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 channel of the airflow, generate greater resistance to the fluid, and increase 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 conditions, the ground line ice radius is too large, and it is difficult for a heavy-loaded UAV equipped with a de-icing device to land on the ground line. Therefore, it is necessary to appropriately increase the maximum radius of ground line ice that the clamping wheel can accommodate. Therefore, the maximum radius of ground line ice that the clamping wheel can accommodate, R i It is also 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 The constraint value of the constraint function for the maximum radius of ground ice that the clamping wheel can accommodate, in mm;

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

[0052] H L and H U They are the lower and upper bounds 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, M fitIt can be determined based on 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 ice radius that the clamping wheel can accommodate can be determined based on the average ice thickness during the local icing season. The lower and upper bounds of the clamping wheel's arc θ and the lower and upper bounds of the clamping wheel's height H can be determined based on 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 ground wire ice that the clamping wheel can accommodate i In addition, through the constraint value 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 ground wire ice that the clamping wheel can accommodate i , thereby optimizing the arc θ and height H of the clamping wheel while satisfying 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 covered by the ground line that the clamping wheel can accommodate i All of them are obtained through 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 PSO algorithm is used to optimize the SVR approximate model 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 covered by the ground line that the clamping wheel can accommodate i The efficiency is low. In the present invention, a training sample set is first constructed by the finite element simulation method, and the SVR approximate model is input for model training. The SVR approximate model is then optimized using the PSO algorithm to obtain the PSO-SVR approximate model. Afterwards, 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 are calculated, and the PSO-SVR approximate model is obtained. d 、The maximum radius R of ground wire ice that the clamping wheel can accommodate i For output, the corresponding mapping relationship between multiple sets 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 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 the 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 ground ice that the clamping wheel can accommodate i The design parameters of the clamping wheel corresponding to the mapping relationship are modeled by using 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 coefficient of precision includes:

[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 values ​​of all validation sample points. 2 and RMSE are coefficients reflecting the global accuracy of the approximate model, E r is a coefficient that reflects the local accuracy of the approximate model.

[0072] (4) Define the objectives and constraints of 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] Where 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 insensitive coefficient of the SVR approximate model;

[0079] ∈ L ,∈ U are the lower and upper bounds of the insensitive 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 、hU ,q U are the upper bounds of each parameter respectively.

[0085] Based on the above, the PSO algorithm is used to optimize the SVR approximate model. 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 entire particle swarm;

[0090] S5) Repeat step 4) until the maximum number of iterations is reached and stop the iteration.

[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. Adjustment method of clamping force of ground wire deicing device

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

[0096] K1. Real-time acquisition of basic parameters related to the clamping effect, including the rollover torque caused by high-altitude wind and the bounce torque caused by acceleration due to ground 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 realComparing with the preset safety clamping force threshold, 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 When 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 based on the maximum clamping force that can be exerted by the power mechanism that performs the clamping action of the clamping wheel, or based on the maximum clamping force that does not damage 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 is roll It is one of the main factors that cause the de-icing device to roll over in the ground wire, and therefore, 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 the ground wire during the de-icing process, it will also cause the ground wire to jump. Under this jumping action, the de-icing device will have a greater impact on its rollover. Therefore, the bouncing torque M generated by the acceleration caused by the ground wire bouncing is calculated as 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 according to other minor factors that may cause the de-icing device to roll over, obtain a safety factor Y; 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 during the operation of the de-icing device.

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

[0103]

[0104] Among them, M roll is the rollover moment caused by high-altitude wind, 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 by 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. Based on actual testing, the center point of the overall projection of the deicing device is taken, and the center of gravity of the deicing device is determined based on the overall structure of the device.

[0108] A0 is the windward area of ​​the de-icing device, unit: 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, unit is rad, A is the orthographic projection area of ​​the deicing device, unit is 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 a wind vane, and the orthographic projection area A of the device is calculated according to the actual device drawings.

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

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

[0111] M bounce =m×a t ×h cg

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

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

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

[0115] a t The acceleration of the ground line that causes the de-icing process, in m / s 2 , measured in real time by an accelerometer.

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

[0117] On the basis of the above, the stable clamping force generated by the de-icing device is the stable torque M 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, which 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 is the vertical distance from the center of gravity of the de-icing device to the ground, 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 must be overcome roll The bouncing torque M generated by the acceleration caused by the ground bounce 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, unit is 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 that causes the de-icing process, 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, unit is 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 fluctuations can cause the physical properties of the clamping wheel material to change. De-icing systems are typically used in the cold winter and early spring, and low temperatures can cause the material to harden, increasing the clamping force required. The material's expansion and contraction characteristics with temperature fluctuations can cause the contact pressure between the clamping wheel and the ground wire to vary. This requires adjusting the clamping force under varying temperature conditions to ensure consistent and effective clamping.

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

[0150] Actual operating conditions: The clamping device may be subjected to vibration, impact, or other external forces during de-icing, and the clamping force may need to be increased to ensure the clamping effect. Ice debris remaining on the ground wire after de-icing may cause uneven contact between the clamping wheel and the ground wire, resulting in uneven clamping force. The ice debris may also affect the surface adhesion of the ground wire, thereby affecting the effective transmission of the clamping force. 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 loosening caused by these external forces.

[0152] Residual ice: After de-icing, ice remaining on the ground wire can cause uneven contact between the clamping wheel and the ground wire. This ice can prevent the clamping wheel from evenly contacting the ground wire, which in turn affects the distribution and transmission of the clamping force.

[0153] Adhesion: The presence of ice can also reduce the surface adhesion of the ground wire, making it difficult for the clamping wheel to effectively clamp the ground wire. This reduced adhesion further weakens 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 as much as possible in real time. The adjustment step is the smallest incremental change during the adjustment process. However, if the device adjustment step is too large, the desired clamping force value cannot be achieved during the application process, and further adjustment of the clamping force is required.

[0156] Adjustment accuracy: Accuracy is usually ensured by sensors and control systems. These systems can monitor the clamping force in real time. However, 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 and 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 skeleton 10, which serves as the overall support of the de-icing device; an ice-breaking mechanism 30 installed on the skeleton 10, which is used to break up the ice; a walking mechanism 20 installed on the skeleton 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 skeleton 10, which cooperate with each other to realize the removal of ice from 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 coordination with the ground wire; a spraying mechanism 60 installed on the skeleton 10, which is used to spray antifreeze liquid on the ground wire after the de-icing device is completed; and a locking assembly 70 installed on the skeleton 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, the bottom of the frame 10 is formed with an open wire passage 13. The upper portion of the wire passage 13 forms a running cavity for only the ground wire to pass through, and the lower portion of the wire passage 13 forms an initial de-icing cavity for the ground wire and ice to enter. In actual implementation, the running mechanism 20 is installed in the running cavity, and the clamping areas for de-icing on the crawling mechanism 40 and the clamping mechanism 50 are located in the initial de-icing cavity. When the frame 10 is hoisted to the initial section of the ground wire, the crawling mechanism 40 and the clamping mechanism 50 first cooperate with each other (for details on the clamping mechanism 50 and the crawling mechanism 40 below), to remove ice from the initial section of the ground wire. Afterwards, the initial section of the ground wire can slide into the running cavity. At this time, the running mechanism 20 can drive the de-icing device to operate normally on the initial section of the ground wire without ice, so as to enter the subsequent normal de-icing process.

[0162] In addition, if Figure 2 As shown, the skeleton 10 further 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 located on either side of the channel where the initial de-icing chamber is located. 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 a horizontal reciprocating clamping motion perpendicular to the wire passage 13 to clamp and remove ice from the ground wire. After the ice is removed, the ground wire is clamped to the ground wire. In addition, a crawling cylinder 43 is disposed between the clamping mechanism 50 and the crawling mechanism 40, arranged along the length of the wire passage 13.

[0165] The specific working principle is as follows: Figure 3 As shown, the initial section of the ground wire is designated as Section A, and the section adjacent to the initial section along the ground wire deicing direction is designated as Section B. During 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, the ground wire is now located in the initial deicing cavity of the frame 10. The clamping mechanism 50 and the two second clamping plates 54 and two first clamping plates 42 of the crawling mechanism 40 all perform a horizontal reciprocating clamping motion perpendicular to the wire passage 13 to clamp and remove ice from Section B of the ground wire. After the ice is removed, since ice still remains at other locations on the ground wire on the frame 10, the ground wire remains in the initial deicing cavity. At this point, the clamping mechanism 50 clamps Section B of the ground wire. Subsequently, the two first clamping plates 42 of the crawling mechanism 40 deploy, and the crawling cylinder 43 drives the crawling mechanism 40 toward Section A. As the crawling cylinder 43 drives the crawling mechanism 40 toward Section A, the two first clamping plates 42 on the crawling mechanism 40 perform a reciprocating clamping motion, thereby removing ice within the travel range. After the crawling cylinder 43 is extended to its limit, i.e., Section A on the ground wire, the crawling mechanism 40 removes ice at this location, and the two first clamping plates 42 of the crawling mechanism 40 clamp against Section A on the ground wire. Thereafter, the clamping mechanism 50 releases from Section B on the ground wire, and the crawling cylinder 43 retracts, causing the entire de-icing device to move toward Section A of the ground wire, where ice has been completely removed. During this movement, the two second clamping plates 54 of the clamping mechanism 50 continue to perform a reciprocating clamping motion to remove any remaining ice from Sections A and B of the ground wire. 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 on 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 in the initial section of the ground wire.

[0166] On the basis of the above, if Figure 3 As shown, because water on the ground wire flows downward under the action of gravity, the ice accumulation on the ground wire gradually increases from top to bottom. In the present invention, the edges of the clamping area are arranged in an "eight" configuration to maximize the contact area with the ice during the clamping process, thereby improving the ice removal effect. Furthermore, to ensure that the clamping mechanism 50 and the crawling mechanism 40 ultimately form a stable clamp with the ground wire, the upper portion of the clamping area in this embodiment is at the same height as the upper portion of the initial de-icing chamber.

[0167] On the basis of the above, if Figure 3 As shown, the clamping mechanism 50 includes a second bidirectional cylinder 51 mounted on the frame 10. Both telescopic ends of the second bidirectional cylinder 51 can perform horizontal telescopic movement perpendicular to the wire passage 13. Two second clamping plates 54 are respectively connected to the telescopic ends of the two second bidirectional cylinders 51. Using the second bidirectional cylinder 51 as the actuator to drive the second clamping plates 54 for reciprocating clamping eliminates the issue of the driving medium freezing due to low temperatures, as opposed to hydraulic cylinder drive methods. Furthermore, compared to other linear power mechanisms such as screw sliders, the clamping action is more efficient.

[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 it can be the connecting part between 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 channel 13, and the two first clamping plates 42 are respectively fixed to the two telescopic ends of the first bidirectional cylinder 41. Similarly, the use of the first bidirectional cylinder 41 as the actuator to drive the first clamping plate 42 to perform reciprocating clamping movements does not have the problem of the driving medium freezing due to low temperatures compared to the hydraulic cylinder drive method, and has the advantage of efficient clamping action execution compared to other linear power mechanisms such as other screw sliders.

[0169] On the basis of the above, if Figure 3 As shown, the first and second anti-slip ridges 421 and 541 are fixed to the inner sides of the first and second clamping plates 42 and 54 respectively, which ensure the stability of the clamping between the first and second clamping plates 42 and 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 further provided with a clamping wheel 53 for use with the traveling mechanism 20 , and the specific cooperation method is further described below in the traveling 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. The axis of the walking wheel 21 is arranged horizontally perpendicular to the wire channel 13, so that the wheel surface of the walking wheel 21 is located above the ground line. 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 line.

[0173] Specifically, such as Figure 3-5 As shown, the clamping mechanism 50 also includes two clamping wheels 53 mounted above two second clamping plates 54. Specifically, a C-shaped seat 52 and a second clamping plate 54 are fixed to the telescopic end of the second bidirectional cylinder 51 in the clamping mechanism 50 in descending order. The C-shaped seat 52 is an outwardly protruding structure, 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 within the inner cavity of the C-shaped seat 52. The outer circumferences of the two clamping wheels 53 have wedge surfaces that form an oblique wedge fit 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 jointly clamp the ground wire.

[0174] Compared to the prior art, the running mechanism 20 utilizes two conventional vertically arranged running wheels 21, which are driven by a linear mechanism to clamp the ground wire. In the present invention, a clamping wheel 53 is provided on the clamping mechanism 50 for the initial deicing of the ground wire. After the initial deicing is complete, the clamping wheel 53 on the clamping mechanism 50 and the running wheels 21 jointly clamp the ground wire. This eliminates the need for an additional linear mechanism in the running mechanism 20, 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 channel 13, and the walking wheels 21 can be set as two groups distributed at both ends of the wire 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 mounted at the forward end of the frame 10. A reciprocating power mechanism 34 is mounted on the pedestal 31, which drives an ice-breaking hammer 35 to perform a reciprocating impact motion. This mechanism has the advantages of low cost, high power, and low radial force on the ground line. Of course, in actual implementation, other ice-breaking methods known in the prior art can also be used, such as providing a swing arm rotating shaft parallel to and above the ground line axis, and providing a swing arm hammer connected to the swing arm rotating shaft. By having the swing arm hammer swing back and forth around the swing arm rotating shaft, stable de-icing of the ground line can also be achieved. However, this method has the disadvantage of exerting a large radial force on the ground line. Furthermore, laser de-icing can also be used. Although this method has good de-icing effects, it has the disadvantages of high cost and high energy consumption.

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

[0179] 5) Spraying mechanism 60

[0180] like Figure 1 As shown, the spraying mechanism 60 is arranged adjacent to the rear end of the frame 10, wherein Figure 6 As shown, the spraying mechanism 60 includes a rotating ring 63 with a notch provided on its body for the ground wire to pass through. A nozzle 64 for spraying antifreeze liquid is mounted on the inner side of the rotating ring 63. Furthermore, three rotating rings 63 are arranged coaxially with the ground wire and sequentially along its length. Each rotating ring 63 is driven by a rotary drive mechanism 62 and can be independently rotated and adjusted around the ground wire axis to adjust the relative position of the nozzle 64 to the outer periphery of the ground wire.

[0181] Compared with the traditional method of directly arranging a number of circumferentially evenly distributed nozzles 64 on 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 antifreeze being sprayed overlappingly and a large amount of antifreeze not being 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 each of them can be independently rotated and adjusted around the axis of the ground wire, so that the positions of the nozzles 64 inside 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 effectively reduce the overlapping spraying of antifreeze caused by wind energy, reduce the waste of antifreeze, effectively reduce the number of shutdowns waiting for the addition of antifreeze, and improve the efficiency of deicing and antifreeze throughout the day.

[0182] On the basis of the above, if Figure 6 As shown, when the notches of the three rotating rings 63 are aligned, the three nozzles 64 are evenly distributed circumferentially around the ground wire axis. This allows the ground wire to pass through the notch and enter the center of the rotating ring 63. The three nozzles 64 are then evenly distributed axially around the ground wire. At this point, the distance each nozzle 64 needs to adjust to the wind speed is minimized. Furthermore, the evenly distributed, staggered distribution of the three nozzles 64 around the ground wire axis ensures that at least one nozzle 64 can be adjusted to that position within a 360° radius of the ground wire periphery, preventing the nozzles 64 from having unadjustable blind spots and providing technical support for subsequent automated, real-time adjustment of the nozzles 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 via a hose, and the rotating ring 63 forms a rotatable fit with the liquid storage tank 61. Specifically, each nozzle 54 is supplied with liquid by a separate water pump, and the hose can be a spiral tube structure. Regarding the installation structure in which the nozzle 64 is fixed to the inner circumference of the rotating ring 63 in this application, the end of the hose can be connected to the middle of the nozzle 64 or pass through the outer circumference of the rotating ring 63 and connect to the nozzle 64. A gear ring is fixed to the outer circumference of the rotating ring 63. In actual implementation, if the hose is in the form of passing through the outer circumference of the rotating ring 63, the gear ring can also be located on the end surface of the rotating ring 63. The rotary drive mechanism 62 includes three motors, each with a gear fixed to its output shaft. The gears on the three motors mesh with the gear rings on the three rotating rings 63 to achieve separate driving of the three rotating rings 63. This drive method is stable and facilitates the determination of the rotation angle of the rotating ring 63, providing technical support for the subsequent automated real-time adjustment of the nozzle 64. Of course, in actual implementation, other driving methods may also be used, such as a motor-driven friction wheel and the outer periphery of the rotating ring 63 to cause friction driving.

[0184] 6) Locking assembly 70

[0185] like Figure 8 and Figure 9As shown, the lock assembly 70 includes an outer shell 71, the lower part of the outer shell 71 is provided with a wire feed 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 feed 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 feed groove 711. Specifically, as shown in FIG. Figure 9 As shown in the state A, the U-shaped lock buckle 72 has an initial state in which the inner cavity and the inlet groove 711 share the same opening. Figure 9 As shown in states B and C, the ground wire entering the inner cavity of the U-shaped lock buckle 72 pushes it to rotate, forming 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 intersect crosswise. 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 together enclose a locked cavity for locking the ground wire. In addition, the outer shell 71 is also provided with a locking member that elastically locks the U-shaped lock buckle 72 in the locked state. The locking member is connected to the sling assembly 76 arranged on the outside of the outer shell 71. When the lifting portion 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 72 is initially positioned as shown in FIG. Figure 9 As shown in the state A, the initial state is that the inner cavity opening end of the U-shaped lock buckle 72 intersects with the groove cavity of the wire feed groove 711. The de-icing device with the lock buckle assembly 70 is suspended directly above the ground wire by hoisting the de-icing device with the hook ear by a drone or a crane, and the groove length direction of the wire feed groove 711 in the lock buckle assembly 70 is aligned with the length direction of the ground wire. Thereafter, the drone 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 feed groove 711. Afterwards, the de-icing device continues to move downward, so that the ground wire will enter the inner cavity of the U-shaped lock buckle 72 through the inner cavity opening end of the U-shaped lock buckle 72 aligned with the groove cavity of the wire feed groove 711. Then, the de-icing device continues to move downward, as shown in FIG. Figure 9 As shown in the B state, the ground wire will push the lock assembly 70 to rotate until it rotates to the position shown in FIG. Figure 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 locked state in which the ground wire is locked in the locking cavity.

[0187] During disassembly, the drone or crane no longer directly lifts the de-icing device's lugs, but instead lifts the lifting portion of the sling assembly 76. By applying a lifting pull to the lifting portion, the locking member generates a force against the elastic locking force, unlocking the U-shaped lock buckle 72. When the locking member moves to its limit 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 tends to move downward relative to the lock buckle assembly 70, thereby driving the U-shaped lock buckle 72 to rotate back to its initial state. As the lock buckle assembly 70 continues to move upward, 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, completing the automated disassembly of the lock buckle assembly 70.

[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 is more reliable. The installation and disassembly processes can be completed by drones or cranes, without the need for manual high-altitude operations. It is not only more efficient, but also effectively reduces the safety hazards of high-altitude operations.

[0189] Specifically, such as Figure 8As shown, the locking member includes a locking hook 74, which is respectively arranged on both sides of the wire feed slot 711 and a U-shaped lock catch 72. The base of the locking hook 74 forms a swivel fit with the outer shell 71 via an unlocking shaft, and the unlocking shaft is parallel to the horizontal shaft. One end of a sling assembly 76 is fixed to the locking hook 74, away from the outer side of the wire feed slot 711. The outer side of the hook portion of the locking hook 74 is connected to the outer shell 71 via a locking spring 75. That is, the sling assembly 76 can pull the locking hook 74 to move outward against the elastic extrusion force of the locking spring 75 to unlock the U-shaped lock catch 72. In addition, a wedge surface is provided on the outer wall of the hook, adjacent to one side of the U-shaped lock catch 72. This wedge surface forms an oblique wedge engagement with the U-shaped lock catch 72 during the rotation process of the U-shaped lock catch 72 switching from its initial state to its locked state, driving the hook to rotate outward. Thereafter, the hook is elastically driven by the locking spring 75 on the outer shell 71 and rotates around the sidewall of the open end of the U-shaped lock catch 72 in the locked state to form an elastic lock. In this embodiment, the locking hook 74 uses a rotational unlocking method, effectively reducing the resistance when the sling assembly 76 pulls the locking hook 74 to unlock it. Furthermore, the wedge surface of the locking hook 74 forms an oblique wedge engagement with the U-shaped lock catch 72 during the rotation process of the U-shaped lock catch 72 switching from its initial state to its locked state. During the installation of the de-icing device, the drone can use the form of a lifting lug for the de-icing device. With respect to the hoisting portion of the lifting sling assembly 76, the locking member needs to be elastically reset to lock after the locking assembly 70 is placed on the ground wire and the lifting force on the lifting portion is relaxed. In this embodiment, the lifting lugs enable the U-shaped lock 72 to automatically and smoothly switch from an initial state to a locked state during the locking assembly 70's placement. At this time, the locking member automatically resets to lock under the action of the locking spring 75. In this embodiment, the locking method of the locking assembly 70 before the lifting force is released further enhances the safety of the locking process of the locking assembly 70.

[0190] In practice, the locking member may also employ other embodiments, such as a horizontal latch perpendicular to the length of the cable entry slot 711. The horizontal latch is axially slidably engaged with the outer shell 71, and the inner end of the horizontal latch can be inserted into the inner side of the U-shaped lock catch 72 in the locked state, thereby forming a rotational lock for the U-shaped lock catch 72. In addition, a spring is provided on the horizontal latch to drive the horizontal latch to slide inward. The sling assembly 76 is connected to the outer end of the horizontal latch and can drive the horizontal latch to slide and unlock. Furthermore, the inner end of the horizontal latch can form an oblique wedge engagement with the U-shaped lock catch 72, allowing the U-shaped lock catch 72 to automatically and smoothly switch from the initial state to the locked state.

[0191] On the basis of the above, if Figure 8As shown, a tripping torsion spring 73 is also installed on the outer shell 71. The tripping 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 provided in two groups distributed on both sides of the running mechanism 20, so that both the running mechanism 20 and the lock assembly 70 can be stably installed around the periphery of the ground wire. The provision of two groups of lock assemblies 70 ensures stable locking of both sides of the running mechanism 20. Furthermore, the lifting 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 will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also encompasses the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and it is intended that all variations that fall within the meaning and range of equivalents of the claims be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0194] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method 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 can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0195] The technology, shape, and structure not described in detail in the present invention are all well-known technologies.

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 radian 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 covered by the ground line that the clamping wheel can accommodate i ; S2. Obtain the constraint function and design parameters of the clamping wheel, and query 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 maximized under the condition that the constraint function is satisfied; 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 The constraint value of the constraint function for the maximum radius of ground ice that the clamping wheel can accommodate, in mm; θ L and θ U are the lower and upper bounds of the arc θ of the clamping wheel, in rad; H L and H U are the lower and upper bounds of the height H of the clamping wheel, in rad; 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 covered by the ground line that the clamping wheel can accommodate i All of them are obtained through 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 PSO algorithm is used to optimize the SVR approximate model 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.

2. A deicing device, wherein the deicing device is applied with the ground wire clamping wheel optimization method according to claim 1, characterized in that: The invention comprises a frame (10) with an open wire-passing channel (13) at the bottom and an ice-breaking mechanism (30) installed on the frame (10); the upper portion of the wire-passing channel (13) forms a running cavity for only the ground wire to pass through; the lower portion of the wire-passing channel (13) forms an initial de-icing cavity for the ground wire and ice to enter; a running mechanism (20) for the de-icing 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. 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 both 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 provided between the clamping mechanism (50) and the crawling mechanism (40) and is arranged along the length direction of the wire-passing channel (13).

3. The deicing device according to claim 2, 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.

4. The deicing device according to claim 2, 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 an ice-breaking impact hammer (35) to perform a reciprocating impact motion.

5. The deicing device according to claim 4, 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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