Stay cable ice frost damage treatment device based on unmanned aerial vehicle accompanying flight and installation method of stay cable ice frost damage treatment device

Abstract

The invention relates to a stay cable ice frost damage treatment device based on unmanned aerial vehicle accompanying flight and an installation method.The treatment device comprises an unmanned aerial vehicle, a traction cable and an ice removing device, and the ice removing device comprises a left limb arm, a right limb arm, a central pin hole, a passive reset rod and an active telescopic rod; the top of the left limb arm and the top of the right limb arm are hinged through a central pin hole, the middle of the left limb arm and the middle of the right limb arm are connected through a passive reset rod, and the lower portion of the left limb arm and the lower portion of the right limb arm are connected through an active telescopic rod. The device is easy to mount and demount, has the telescopic characteristic, and can comprehensively deal with the emerging problems that when ice is removed from a stay cable at high altitude, the speed is too slow to reduce, the speed is too fast, and the impact force is too large.

Description

Technical Field

[0001] The present invention relates to the fields of urban ice and snow disaster prevention, high-altitude operations, and bridge management and maintenance, and more specifically, to an inclined cable ice and frost damage control device based on unmanned aerial vehicle accompanying flight and an installation method thereof. Background Art

[0002] When strong cold air moves southward and encounters warm and humid air currents, the temperature near the ground drops sharply to below freezing point, and the moist warm air is lifted into clouds and causes rain. The falling raindrops are still liquid in the air, but they quickly freeze into ice when they land near the ground, which easily forms inverted icicles on the surface of structures. This icicle is different from the icicles formed by long-term cold and freezing in the north. When freezing rain occurs suddenly, the icicles condense very quickly and can form tens of centimeters in length in one night. However, the icicles are weak in strength and are easily melted and fall off due to warming. When they melt and fall at the cable, they are accompanied by crosswinds, which poses a great hidden danger and seriously endangers the safety of vehicles and people on the bridge. The prevention and control of ice and frost damage on the cable-stayed bridges has become another severe challenge facing the operation and maintenance of transportation infrastructure. At present, the prevention and control and control technologies for ice and frost damage on cable-stayed bridges have not been paid much attention. Due to the instantaneous formation of ice and frost on cable-stayed bridges, it is difficult to detect ice and frost in advance through monitoring. Once ice and frost are found, measures must be taken to remove the ice and frost. At present, relevant technologies are mostly focused on the control technologies for ice and frost damage.

[0003] Existing ice and frost damage is generally divided into artificial and non-artificial remediation methods. Among them, non-artificial methods mostly use gravity-type de-icing equipment. However, since the de-icing equipment must be installed on the top of the cable tower, the de-icing efficiency is low, and the gravity-type collision de-icing device uses conventional items such as chains and ropes, which has a huge design space. On the other hand, with the continuous improvement of drone carrying capacity and control technology, drones have been widely used in fire prevention and disaster relief, wide-area rescue, high-rise operations and other fields. There is still a broad space for expansion of its portability and flexible flight capabilities. In summary, short-term instantaneous ice and frost damage is easy to form on the cable body of large bridges. Melting and falling will seriously endanger the safety of urban commuters and cause adverse panic. Existing ice removal methods are time-consuming and labor-intensive, accompanied by high-altitude operations. Risks are high, the difficulty is high, and the effect is not good. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an ice and frost damage control device for inclined cables based on drone-assisted flight and its installation method, which can be assisted by drone flight to facilitate installation and disassembly, and can not only remove ice in a short time and efficiently, but also protect the inclined cables from damage to the greatest extent, providing ice control technology and de-icing equipment.

[0005] The technical solution adopted by the present invention to solve its technical problems is: constructing a cable-stayed ice and frost damage control device based on drone accompanying flight, including a drone, a traction cable and an ice removal device, one end of the traction cable is connected to the drone, and the other end of the traction cable is connected to the ice removal device, and the ice removal device includes a left limb, a right limb, a central pin hole, a passive reset rod and an active telescopic rod; the tops of the left limb and the right limb are hinged through the central pin hole, the middle parts of the left limb and the right limb are connected through a passive reset rod, and the lower parts of the left limb and the right limb are connected through an active telescopic rod.

[0006] According to the above scheme, the left limb includes a handle and a clamping part, the clamping part is arc-shaped, the top of the clamping part is provided with staggered bite holes, two assembly holes are provided at the arc of the clamping part, a stiffening rib is provided between the two assembly holes, an anti-slip baffle is provided at the bottom of the clamping part, and two vertical elliptical holes are provided on the handle; the right limb is symmetrically arranged with the left limb.

[0007] According to the above scheme, the passive reset rod includes a first fastening nut, a reset spring, a first long screw and a first wrapping pad; a first wrapping pad is arranged in the middle of the first long screw, a reset spring is arranged on both sides of the first wrapping pad, a first fastening nut is arranged on the outside of the reset spring, and the first fastening nut is located at both ends of the first long screw.

[0008] According to the above scheme, the active telescopic rod includes a second fastening nut, a reset soft spring, a second long screw and a second wrapping cushion; a second wrapping cushion is arranged in the middle of the second long screw, and a reset soft spring is arranged on both sides of the second wrapping cushion. A second fastening nut is arranged on the outside of the reset soft spring, and the second fastening nut is located at both ends of the second long screw.

[0009] According to the above solution, the cross-section of the inclined cable is circular.

[0010] According to the above solution, the diameter of the inclined cable is 100-200 mm.

[0011] According to the above solution, the inclination angle of the inclined cable is 40°-70°.

[0012] The present invention also provides an installation method of an inclined cable ice and frost damage control device based on the accompanying flight of a drone, comprising the following steps:

[0013] S1, aligning the staggered bite holes of the right limb and the staggered bite holes of the left limb, and then performing pin-hole hinge connection through a central pin hole, wherein the right limb and the left limb can rotate around the central pin hole;

[0014] S2, the anti-slip baffle of the right limb and the anti-slip baffle of the left limb are partially overlapped, the right limb and the left limb are sequentially inserted into the first long screw and the second long screw through the vertical elliptical hole, a return spring is sleeved on both sides of the first long screw, a return soft spring is sleeved on both sides of the second long screw, a first wrapping cushion is added to the outermost part of the central area of ​​the first long screw, and a second wrapping cushion is added to the outermost part of the central area of ​​the second long screw;

[0015] S3. A first fastening nut is arranged at both ends of the first long screw rod, and a second fastening nut is arranged at both ends of the second long screw rod.

[0016] The implementation of the cable-stayed cable ice and frost damage control device based on drone accompanying flight and the installation method thereof of the present invention has the following beneficial effects:

[0017] 1. The present invention can greatly improve the accessibility and turnover efficiency of ice removal equipment by using drones to tow climbing ropes, greatly reduce labor costs and the number of operators, and improve the safety of high-altitude operations;

[0018] 2. The ice-removing equipment of the present invention has a light weight, occupies a small area, can be installed and disassembled on the bridge deck, is highly portable, and can change its own weight by assembling multiple units, and has high adaptability to application scenarios; it has multiple collision points, two ice-removing procedures of climbing cable and sliding cable, which can ensure high-quality completion of ice-removal of the inclined cable, and also has an active (electrically controlled) telescopic device. When encountering adverse working conditions such as high-altitude jamming, it can also remotely control the hole expansion for self-rescue, and has extremely strong application expansibility;

[0019] 3. The technical means and ice control process of the present invention can completely replace the traditional inefficient, low-quality and high-risk cable-stayed ice removal measures, with rapid response, flexible operation and convenient turnover; it can also be expanded to the control of ice and frost damage on other large-span bridges such as suspension bridges, and can also be applied to other infrastructure and building construction fields of frost damage control, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0021] Figure 1 It is a structural schematic diagram of the device for controlling ice and freezing damage of inclined cables based on the accompanying flight of a drone according to the present invention;

[0022] Figure 2 It is a structural schematic diagram of the passive reset rod of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the active telescopic rod of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the left limb of the present invention;

[0025] Figure 5 It is a schematic diagram of the installation structure of the inclined cable ice and frost damage control device accompanied by the UAV of the present invention;

[0026] In the figure: 1, right limb, 2, left limb, 3, central pin hole, 4, passive reset rod, 5, active telescopic rod, 6, staggered bite holes, 7, assembly holes, 8, stiffening ribs, 9, anti-slip baffle, 10, vertical elliptical hole, 11, first fastening nut, 12, reset spring, 13, first long screw, 14, reset soft spring, 15, first wrapping cushion, 16, second fastening nut, 17, second long screw, 18, second wrapping cushion. DETAILED DESCRIPTION

[0027] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0028] like Figure 1-5 As shown, the ice and frost damage control device for the inclined cable based on the accompanying flight of the drone of the present invention includes a drone, a traction cable and an ice removal device, one end of the traction cable is connected to the drone, and the other end of the traction cable is connected to the ice removal device. Among them, the ice and frost damage control device includes a left limb 2, a right limb 1, a central pin hole 3, a passive reset rod 4 and an active telescopic rod 5; the top of the left limb 2 and the right limb 1 are hinged through the central pin hole 3, the middle of the left limb 2 and the right limb 1 are connected through the passive reset rod 4, and the lower part of the left limb 2 and the right limb 1 is connected through the active telescopic rod 5.

[0029] The drone can tow the de-icing equipment to the designated position on the upper end of the cable. After being released, the de-icing equipment slides down quickly under the guidance of gravity and removes ice from all parts of the cable body, greatly improving the efficiency and safety of high-altitude de-icing operations of the cable.

[0030] The left limb 2 includes a handle and a clamping part. The clamping part is arc-shaped. The top of the clamping part is provided with staggered bite holes 6. Two assembly holes 7 are provided at the arc of the clamping part. A stiffening rib 8 is provided between the two assembly holes 7. An anti-slip baffle 9 is provided at the bottom of the clamping part. Two vertical elliptical holes 10 are provided on the handle. The right limb 1 is symmetrically arranged with the left limb 2. The passive reset rod 4 includes a first fastening nut 11, a reset spring 12, a first long screw 13 and a first wrapping cushion 15. The first wrapping cushion 15 is provided in the middle of the first long screw 13, and reset springs 12 are provided on both sides of the first wrapping cushion 15. The first fastening nut 11 is provided on the outside of the reset spring 12, and the first fastening nut 11 is located at both ends of the first long screw 13. The active telescopic rod 5 includes a second fastening nut 16, a reset soft spring 14, a second long screw 17 and a second wrapping cushion 18; a second wrapping cushion 18 is arranged in the middle of the second long screw 17, and a reset soft spring 14 is arranged on both sides of the second wrapping cushion 18, and a second fastening nut 16 is arranged on the outside of the reset soft spring 14, and the second fastening nut 16 is located at both ends of the second long screw 17.

[0031] The present invention also provides an installation method of an inclined cable ice and frost damage control device based on the accompanying flight of a drone, comprising the following steps:

[0032] S1, align the staggered bite holes 6 of the right limb 1 with the staggered bite holes 6 of the left limb 2, and then perform pin-hole hinge connection through the central pin hole 3, so that the right limb 1 and the left limb 2 can rotate around the central pin hole 3;

[0033] S2, the anti-slip baffle plate 9 of the right limb 1 and the anti-slip baffle plate 9 of the left limb 2 are partially overlapped, the first long screw 13 and the second long screw 17 are inserted into the right limb 1 and the left limb 2 through the vertical elliptical hole 10 in sequence, the return spring 12 is sleeved on both sides of the first long screw 13, the return soft spring 14 is sleeved on both sides of the second long screw 17, the first wrapping cushion 15 is added to the outermost part of the central area of ​​the first long screw 13, and the second wrapping cushion 18 is added to the outermost part of the central area of ​​the second long screw 17;

[0034] S3. First fastening nuts 11 are arranged at both ends of the first long screw 13 , and second fastening nuts 16 are arranged at both ends of the second long screw 17 .

[0035] Working principle of the present invention:

[0036] The cross-section of the cable is circular, with a diameter ranging from 100 to 200 mm, and the cable has a certain inclination angle, ranging from 40° to 70°. The cable-stayed ice and frost damage control device can be installed on the bridge deck. During installation, first connect the left arm 2 and the right arm 1 through the central pin hole 3, and rotate the anti-slip baffle 9 of the left arm 2 and the right arm 1 through the central pin hole 3 to open the cable-stayed cable, and then use the opening to embed the cable-stayed cable, and then turn it back until the anti-slip baffle 9 of the left arm 2 and the right arm 1 overlap and close; finally insert the passive reset rod 4 and the active telescopic rod 5 and their components, and finally tighten them with the first fastening nut 11 and the second fastening nut 16. At this time, affected by the center of gravity of the cable-stayed ice and frost damage control equipment, the central pin hole 3 of the equipment suspended on the cable faces upward, and the passive reset rod 4 and the active telescopic rod 5 are inserted on the side facing downward.

[0037] After the equipment is installed, a traction rope is inserted into the hole in the central pin hole 3, and the other side of the traction rope is connected to a drone, which flies upward to perform preliminary ice removal. During the ice removal process, the anti-slip baffle 9, the passive reset rod 4, and the active telescopic rod 5 can all collide with ice at different depths; when the ice removal equipment moves up along the inclined cable to the vicinity of the high-altitude cable head, the traction rope is released, and the ice removal equipment slides down along the inclined cable under its own weight to perform secondary fine ice removal, and a buffer pad is set at the installation location, and finally the ice removal equipment is dismantled and recovered.

[0038] If the de-icing device slides too slowly during the process of flying up and down along the inclined cable, the active telescopic rod 5 can be remotely controlled to extend, so that the inner diameter of the de-icing device expands and the obstacle can be bypassed; after the active telescopic rod 5 is retracted, the reset spring 12 can restore the de-icing device to the initial installation state. The de-icing device can also be stacked and assembled through the assembly hole 7 to increase the mass, and the de-icing device can also be prevented from getting stuck within the load limit range of the accompanying drone.

[0039] The cable-stayed bridge deicing equipment described in the present invention may have its component sizes and models changed according to the functional requirements of deicing and the cross-sectional dimensions of the cable. The present invention reserves the right to change its material properties, dimensions, cross-sections and other parameters. The present invention includes a technical solution for using drones to realize the climbing of the device. The cable-stayed deicing equipment described in the present invention may be realized by other technologies or solutions (except drone accompanying flight technology), and the right to replace, expand and combine its climbing implementation methods is reserved. The cable-stayed deicing equipment described in the present invention can be applied to other types of large-span bridges and other building components that are prone to ice formation, and the right to expand and develop its application scenarios is reserved.

[0040] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A device for controlling ice and frost damage of a cable-stayed system based on a drone, comprising a drone, a traction cable and an ice removal device, wherein one end of the traction cable is connected to the drone, and the other end of the traction cable is connected to the ice removal device, and the device is characterized in that: The ice removal device includes a left limb, a right limb, a central pin hole, a passive reset rod and an active telescopic rod; the tops of the left limb and the right limb are hinged through the central pin hole, the middle parts of the left limb and the right limb are connected through the passive reset rod, and the lower parts of the left limb and the right limb are connected through the active telescopic rod.

2. The device for controlling ice and frost damage of the cable-stayed cable based on the accompanying flight of a drone according to claim 1 is characterized in that: The left limb includes a handle and a clamping part, the clamping part is arc-shaped, the top of the clamping part is provided with staggered bite holes, the arc of the clamping part is provided with two assembly holes, a stiffening rib is provided between the two assembly holes, an anti-slip baffle is provided at the bottom of the clamping part, and two vertical elliptical holes are provided on the handle; the right limb is symmetrically arranged with the left limb.

3. The device for controlling ice and frost damage of the cable-stayed cable based on the accompanying flight of a drone according to claim 1 is characterized in that: The passive reset rod includes a first fastening nut, a reset spring, a first long screw and a first wrapping cushion; a first wrapping cushion is arranged in the middle of the first long screw, reset springs are arranged on both sides of the first wrapping cushion, a first fastening nut is arranged on the outside of the reset spring, and the first fastening nut is located at both ends of the first long screw.

4. The device for controlling ice and frost damage of the cable-stayed cable based on the accompanying flight of a drone according to claim 3 is characterized in that: The active telescopic rod includes a second fastening nut, a reset soft spring, a second long screw and a second wrapping cushion; a second wrapping cushion is arranged in the middle of the second long screw, a reset soft spring is arranged on both sides of the second wrapping cushion, a second fastening nut is arranged on the outside of the reset soft spring, and the second fastening nut is located at both ends of the second long screw.

5. The device for controlling ice and frost damage of a cable-stayed cable based on the accompanying flight of a drone according to claim 1 is characterized in that: The cross section of the inclined cable is circular.

6. The device for controlling ice and frost damage of a cable-stayed cable based on the accompanying flight of a drone according to claim 1 is characterized in that: The diameter of the stay cable is 100-200 mm.

7. The device for controlling ice and frost damage of a cable-stayed cable based on the accompanying flight of a drone according to claim 1 is characterized in that: The inclination angle of the inclined cable is 40°-70°.

8. A method for installing an inclined cable ice and frost damage control device based on drone flight, characterized in that: The following steps are involved: S1, aligning the staggered bite holes of the right limb and the staggered bite holes of the left limb, and then performing pin-hole hinge connection through a central pin hole, wherein the right limb and the left limb can rotate around the central pin hole; S2, the anti-slip baffle of the right limb and the anti-slip baffle of the left limb are partially overlapped, the right limb and the left limb are sequentially inserted into the first long screw and the second long screw through the vertical elliptical hole, a return spring is sleeved on both sides of the first long screw, a return soft spring is sleeved on both sides of the second long screw, a first wrapping cushion is added to the outermost part of the central area of ​​the first long screw, and a second wrapping cushion is added to the outermost part of the central area of ​​the second long screw; S3. A first fastening nut is arranged at both ends of the first long screw rod, and a second fastening nut is arranged at both ends of the second long screw rod.

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