Spraying mechanism, nozzle adjusting method, nozzle spraying speed control method and deicing device

Abstract

The invention relates to the technical field of overhead ground wire anti-freezing solution spraying, in particular to a spraying mechanism, a nozzle adjusting method, a nozzle spraying speed control method and a deicing device. The device comprises a rotating ring arranged adjacent to the tail end of the ground wire deicing device, a ring body of the rotating ring is provided with a notch for a ground wire to pass through, and the inner side of the rotating ring is provided with a nozzle for spraying an anti-freezing solution; the three rotating rings are coaxially distributed with the ground wire and sequentially arranged in the length direction of the ground wire, each rotating ring is driven by a rotating driving mechanism and can independently rotate around the axis of the ground wire to be adjusted so as to adjust the relative position, located on the periphery of the ground wire, of the spray head, and in the state that the notches of the three rotating rings are aligned, the spray head can rotate around the axis of the ground wire. And the three nozzles are circumferentially and uniformly distributed around the axis of the ground wire. According to the anti-freezing device, the anti-freezing solution can be uniformly sprayed on the overhead ground wire, so that the waste of the anti-freezing solution is greatly reduced, and a good anti-freezing effect on the ground wire is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of overhead ground wire antifreeze liquid spraying, in particular to a spraying mechanism, a nozzle adjustment method, a nozzle spray speed control method and a deicing device. Background Art

[0002] Overhead ground wires are wires installed above transmission lines to protect them from direct lightning strikes. They are called lightning arresters or ground wires. In transmission lines, the heat generated by current loss in the conductors makes the conductor temperature higher than the ground wire. Therefore, the icing of overhead ground wires is the most serious. Especially in extremely cold weather, large areas of ground wires are prone to icing, resulting in ground wire breakage, tower collapse, insulator flashover and other accidents, causing huge economic and property losses to the power grid.

[0003] The ground wire deicing device is a device for automatically deicing the overhead ground wire. In the prior art, in order to prevent the ground wire from re-freezing after deicing, an antifreeze spraying mechanism is often provided on the deicing device, such as the structure described in the text of a high-voltage cable deicer with the Chinese patent publication number CN113964771A. Most of the existing antifreeze spraying mechanisms are as described in the cited patents, and most of their nozzles are evenly distributed around the cable. This arrangement can often only achieve uniform spraying of antifreeze under windless conditions. However, the high-altitude working environment of the high-altitude ground wire or cable is often accompanied by strong winds. It is obviously difficult to achieve uniform spraying of antifreeze by using conventional uniform arrangement methods, which not only leads to waste of antifreeze, but also fails to provide good antifreeze protection for the ground wire. Therefore, it is urgent to solve this problem. Summary of the invention

[0004] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides a spraying mechanism, a nozzle adjustment method, a nozzle spray speed control method and a deicing device, which can achieve uniform spraying of antifreeze liquid on the overhead ground wire, greatly reduce the waste of antifreeze liquid, and ensure a good antifreeze effect on the ground wire.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A spraying mechanism comprises a rotating ring arranged near the tail end of the ground wire deicing device, a notch for the ground wire to pass through is arranged on the ring body of the rotating ring, and a nozzle for spraying antifreeze liquid is installed on the inner side of the rotating ring; the rotating ring is arranged to be coaxially distributed with the ground wire and arranged in sequence along the length direction of the ground wire, and each rotating ring is driven by a rotating drive mechanism and can be independently rotated and adjusted around the axis of the ground wire to adjust the relative position of the nozzle located on the periphery of the ground wire respectively, and when the notches of the three rotating rings are aligned, the three nozzles are evenly distributed circumferentially around the axis of the ground wire.

[0007] As a further solution of the present invention: the spraying mechanism also includes a liquid storage tank connected to the nozzle through a hose, the rotating ring and the liquid storage tank form a rotating fit, a gear ring is fixed to the outer periphery of the rotating ring, and the rotating drive mechanism includes three motors, gears are fixed on the output shafts of the three motors, and the gears on the three motors are respectively meshed with the gear rings on the three rotating rings for transmission.

[0008] A nozzle adjustment method, which uses the spraying mechanism, comprises the following steps:

[0009] S1, obtain the current wind speed V and the ground wire diameter d, and input the current wind speed V and the ground wire diameter d into the trained RBF model to obtain the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles;

[0010] S2, compare the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles with the preset polar coordinate angle intervals, and obtain the actual polar coordinate angle θ through the polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 ;

[0011] S3. Get the current polar coordinate angle θ of the three nozzles k1 ,θ k2 ,θ k3 , and calculate the current polar coordinate angle and the actual polar coordinate angle θ 1实 ,θ 2实 ,θ 3实 The angle differences between them are w1, w2, w3;

[0012] S4. Generate position adjustment instructions for the three nozzles 64 based on the angle differences w1, w2, and w3 to achieve position adjustment of the three nozzles.

[0013] As a further solution of the present invention: the training process of the RBF model includes:

[0014] Construct wind speed V according to the training prediction strategy i , ground wire diameter d i And the optimal polar coordinate angle θ of the three nozzles 1i ,θ 2i ,θ 3i The training sample set, where i represents the i-th group of sample set data;

[0015] Construct an RBF model to train the wind speed V of the dataset i , ground wire diameter d i is the input layer of the RBF model, with the optimal polar coordinate angle θ of the training data set 1i ,θ 2i ,θ 3iThe output layer is used to train the constructed RBF model to obtain a trained RBF model.

[0016] As a further solution of the present invention: the wind speed V is constructed according to the training prediction strategy i , ground wire diameter d i And the optimal polar coordinate angle θ of the three nozzles 1i ,θ 2i ,θ 3i The training sample set is:

[0017] Set the determined wind speed V1 and ground wire diameter d1;

[0018] Under the conditions of set wind speed V1 and ground wire diameter d1, construct the polar coordinate angle θ of n groups of three nozzles n1 ,θ n2 ,θ n3 With coverage angle α 覆盖 There is a one-to-one mapping relationship between the coverage angle α 覆盖 The angle corresponding to the actual coverage area of ​​the antifreeze liquid around the ground wire;

[0019] The polar coordinate angle θ of the three nozzles n1 ,θ n2 ,θ n3 is the input layer, covering angle α 覆盖 As the output layer, it is input into the neural network model for training and fits the coverage angle α 覆盖 Polar coordinate angle θ with the three nozzles n1 ,θ n2 ,θ n3 The mapping relationship between them;

[0020] The coverage angle α 覆盖 Compare with the set threshold range to obtain the coverage angle α within the set threshold range 覆盖 The corresponding polar coordinate angles θ of the three nozzles n1 ,θ n2 ,θ n3 The polar coordinate angle is the optimal polar coordinate angle θ of the three nozzles under the set wind speed V1 and ground wire diameter d1. 11 ,θ 21 ,θ 31 , thus obtaining the first group of wind speed V1, ground wire diameter d1 and the optimal polar coordinate angle θ of the three nozzles 11 ,θ 21 ,θ 31 Sample set data;

[0021] Reset the determined wind speed V i , ground wire diameter d i, and repeat the above steps to obtain the i-th group of sample data until enough sample set data is obtained, and finally the construction of the training sample set is completed.

[0022] As a further solution of the present invention: the coverage angle α 覆盖 The calculation formula is:

[0023]

[0024] Wherein, L1 is the arc length of the antifreeze liquid sprayed by the first nozzle covering the outer periphery of the ground wire;

[0025] L2 is the arc length of the antifreeze sprayed by the second nozzle covering the outer periphery of the ground wire;

[0026] L3 is the arc length of the antifreeze sprayed by the third nozzle covering the outer periphery of the ground wire;

[0027] L 重叠 The arc length of the overlapping part of the antifreeze sprayed by the first nozzle, the second nozzle and the third nozzle covering the outer periphery of the ground line;

[0028] d is the diameter of the ground wire.

[0029] As a further solution of the present invention: the actual polar coordinate angle θ is obtained by the polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 , specifically:

[0030] The optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles are compared one by one with the polar coordinate angle intervals set for the three nozzles;

[0031] When the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles are all within the polar coordinate angle ranges of the three nozzles, the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles θ1, θ2, and θ3. 1实 ,θ 2实 ,θ 3实 ;

[0032] When any of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles is not within the respective polar coordinate angle intervals, the order of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles is arbitrarily adjusted so that the optimal polar coordinate angles of the three nozzles finally formed are all within the respective polar coordinate angle intervals of the three nozzles, and the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles of the three nozzles finally formed 1实 ,θ 2实 ,θ 3实 .

[0033] A nozzle spray speed control method, which uses the spray mechanism, comprises the following steps:

[0034] Get the current ambient temperature T and the travel speed V of the de-icing device 装置 And the direction of movement of the de-icing device to adjust the spraying speed of the three nozzles; the direction of movement of the de-icing device includes forward movement of the device and backward movement of the device;

[0035] When the de-icing device is moving in the forward direction and the current ambient temperature T is -20℃≤T≤0℃,

[0036] When the de-icing device is moving in the forward direction and the current ambient temperature T is T<-20℃,

[0037] When the de-icing device is moving in the backward direction and the current ambient temperature T is T≤0℃,

[0038] When the de-icing device travels at a speed V 装置 When a sudden change occurs, or the current ambient temperature T is T>0℃, V 喷头 =0;

[0039] Among them, V 装置 is the travel speed of the device, in m / s;

[0040] T is the ambient temperature, in °C;

[0041] ε is the temperature influence factor;

[0042] V 喷头 is the spraying speed of the nozzle, in m / s;

[0043] a is the spray thickness of the antifreeze liquid on the ground wire when the deicing device moves in the forward direction and the current ambient temperature T is -20℃≤T≤0℃, in mm;

[0044] B is the spraying width of the nozzle, in mm;

[0045] a1 is the spray thickness of the antifreeze liquid on the ground wire when the deicing device moves in the forward direction and the current ambient temperature T is T<-20°C, in mm, a1=5mm;

[0046] a2 is the spray thickness of the antifreeze liquid on the ground wire when the deicing device moves in the backward direction and the current ambient temperature T is T≤0°C, in mm, a2=1mm;

[0047] I is the spray flow rate unit of the nozzle, L / s;

[0048] A is the cross-sectional area of ​​the nozzle, in mm 2 .

[0049] A deicing device, which uses the nozzle adjustment method, includes a skeleton with an open wire-passing channel at the bottom and an ice-breaking mechanism installed on the skeleton, the upper part of the wire-passing channel forms a walking cavity for only the ground wire to pass through, and the lower part of the wire-passing channel forms an initial deicing cavity for the ground wire and ice covering to enter; a walking mechanism for moving the deicing device on the ground wire is installed in the walking cavity, and a clamping mechanism and a crawling mechanism are also installed on the skeleton, the clamping mechanism includes two second clamping plates, and the crawling mechanism includes two first clamping plates, the two second clamping plates and the two first clamping plates are symmetrically distributed on both sides of the channel where the initial deicing cavity is located, an open clamping area is formed between the two second clamping plates and between the two first clamping plates, and the two second clamping plates and the two first clamping plates can perform horizontal reciprocating clamping motion in a direction perpendicular to the wire-passing channel to clamp and remove ice covering on the ground wire, and clamp the ground wire after the ice covering is removed; a crawling cylinder arranged along the length direction of the wire-passing channel is provided between the clamping mechanism and the crawling mechanism.

[0050] As a further solution of the present invention, it also includes a lock assembly installed on the frame, the lock assembly includes an outer shell, the lower part of the outer shell is provided with a wire entry groove that can be sleeved on the outer periphery of the ground wire, and a U-shaped lock is provided on the side of the wire entry groove, the U-shaped bottom end of the U-shaped lock forms a rotational fit with the outer shell through a horizontal rotating shaft, and the horizontal rotating shaft and the inner cavity groove length direction of the U-shaped lock are arranged along the groove length direction of the wire entry groove; the U-shaped lock has an initial state in which the inner cavity opening end intersects with the groove cavity of the wire entry groove, and is locked by entering the U The ground wire in the inner cavity of the U-shaped lock buckle pushes it to rotate to form a locking state in which the inner cavity of the U-shaped lock buckle and the cavity of the incoming wire groove cross each other, and the inner cavity wall of the U-shaped lock buckle in the locked state and the groove wall of the incoming wire groove together enclose a locking cavity for locking the ground wire; the outer shell is also provided with a locking member for elastically locking the U-shaped lock buckle after rotating to the locked state, and the locking member is connected to a sling assembly of the hoisting part located outside the outer shell, and when the sling assembly is pulled, it generates a resisting elastic locking force on the locking member and unlocks the U-shaped lock buckle.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] 1. There are three rotating rings, and they can be independently adjusted to rotate around the ground wire axis. Therefore, the positions of the nozzles inside the three rotating rings can be adjusted according to the different wind speeds to ensure that the antifreeze sprayed by the nozzles 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 to wait for the addition of antifreeze, and improve the efficiency of deicing and antifreeze throughout the day. In addition, when the gaps of the three rotating rings are aligned, the three nozzles are evenly distributed around the ground wire axis, so that after the ground wire passes through the gap and enters the center of the rotating ring, the three nozzles are evenly distributed around the ground wire axis. At this time, the distance that each nozzle needs to adjust according to the wind speed is the smallest. In addition, the misaligned state of the three nozzles evenly distributed around the ground wire axis also ensures that at least one nozzle can be adjusted to this position in any area within the 360° range of the outer periphery of the ground wire, preventing the nozzle from having a dead angle area that cannot be adjusted, and providing technical support for the subsequent automatic real-time adjustment of the nozzle.

[0053] 2. A gear ring is fixed on the outer circumference of the rotating ring. The rotating drive mechanism includes three motors. Gears are fixed on the output shafts of the three motors. The gears on the three motors are respectively meshed with the gear rings on the three rotating rings to achieve the separate driving of the three rotating rings. This driving method is stable and easy to obtain the rotation angle of the rotating ring, providing technical support for the subsequent automatic real-time adjustment of the nozzle.

[0054] 3. Input the current wind speed V and the ground wire diameter d into the trained RBF model to obtain the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles, and finally generate the position adjustment instructions of the three nozzles to realize the position adjustment of the three nozzles, ensuring that the sprayed antifreeze liquid covers the periphery of the ground wire as evenly as possible, effectively reducing the waste of antifreeze liquid and ensuring a good antifreeze effect on the ground wire.

[0055] 4. By obtaining the current ambient temperature T and the travel speed V of the de-icing device 装置 As well as the walking direction of the de-icing device, the nozzle can spray at different spraying speeds under different working conditions, which can ensure that the antifreeze is evenly sprayed on the ground wire while effectively reducing the waste of antifreeze.

[0056] 5. The deicing device of the invention is provided with a clamping mechanism and a crawling mechanism, which can realize the removal of ice covering the initial section of the ground wire through the reciprocating clamping of the first clamping plate and the second clamping plate. In addition, the arrangement of the crawling cylinder between the clamping mechanism and the crawling mechanism enables the clamping mechanism and the crawling mechanism to have the function of crawling and sliding along the ground wire. Since the wire-passing channel of the skeleton is sequentially arranged as a running cavity and an initial deicing cavity from top to bottom, and the running cavity is only for the ground wire to pass through, and the power mechanism is located in the running cavity, the clamping areas of the clamping mechanism and the crawling mechanism are located on both sides of the channel where the initial deicing cavity is located. Therefore, before the ice covering the initial section of the ground wire is completely removed, the ground wire will always be located in the clamping area of ​​the clamping mechanism and the crawling mechanism, and cannot slide into the running cavity to form power coordination with the power mechanism. At this time, the clamping mechanism and the crawling mechanism of the de-icing device can cooperate with each other to crawl and de-ice until the ice covering the initial section of the ground wire is completely removed. After that, the skeleton slides downward under the action of gravity, and the walking cavity is sleeved on the outer periphery of the ground wire, and forms a dynamic coordination with the walking mechanism, so that the initial section of the ground wire can realize the normal movement of the walking mechanism, thereby finally realizing the automated installation of the de-icing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a schematic diagram of the three-dimensional structure of the deicing device in the present invention.

[0058] Figure 2 It is a left-side structural schematic diagram of the deicing device in the present invention.

[0059] Figure 3 It is a schematic diagram of the connection structure between the frame, the clamping unit and the crawling unit in the present invention.

[0060] Figure 4 It is a schematic structural diagram of the clamping unit in the present invention.

[0061] Figure 5 It is a schematic diagram of the connection structure between the walking unit and the skeleton in the present invention.

[0062] Figure 6 It is a structural schematic diagram of the spraying mechanism in the present invention.

[0063] Figure 7 It is a structural schematic diagram of the ice-breaking mechanism in the present invention.

[0064] Figure 8 It is a schematic diagram of the structure of the locking assembly in the present invention.

[0065] Fig. 9 It is a schematic diagram of the working process of the locking assembly in the present invention.

[0066] Fig.10 It is a flowchart of the workflow of the nozzle adjustment method in the present invention.

[0067] In the figure: 10, frame; 11, air supply unit; 12, power supply unit; 13, wire passage; 20, walking mechanism; 21, walking wheel; 22, walking motor; 30, ice breaking mechanism; 31, pedestal; 32, lifting mechanism; 33, lifting seat; 34, reciprocating power mechanism; 35, ice breaking impact hammer; 351, hammer head; 40, crawling mechanism; 41, first two-way cylinder; 42, first clamping plate; 421, first anti-slip convex strip; 43, crawling gas Cylinder; 50, clamping mechanism; 51, second bidirectional cylinder; 52, C-shaped seat; 53, clamping wheel; 54, second clamping plate; 541, second anti-skid convex strip; 60, spraying mechanism; 61, liquid storage tank; 62, rotary drive mechanism; 63, rotating ring; 64, nozzle; 70, locking assembly; 71, outer shell; 711, wire inlet groove; 72, U-shaped locking buckle; 73, release torsion spring; 74, locking hook; 75, locking spring; 76, sling assembly. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] For ease of understanding, the specific structure and working mode of the present invention are further described below in conjunction with the accompanying drawings:

[0070] 1. Spraying mechanism

[0071] Specific structure reference Figure 1 and Figure 6 As shown in FIG. 1 , the main structure includes a spraying mechanism 60 arranged near the tail end of the deicing device. Figure 6 As shown, the spraying mechanism 60 includes a rotating ring 63, a notch for the ground wire to pass through is provided on the ring body of the rotating ring 63, and a nozzle 64 for spraying antifreeze is installed on the inner side of the rotating ring 63. Further, the rotating ring 63 is provided with three rotating rings coaxially distributed with the ground wire and arranged in sequence along the length direction of the ground wire, and each rotating ring 63 is driven by the rotating driving mechanism 62 and can be independently rotated and adjusted around the axis of the ground wire to adjust the relative position of the nozzle 64 located on the periphery of the ground wire respectively.

[0072] Compared with the traditional method of directly arranging a plurality of nozzles 64 evenly distributed around the periphery of the ground wire, which can only achieve uniform spraying on the surface of the object under windless conditions, if applied to the working conditions of the high-altitude ground wire in the present invention, due to the strong wind in the high-altitude environment, the traditional arrangement of the nozzles 64 often leads to a large amount of overlapping spraying of antifreeze and a large amount of antifreeze cannot be sprayed on the ground wire, resulting in a waste of antifreeze. Figure 6 As shown, in the present invention, three rotating rings 63 are provided, and all of them can be independently rotated and adjusted around the axis of the ground wire, so that the positions of the inner nozzles 64 of the three rotating rings 63 can be adjusted according to different wind speeds to ensure that the antifreeze sprayed by the nozzles 64 can cover the outer surface of the ground wire. At the same time, it can also effectively reduce the overlapping spraying of antifreeze caused by wind energy, reduce the waste of antifreeze, and effectively reduce the number of shutdowns to wait for the addition of antifreeze, thereby improving the efficiency of deicing and antifreezing throughout the day.

[0073] On the basis of the above, if Figure 6 As shown, when the gaps of the three rotating rings 63 are aligned, the three nozzles 64 are evenly distributed around the axis of the ground wire, so that after the ground wire passes through the gap and enters the center of the rotating ring 63, the three nozzles 64 are evenly distributed around the axis of the ground wire. At this time, the distance that each nozzle 64 needs to adjust according to the wind speed is the smallest. In addition, the misaligned state of the three nozzles 64 evenly distributed around the axis of the ground wire also ensures that at least one nozzle 64 can be adjusted to this position in any area within the 360° range of the outer periphery of the ground wire, preventing the nozzle 64 from having a dead angle area that cannot be adjusted, and providing technical support for the subsequent automatic real-time adjustment of the nozzle 64.

[0074] Further, such as Figure 6 As shown, the spraying mechanism 60 also includes a liquid storage tank 61 connected to the nozzle 54 through a hose, and the rotating ring 63 forms a swivel fit with the liquid storage tank 61. Specifically, each nozzle 54 is supplied with liquid through a separate water pump, and the hose can adopt a spiral tube structure. For the installation structure in which the nozzle 64 is fixed to the inner periphery of the rotating ring 63 in the present application, the end of the hose can be connected to the middle of the nozzle 64 or penetrate from the outer periphery of the rotating ring 63 and connected to the nozzle 64. A gear ring is fixed to the outer periphery of the rotating ring 63. In actual implementation, if the hose is in the form of penetrating the outer periphery of the rotating ring 63, the gear ring can also be set on the end face of the rotating ring 63. The rotary drive mechanism 62 includes three motors, and gears are fixed on the output shafts of the three motors, and the gears on the three motors are respectively meshed with the gear rings on the three rotating rings 63 to realize the separate driving of the three rotating rings 63. This driving method is stable, which is convenient for obtaining the rotation angle of the rotating ring 63, and provides technical support for the subsequent automatic real-time adjustment of the nozzle 64. Of course, in actual implementation, other driving modes may also be used, such as a motor-driven friction wheel and the outer circumference of the rotating ring 63 to drive friction.

[0075] 2. Method of adjusting nozzle 64

[0076] like Fig.10 As shown, based on the above-mentioned spraying mechanism 60, the present invention further discloses a method for adjusting the position of the spray head 64, comprising the following steps:

[0077] S1. Obtain the current wind speed V and the ground wire diameter d, and input the current wind speed V and the ground wire diameter d into the trained RBF model to obtain the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64. The wind speed can be obtained by measuring with a sensor, and the ground wire diameter d can be directly input according to the ground wire parameters, or can be obtained by measuring with a sensor.

[0078] Specifically, the training process of the RBF model includes:

[0079] (1) First, construct the wind speed V according to the training prediction strategy i , ground wire diameter d i and the optimal polar coordinate angle θ of the three nozzles 64 1i ,θ 2i ,θ 3i The sample set training is performed based on the i-th group of sample set data.

[0080] The construction of the sample set training is specifically as follows: set a certain wind speed V1 and ground wire diameter r1;

[0081] When the wind speed V1 and the ground wire diameter d1 are set;

[0082] Under the conditions of the set wind speed V1 and ground wire diameter d1, the polar coordinate angle θ of n groups of three nozzles 64 is constructed. n1 ,θ n2 ,θ n3 With coverage angle α 覆盖 There is a one-to-one mapping relationship between the coverage angle α 覆盖 is the angle corresponding to the actual coverage area of ​​the antifreeze liquid around the ground wire. Specifically, the coverage angle α 覆盖 The calculation formula is:

[0083]

[0084] Wherein, L1 is the arc length of the antifreeze liquid sprayed by the first nozzle 64 covering the outer periphery of the ground wire;

[0085] L2 is the arc length of the antifreeze liquid sprayed by the second nozzle 64 covering the outer periphery of the ground wire;

[0086] L3 is the arc length of the antifreeze liquid sprayed by the third nozzle 64 covering the outer periphery of the ground wire;

[0087] L 重叠 is the arc length of the overlapping portion of the antifreeze liquid sprayed by the first nozzle 64, the second nozzle 64 and the third nozzle 64 covering the outer periphery of the ground wire;

[0088] d is the diameter of the ground wire.

[0089] The above L1, L2, L3, L 重叠The unit is the same as d, and the unit can be cm or m.

[0090] The polar coordinate angle θ of the three nozzles 64 is n1 ,θ n2 ,θ n3 is the input layer, covering angle α 覆盖 As the output layer, it is input into the neural network model for training and fits the coverage angle α 覆盖 The polar coordinate angle θ with the three nozzles 64 n1 ,θ n2 ,θ n3 The mapping relationship between them;

[0091] The coverage angle α 覆盖 Compare with the set threshold range, specifically, set the threshold range to 90% to 100% to ensure the coverage angle α 覆盖 It can cover most of the area around the ground wire to ensure the uniformity of antifreeze spraying around the ground wire; obtain the coverage angle α within the set threshold range 覆盖 The corresponding polar coordinate angles θ of the three nozzles 64 n1 ,θ n2 ,θ n3 The polar coordinate angle is used as the optimal polar coordinate angle θ of the three nozzles 64 under the set wind speed V1 and ground wire diameter d1. 11 ,θ 21 ,θ 31 , thus obtaining the first set of wind speed V1, ground wire diameter d1 and the optimal polar coordinate angle θ of the three nozzles 64 11 ,θ 21 ,θ 31 Sample set data;

[0092] Reset the determined wind speed V i , ground wire diameter d i , and repeat the above steps to obtain the i-th group of sample data until enough sample set data is obtained, and finally the construction of the training sample set is completed.

[0093] (2) Construct an RBF model to train the wind speed V of the dataset i , ground wire diameter d i is the input layer of the RBF model, with the optimal polar coordinate angle θ of the training data set 1i ,θ 2i ,θ 3i The output layer is used to train the constructed RBF model to obtain a trained RBF model.

[0094] More specifically, after the input layer receives the data, the hidden layer calculates the distance between the input data and the center point through the radial basis function. Finally, the output layer introduces weights and linearly combines the data of the hidden layer to generate the final output. By selecting the center point and training the output layer weights, the corresponding relationship between the input value and the output value can be fitted.

[0095] S2, comparing the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 with the preset polar coordinate angle intervals, and obtaining the actual polar coordinate angle θ through the polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 .

[0096] Specifically, the actual polar coordinate angle θ is obtained through the polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 , specifically:

[0097] The optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 are compared one by one with the polar coordinate angle ranges set for each of the three nozzles 64; specifically, since a notch for the ground wire to pass through is provided on the ring body of the rotating ring 63 in the spraying mechanism 60, the rotating ring 63 cannot achieve 360° rotation, resulting in each nozzle 64 having a moving polar coordinate angle range, which is related to the opening size of the notch.

[0098] When the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 are all within the polar coordinate angle intervals set for the three nozzles 64, the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles θ1, θ2, and θ3. 1实 ,θ 2实 ,θ 3实 ;

[0099] When any of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 is not within the respective polar coordinate angle intervals, the order of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 is arbitrarily adjusted so that the optimal polar coordinate angles of the three nozzles 64 formed finally are all within the respective polar coordinate angle intervals of the three nozzles 64, and the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles of the three nozzles 64 formed finally. 1实 ,θ 2实 ,θ 3实This control method is that when the notches of the three rotating rings 63 are aligned, the three nozzles 64 are evenly distributed around the ground line axis, that is, the three nozzles 64 are evenly distributed around the ground line axis in a dislocated state; it ensures that at least one nozzle 64 in any area within the 360° range of the ground line periphery can be adjusted to this position, so that when any nozzle 64 has a dead angle area for adjustment, other nozzles 64 can be used to compensate for the dead angle area.

[0100] S3. Obtain the current polar coordinate angle θ of the three nozzles 64 k1 ,θ k2 ,θ k3 , and calculate the current polar coordinate angle and the actual polar coordinate angle θ 1实 ,θ 2实 ,θ 3实 The angle differences between them are w1, w2, and w3.

[0101] S4. Generate position adjustment instructions for the three nozzles 64 based on the angle differences w1, w2, and w3 to achieve position adjustment of the three nozzles 64. Specifically, in actual implementation, the clockwise direction around the outer circumference of the ground wire can be the positive direction, and the counterclockwise direction can be the negative direction. The direction of the subsequent adjustment instruction is determined according to the positive or negative situation of the calculated difference.

[0102] In the above steps, the wind speed V1, the ground wire diameter d1 and the coverage angle α are determined by the neural network model. 覆盖 Perform training to obtain the optimal polar coordinate angle θ corresponding to the determined wind speed V1 and ground wire diameter d1 11 ,θ 21 ,θ 31 ; And by resetting the determined wind speed V1 and ground wire diameter d1, repeat the above steps to obtain the i-th group of sample data, until sufficient sample set data is obtained, and finally the construction of the training sample set is completed. After that, the training sample set is input into the RBF model for training, and by obtaining the current wind speed V and ground wire diameter d, and inputting the current wind speed V and ground wire diameter d into the trained RBF model, the optimal polar coordinate angles θ1, θ2, θ3 of the three nozzles 64 can be obtained, and finally the position adjustment instructions of the three nozzles 64 are generated to realize the position adjustment of the three nozzles 64, so as to ensure that the sprayed antifreeze liquid covers the outer periphery of the ground wire as evenly as possible, effectively reducing the waste of antifreeze liquid, and ensuring a good antifreeze effect on the ground wire.

[0103] 3. Nozzle spray speed control method

[0104] During the de-icing process, the travel speed of the device will be affected by the friction caused by the residual ice and the certain de-icing resistance when removing the ice. Different travel speeds of the device will result in different antifreeze spray thicknesses. In addition, due to the residual ice on the ground wire caused by the ambient temperature and humidity, the required thickness of the antifreeze sprayed is also different. Therefore, by controlling the spraying speed of the device to adapt to different device travel speeds and different residual ice thicknesses, the thickness of the antifreeze sprayed on the ground wire is consistent to reduce the consumption of antifreeze. Therefore, based on the above-mentioned spraying mechanism, the present invention also discloses a method for controlling the spraying speed. When the travel speed of the device and the ambient temperature change, the spraying speed of the nozzle is controlled so that the spraying thickness of the antifreeze on the ground wire is kept in the range of 3-5mm as much as possible, thereby reducing the consumption of antifreeze while meeting the spraying requirements. The following steps are included:

[0105] Get the current ambient temperature T and the travel speed V of the de-icing device 装置 and a moving direction of the deicing device to adjust the spraying speed of the three spray heads (64); the moving direction of the deicing device includes moving the device forward and moving the device backward;

[0106] When the de-icing device is moving in the forward direction and the current ambient temperature T is -20℃≤T≤0℃, In this state, the spray thickness a of the antifreeze liquid on the ground wire is related to the current temperature; specifically, the lower the temperature, the greater the spray thickness, and the higher the temperature, the smaller the spray thickness; specifically, the value range of a is between 3-5mm.

[0107] When the de-icing device is moving in the forward direction and the current ambient temperature T is T<-20℃, In this state, since the temperature is too low, the antifreeze requirement is high, and the spraying thickness of the antifreeze liquid on the ground wire is a1=5mm. The antifreeze liquid is sprayed according to the set maximum spraying thickness to ensure a good antifreeze effect on the ground wire.

[0108] When the de-icing device is moving in the backward direction and the current ambient temperature T is T≤0℃, When the deicing device retreats due to reciprocating deicing, choose to continue spraying antifreeze with a thickness of a2 = 1mm on the part that has been sprayed with antifreeze to prevent the antifreeze from falling due to vibration during the deicing process, resulting in insufficient antifreeze coverage on the ground wire.

[0109] When the travel speed of the de-icing device V 装置 Sudden changes often occur, often accompanied by slippage or a large amount of ice falling off, resulting in ground wire jumps and abnormal operation of the de-icing device. During this process, V 喷头 = 0 can effectively avoid the waste of antifreeze. In addition, when the current ambient temperature T is specifically T>0℃, the ground wire will not freeze. Therefore, at this temperature, V喷头 =0, which can also effectively avoid the waste of antifreeze.

[0110] In the present invention, by obtaining the current ambient temperature T, the travel speed V of the deicing device 装置 As well as the walking direction of the deicing device, the nozzle 64 is enabled to spray at different spraying speeds under different working conditions, which can ensure that the antifreeze liquid is evenly sprayed on the ground wire while effectively reducing the waste of the antifreeze liquid.

[0111] Among them, V 装置 is the travel speed of the device, in m / s;

[0112] T is the ambient temperature, in °C;

[0113] ε is the temperature influence factor;

[0114] V 喷头 is the spraying speed of nozzle 64, in m / s;

[0115] a is the spray thickness of the antifreeze liquid on the ground wire when the deicing device moves in the forward direction and the current ambient temperature T is -20℃≤T≤0℃, in mm;

[0116] B is the spraying width of nozzle 64, in mm;

[0117] a1 is the spray thickness of the antifreeze liquid on the ground wire when the deicing device moves in the forward direction and the current ambient temperature T is T<-20°C, in mm, a1=5mm;

[0118] a2 is the spray thickness of the antifreeze liquid on the ground wire when the deicing device moves in the backward direction and the current ambient temperature T is T≤0°C, in mm, a2=1mm;

[0119] I is the spraying flow rate unit of the nozzle 64, L / s;

[0120] A is the cross-sectional area of ​​the nozzle 64, in mm 2 .

[0121] It is worth mentioning that the present invention also discloses the deicing device in which the spraying mechanism 60 is located, so as to further understand the working principle of the spraying mechanism 60 .

[0122] (4) De-icing device

[0123] The specific structure of the de-icing device refers to Figure 1-9As shown, its main structure includes a frame 10, which serves as the overall support of the de-icing device; an ice-breaking mechanism 30 installed on the frame 10, which is used to break the ice; a walking mechanism 20 installed on the frame 10, which is used for the de-icing device to walk on the ground wire; a crawling mechanism 40 and a clamping mechanism 50 installed on the frame 10, which cooperate with each other to realize the removal of ice in the initial section of the ground wire. In addition, the clamping mechanism 50 in the present invention can also be used to clamp the ground wire so that the walking mechanism 20 forms a dynamic match with the ground wire; a spraying mechanism 60 installed on the frame 10, which is used to spray antifreeze on the ground wire after the de-icing device is completed; a locking assembly 70 installed on the frame 10, which is used to prevent the de-icing device from falling on the ground wire. Specifically:

[0124] (1) Frame 10

[0125] like Figure 1 and Figure 2 As shown, an open wire-passing channel 13 is formed at the bottom of the frame 10, and a running cavity is formed at the upper part of the wire-passing channel 13 for only the ground wire to pass through, and an initial deicing cavity is formed at the lower part of the wire-passing channel 13 for the ground wire and ice to enter. In actual implementation, the running mechanism 20 is installed at the running cavity, and the clamping area for deicing on the crawling mechanism 40 and the clamping mechanism 50 is located at the initial deicing cavity. When the frame 10 is hoisted to the initial section of the ground wire, the crawling mechanism 40 and the clamping mechanism 50 cooperate with each other (for specific cooperation, see the clamping mechanism 50 and the crawling mechanism 40 below) to remove the ice on the initial section of the ground wire; thereafter, the initial section of the ground wire can slide into the running cavity, and at this time, the running mechanism 20 can drive the deicing device to operate normally on the initial section of the ground wire without ice, so as to enter the subsequent normal deicing process.

[0126] In addition, if Figure 2 As shown, the skeleton 10 also includes an air supply unit 11 and a power supply unit 12 distributed on both sides thereof to supply air and power to other mechanisms.

[0127] (2) Clamping mechanism 50 and crawling mechanism 40

[0128] like Figure 3 As shown, the clamping mechanism 50 includes two second clamping plates 54, and the crawling mechanism 40 includes two first clamping plates 42. The two second clamping plates 54 and the two first clamping plates 42 are symmetrically distributed on both sides of the channel where the initial deicing cavity is located, and an open clamping area is formed between the two second clamping plates 54 and the two first clamping plates 42. The two second clamping plates 54 and the two first clamping plates 42 can both perform horizontal reciprocating clamping motions in a direction perpendicular to the wire-passing channel 13 to clamp and remove ice on the ground wire, and form a clamp with the ground wire after the ice is removed. In addition, a crawling cylinder 43 arranged along the length direction of the wire-passing channel 13 is provided between the clamping mechanism 50 and the crawling mechanism 40.

[0129] The specific working principle is as follows: Figure 3 As shown, the initial section of the ground wire is section A, and the section adjacent to the initial section of the ground wire along the deicing direction of the ground wire is section B. When in use, the deicing device is first hoisted to section B of the ground wire. Since the running cavity of the frame 10 is only for the ground wire to pass through, at this time, the ground wire is located at the initial deicing cavity of the frame 10, and the clamping mechanism 50 and the two second clamping plates 54 and the two first clamping plates 42 of the crawling mechanism 40 are all horizontally reciprocating clamping motions in a direction perpendicular to the wire passage 13 to clamp and remove the ice on section B of the ground wire. After the ice is removed, since there is still ice on the ground wire at other positions of the frame 10, the ground wire is still in the initial deicing cavity. At this time, the clamping mechanism 50 forms a clamp with section B on the ground wire, and then the two first clamping plates 42 on the crawling mechanism 40 are unfolded, and the crawling cylinder 43 drives the crawling mechanism 40 to move toward section A. When the crawling cylinder 43 drives the crawling mechanism 40 to move toward section A, the two first clamping plates 42 on the crawling mechanism 40 perform a reciprocating clamping action, thereby removing the ice in the movement stroke. After the crawling cylinder 43 is stretched to the limit position, i.e., section A on the ground line, the crawling mechanism 40 removes the ice at this position, and the two first clamping plates 42 of the crawling mechanism 40 clamp the section A on the ground line. After that, the clamping mechanism 50 is released from section B on the ground line, and the crawling cylinder 43 contracts, so that the deicing device as a whole moves toward section A of the ground line where deicing is completed. During the movement, the two second clamping plates 54 of the clamping mechanism 50 still perform a reciprocating clamping action to remove the ice that has not been completely removed from sections A and B of the ground line. Since the walking cavity of the skeleton 10 is only for the ground wire to pass through, during the de-icing process of the above-mentioned sections A and B of the ground wire, the skeleton 10 cannot slide downward so that the ground wire is always in the initial de-icing cavity of the skeleton 10. As the continuous ice-breaking operation is achieved through the crawling mechanism 40 and the clamping mechanism 50, and until the ice covering sections A and B is cleared, the skeleton 10 slides downward under the action of gravity, and the walking cavity is sleeved on section A of the ground wire. At this time, the walking mechanism 20 forms a power coordination with the ground wire, so that the initial section of the ground wire can realize the normal walking of the walking mechanism 20, and the ice-breaking mechanism 30 realizes subsequent normal walking and ice-breaking operations, thereby realizing the automatic installation of the de-icing device at the initial section of the ground wire.

[0130] On the basis of the above, if Figure 3 As shown, since the water on the ground wire will flow downward under the action of gravity, the ice on the ground wire gradually increases from top to bottom. In the present invention, the edges on both sides of the clamping area are in an "eight" structure, which increases the contact area with the ice during the clamping process as much as possible to improve the ice removal effect. In addition, in view of the "eight" structure of the edges on both sides of the clamping area, in order to ensure that the clamping mechanism 50 and the crawling mechanism 40 can eventually form a stable clamp with the ground wire, in this embodiment, the upper part of the clamping area is at the same height as the upper part of the initial deicing chamber.

[0131] On the basis of the above, if Figure 3 As shown, the clamping mechanism 50 includes a second bidirectional cylinder 51 installed on the frame 10, and both telescopic ends of the second bidirectional cylinder 51 can perform horizontal telescopic movements perpendicular to the wire-passing channel 13, and two second clamping plates 54 are respectively connected to the telescopic ends of the two second bidirectional cylinders 51. The second bidirectional cylinder 51 is used as an actuator to drive the second clamping plates 54 to perform reciprocating clamping movements. Compared with the hydraulic cylinder driving method, there is no problem of driving medium freezing due to low temperature, and compared with other linear motion power mechanisms such as other screw sliders, it has the advantage of efficient clamping action execution.

[0132] On the basis of the above, if Figure 3 As shown, the crawling mechanism 40 includes a first bidirectional cylinder 41, and the two ends of the crawling cylinder 43 are respectively connected to the fixing seat of the first bidirectional cylinder 41 and the fixing part of the clamping mechanism 50, the fixing part here can be the fixing seat of the second bidirectional cylinder 51 mentioned above, or the connecting part of the clamping mechanism 50 and the skeleton 10; the two telescopic ends of the first bidirectional cylinder 41 can both perform horizontal telescopic movements perpendicular to the wire-passing channel 13, and the two first clamping plates 42 are respectively fixed on the two telescopic ends of the first bidirectional cylinder 41. Similarly, the first bidirectional cylinder 41 is used as the actuator to drive the first clamping plate 42 to perform reciprocating clamping movements. Compared with the hydraulic cylinder drive method, there will be no problem of driving medium freezing due to low temperature, and compared with other linear power mechanisms such as other screw sliders, it has the advantage of efficient clamping action execution.

[0133] On the basis of the above, if Figure 3 As shown, the first anti-skid convex strip 421 and the second anti-skid convex strip 541 are fixed to the inner sides of the first clamping plate 42 and the second clamping plate 54 respectively, which ensures the stability of the clamping between the first clamping plate 42 and the second clamping plate 54 and the ground wire.

[0134] It is worth mentioning that Figure 3 and Figure 4 As shown, the clamping mechanism 50 in the present application is also provided with a clamping wheel 53 for use in conjunction with the walking mechanism 20 , and the specific cooperation method is further described below in the walking mechanism 20 .

[0135] (3) Traveling mechanism 20

[0136] like Figure 5 As shown, the walking mechanism 20 includes a walking wheel 21 installed on the upper part of the walking cavity, and the axis of the walking wheel 21 is horizontally arranged perpendicular to the wire passage 13, so that the wheel surface of the walking wheel 21 is located above the ground wire. When the walking wheel 21 is driven by the walking motor 22, the movement of the de-icing device is achieved by the friction between the walking wheel 21 and the ground wire.

[0137] Specifically, Figure 3-5As shown, the clamping mechanism 50 also includes two clamping wheels 53 respectively mounted on the two second clamping plates 54. Specifically, a C-shaped seat 52 and a second clamping plate 54 are fixed on the telescopic end of the second bidirectional cylinder 51 in the clamping mechanism 50 from top to bottom in sequence. The C-shaped seat 52 is a structure that bulges outward, and the inner cavity of the C-shaped seat 52 is at the same height as the travel cavity. The clamping wheels 53 are mounted in the inner cavity of the C-shaped seat 52. The outer periphery of the two clamping wheels 53 has a wedge surface that forms an oblique wedge with the ground wire. When the two clamping wheels 53 on the clamping mechanism 50 perform a clamping action, the travel wheel 21 and the two clamping wheels 53 clamp the ground wire together.

[0138] Compared with the prior art, the traveling mechanism 20 adopts two conventional vertically arranged traveling wheels 21, and the two traveling wheels 21 are driven by a linear mechanism to produce a clamping action on the ground wire, so as to realize a clamping driving mode for the ground wire. In the present invention, a clamping wheel 53 is provided on the clamping mechanism 50 for deicing the ground wire in the initial stage. After the deicing in the initial stage is completed, the clamping wheel 53 on the clamping mechanism 50 and the traveling wheel 21 form a clamping with the ground wire together, and there is no need to additionally equip the traveling mechanism 20 with a linear mechanism, thereby reducing the cost and weight of the deicing device.

[0139] It is worth mentioning that in actual implementation, Figure 3 As shown, in order to ensure the stability of the connection between the de-icing device and the ground wire, the clamping mechanism 50 is set as two groups distributed on the sides of the wire-passing channel 13, and the walking wheels 21 can be set as two groups distributed at both ends of the wire-passing channel 13 to ensure stable contact friction with the ground wire and realize stable power output of the de-icing device.

[0140] (4) Ice breaking mechanism 30

[0141] like Figure 7 As shown, the ice-breaking mechanism 30 includes a pedestal 31 installed at the forward end of the skeleton 10, and a reciprocating power mechanism 34 driving an ice-breaking impact hammer 35 to perform reciprocating impact motion is installed on the pedestal 31, which has the advantages of low cost, strong power, and small radial force on the ground line. Of course, in actual implementation, other ice-breaking forms in the prior art can also be used, such as a swing arm rotating shaft is arranged parallel to the ground line axis, and a swing arm hammer connected to the swing arm rotating shaft is arranged. By swinging the swing arm hammer back and forth around the swing arm rotating shaft, stable de-icing of the ground line can also be achieved, but there is a disadvantage of a large radial force on the ground line. In addition, laser de-icing can also be used. Although the de-icing effect is good, it has the disadvantages of high cost and fast energy consumption.

[0142] On the basis of the above, if Figure 7As shown, the hammer head 351 of the ice-breaking impact hammer 35 is in an inverted U-shaped structure, and the inner cavity of the hammer head 351 is sleeved on the outer periphery of the ground wire, so that the hammer head 351 can effectively cover most of the area around the ground wire, ensuring the de-icing effect on the ice covering the outer periphery of the ground wire. In addition, a lifting mechanism 32 is also installed on the ice-breaking mechanism 30, and the ice-breaking impact hammer 35 and the reciprocating power mechanism 34 are installed on the lifting seat 33 of the lifting mechanism 32, and the position of the hammer head 351 can be adjusted to ensure that the inner cavity of the hammer head 351 can be stably sleeved on the outside of the ground wire.

[0143] (5) Locking assembly 70

[0144] like Figure 8 and Fig. 9 As shown, the lock assembly 70 includes an outer shell 71, the lower part of the outer shell 71 is provided with a wire entry groove 711 that can be sleeved on the outer periphery of the ground wire, and a U-shaped lock 72 is provided on the side of the wire entry groove 711. The U-shaped bottom end of the U-shaped lock 72 forms a swivel fit with the outer shell 71 through a horizontal rotating shaft, and the inner cavity length direction of the horizontal rotating shaft and the U-shaped lock 72 are arranged along the length direction of the wire entry groove 711. Specifically, as Fig. 9 As shown in the state A, the U-shaped lock buckle 72 has an initial state in which the inner cavity and the groove cavity of the wire inlet groove 711 share the same opening, as shown in FIG. Fig. 9 As shown in the B state and the C state, the ground wire entering the inner cavity of the U-shaped lock buckle 72 pushes it to rotate to form a locked state in which the inner cavity of the U-shaped lock buckle 72 and the groove cavity of the wire inlet groove 711 cross each other, and the inner cavity wall of the U-shaped lock buckle 72 in the locked state and the groove wall of the wire inlet groove 711 jointly enclose a locked cavity for locking the ground wire. In addition, a locking member for elastically locking the U-shaped lock buckle 72 in the locked state is also provided on the outer shell 71, and the locking member is connected to the sling assembly 76 arranged outside the outer shell 71, and when the hoisting part of the sling assembly 76 is pulled, it generates a resisting elastic locking force on the locking member and unlocks the U-shaped lock buckle 72.

[0145] During installation, the U-shaped lock buckle 72 is initially located at Fig. 9 As shown in state A, in the initial state where the inner opening end of the U-shaped lock buckle 72 intersects with the groove cavity of the wire inlet groove 711, the de-icing device with the lock assembly 70 is suspended just above the ground wire by hoisting the de-icing device with the ear of the UAV or crane, and the groove length direction of the wire inlet groove 711 in the lock assembly 70 is aligned with the length direction of the ground wire. Thereafter, the UAV or crane drives the de-icing device to move downward as a whole, so that the ground wire slides into the groove cavity of the wire inlet groove 711, and then continues to move the de-icing device downward, so that the ground wire will enter the inner cavity of the U-shaped lock buckle 72 through the inner opening end of the U-shaped lock buckle 72 aligned with the groove cavity of the wire inlet groove 711. Then continue to move the de-icing device downward, as shown in FIG. Fig. 9 As shown in the state B, the ground wire will push the lock assembly 70 to rotate until it rotates to the position shown in FIG. Fig. 9The inner cavity of the U-shaped lock buckle 72 shown in the middle C state crosses with the groove cavity of the wire inlet groove 711 and is locked by a locking member to form a locking state in which the ground wire is locked in the locking cavity.

[0146] During disassembly, the drone or crane no longer directly hoists the de-icing device's hanging ears, but hoists the hoisting part of the sling assembly 76, and applies a lifting pulling force to the hoisting part to generate an unlocking action to resist the elastic locking force on the locking member and unlock the U-shaped lock buckle 72. When the locking member moves to the extreme position against the elastic locking force, the sling assembly 76 drives the lock buckle assembly 70 to move upward as a whole. At this time, the ground wire has a downward movement trend relative to the lock buckle assembly 70, thereby driving the U-shaped lock buckle 72 to generate a rotation action to switch to the initial state. As the lock buckle assembly 70 continues to move upward, until the ground wire is released from the inner cavity of the U-shaped lock buckle 72 and the groove cavity of the wire inlet groove 711, the automatic disassembly of the lock buckle assembly 70 is completed.

[0147] The locking of the above-mentioned locking assembly 70 is stable and does not require power support from the power supply unit 12, so it has higher reliability. Moreover, the installation and disassembly processes can be completed by drones or cranes, without the need for manual high-altitude operations. This is not only more efficient, but also effectively reduces the safety hazards of high-altitude operations.

[0148] Specifically, Figure 8As shown, the locking member includes a locking hook 74, and the locking hook 74 and the U-shaped lock buckle 72 are respectively arranged on both sides of the wire feed slot 711. The base of the locking hook 74 forms a swivel fit with the outer shell 71 through an unlocking shaft, and the unlocking shaft is parallel to the horizontal shaft. One end of the sling assembly 76 is fixed on the locking hook 74 away from the outer side of the wire feed slot 711, and the outer side of the hook of the locking hook 74 is connected to the outer shell 71 through a locking spring 75, that is, the locking hook 74 can be pulled by the sling assembly 76 to resist the elastic extrusion force of the locking spring 75 and move outward to unlock the U-shaped lock buckle 72. In addition, a wedge surface is provided on one side of the outer wall of the hook portion adjacent to the U-shaped lock buckle 72. The wedge surface forms an oblique wedge fit with the U-shaped lock buckle 72 during the rotation process of the U-shaped lock buckle 72 switching from the initial state to the locked state, and drives the hook portion to rotate outward. Thereafter, the hook portion is elastically driven by the locking spring 75 on the outer shell 71, and rotates to sleeve the side wall of the open end of the U-shaped lock buckle 72 in the locked state to form an elastic lock. In this embodiment, the locking hook 74 adopts a rotation unlocking method, which effectively reduces the resistance when the sling assembly 76 pulls the locking hook 74 to produce an unlocking action. In addition, the wedge surface of the hook portion of the locking hook 74 forms an oblique wedge fit with the U-shaped lock buckle 72 during the rotation process of the U-shaped lock buckle 72 switching from the initial state to the locked state. During the hoisting process of the deicing device, the drone can adopt the form of a lifting ear for hoisting the deicing device. With respect to the hoisting portion of the hoisting sling assembly 76, the locking assembly 70 needs to be sleeved on the ground wire and the lifting force on the hoisting portion needs to be relaxed to achieve elastic reset of the locking member to form a lock. In this embodiment, the lifting lug enables the U-shaped lock 72 to automatically and smoothly switch from the initial state to the locked state during the process of the locking assembly 70 being in place. At this time, the locking member automatically resets under the action of the locking spring 75 to achieve locking. In this embodiment, the locking method of the locking assembly 70 is formed before the lifting force is withdrawn, which further improves the safety of the locking process of the locking assembly 70.

[0149] In specific implementation, the locking member may also adopt other implementations, such as a horizontal latch that is perpendicular to the length direction of the inlet slot 711, and the horizontal latch slides along its own axis to fit on the outer shell 71, and the inner end of the horizontal latch can be inserted into the inner side of the U-shaped lock buckle 72 in the locked state to form a rotation lock for the U-shaped lock buckle 72. In addition, a spring is provided on the horizontal latch to drive the horizontal latch to slide inward, and the sling assembly 76 is connected to the outer end of the horizontal latch to drive the horizontal latch to slide and unlock. Furthermore, the inner end of the horizontal latch can form an oblique wedge fit with the U-shaped lock buckle 72, so that the U-shaped lock buckle 72 can automatically and smoothly switch from the initial state to the locked state.

[0150] On the basis of the above, if Figure 8As shown, a release torsion spring 73 is also installed on the outer shell 71. The release torsion spring 73 generates a driving action to drive the U-shaped lock buckle 72 to switch to the initial state when the U-shaped lock buckle 72 is unlocked. It not only facilitates the maintenance of the initial state during the installation of the lock buckle assembly 70, but also assists the U-shaped lock buckle 72 to reset to the initial state after unlocking.

[0151] It is worth mentioning that Figure 1 As shown, the outer shell 71 of the lock assembly 70 is fixed to the frame 10, and the lock assembly 70 is arranged in two groups distributed on both sides of the walking mechanism 20, so that the walking mechanism 20 and the lock assembly 70 can be stably sleeved on the periphery of the ground wire, and the arrangement of the two groups of lock assemblies 70 ensures stable locking of both sides of the walking mechanism 20. Further, the hoisting parts of the sling assemblies 76 of the two groups of lock assemblies 70 are fixed to each other, ensuring that the two lock assemblies 70 can be unlocked synchronously.

[0152] Of course, it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0153] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0154] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. Spraying mechanism, characterized in that: The spraying mechanism (60) comprises a rotating ring (63) arranged near the tail end of the ground wire deicing device, a notch for the ground wire to pass through is arranged on the ring body of the rotating ring (63), and a nozzle (64) for spraying antifreeze liquid is installed on the inner side of the rotating ring (63); the rotating ring (63) is arranged to be coaxially distributed with the ground wire and arranged in sequence along the length direction of the ground wire, and each rotating ring (63) is driven by a rotating driving mechanism (62) and can be independently rotated and adjusted around the axis of the ground wire to respectively adjust the relative position of the nozzle (64) located on the outer periphery of the ground wire, and when the notches of the three rotating rings (63) are aligned, the three nozzles (64) are evenly distributed circumferentially around the axis of the ground wire.

2. The spraying mechanism according to claim 1, characterized in that: The spraying mechanism (60) further comprises a liquid storage tank (61) connected to the spray head (54) via a hose, the rotating ring (63) and the liquid storage tank (61) form a swivel fit, a gear ring is fixed to the outer periphery of the rotating ring (63), and the rotary drive mechanism (62) comprises three motors, gears are fixed to the output shafts of the three motors, and the gears on the three motors are respectively meshed with the gear rings on the three rotating rings (63) for transmission.

3. A nozzle adjustment method, wherein the nozzle adjustment method uses the spraying mechanism as claimed in claim 1 or 2, characterized in that: The following steps are involved: S1, obtaining the current wind speed V and the ground wire diameter d, and inputting the current wind speed V and the ground wire diameter d into the trained RBF model to obtain the optimal polar coordinate angles θ1, θ2, θ3 of the three nozzles (64); S2, comparing the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles (64) with the preset polar coordinate angle intervals, and obtaining the actual polar coordinate angle θ through a polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 ; S3. Obtain the current polar coordinate angle θ of the three nozzles (64) k1 ,θ k2 ,θ k3 , and calculate the current polar coordinate angle and the actual polar coordinate angle θ 1实 ,θ 2实 ,θ 3实 The angle differences between them are w1, w2, w3; S4. Generate position adjustment instructions for the three nozzles (64) based on the angle differences w1, w2, and w3 to achieve position adjustment of the three nozzles (64).

4. The nozzle adjustment method according to claim 3, characterized in that: The training process of the RBF model includes: Construct wind speed V according to the training prediction strategy i , ground wire diameter d i and the optimal polar coordinate angle θ of the three nozzles (64) 1i ,θ 2i ,θ 3i The training sample set, where i represents the i-th group of sample set data; Construct an RBF model to train the wind speed V of the dataset i , ground wire diameter d i is the input layer of the RBF model, with the optimal polar coordinate angle θ of the training data set 1i ,θ 2i ,θ 3i The output layer is used to train the constructed RBF model to obtain a trained RBF model.

5. The nozzle adjustment method according to claim 4, characterized in that: The wind speed V is constructed according to the training prediction strategy i , ground wire diameter d i and the optimal polar coordinate angle θ of the three nozzles (64) 1i ,θ 2i ,θ 3i The training sample set is: Set the determined wind speed V1 and ground wire diameter d1; Under the conditions of set wind speed V1 and ground wire diameter d1, construct the polar coordinate angle θ of n groups of three nozzles (64) n1 ,θ n2 ,θ n3 With coverage angle α 覆盖 There is a one-to-one mapping relationship between the coverage angle α 覆盖 The angle corresponding to the actual coverage area of ​​the antifreeze liquid around the ground wire; The polar coordinate angle θ of the three nozzles (64) n1 ,θ n2 ,θ n3 is the input layer, covering angle α 覆盖 As the output layer, it is input into the neural network model for training and fits the coverage angle α 覆盖 Polar coordinate angle θ with the three nozzles (64) n1 ,θ n2 ,θ n3 The mapping relationship between them; The coverage angle α 覆盖 Compare with the set threshold range to obtain the coverage angle α within the set threshold range 覆盖 The corresponding polar coordinate angles θ of the three nozzles (64) n1 ,θ n2 ,θ n3 The polar coordinate angle is used as the optimal polar coordinate angle θ of the three nozzles (64) under the set wind speed V1 and ground wire diameter d1. 11 ,θ 21 ,θ 31 , thereby obtaining the first group of wind speed V1, ground wire diameter d1 and the optimal polar coordinate angle θ of the three nozzles (64) 11 ,θ 21 ,θ 31 Sample set data; Reset the determined wind speed V i , ground wire diameter d i , and repeat the above steps to obtain the i-th group of sample data until enough sample set data is obtained, and finally the construction of the training sample set is completed.

6. The nozzle adjustment method according to claim 5, characterized in that: The coverage angle α 覆盖 The calculation formula is: Wherein, L1 is the arc length of the antifreeze liquid sprayed by the first nozzle (64) covering the outer periphery of the ground wire; L2 is the arc length of the antifreeze liquid sprayed by the second nozzle (64) covering the outer periphery of the ground wire; L3 is the arc length of the antifreeze liquid sprayed by the third nozzle (64) covering the outer periphery of the ground wire; L 重叠 The arc length of the overlapping portion of the antifreeze liquid sprayed by the first nozzle (64), the second nozzle (64) and the third nozzle (64) covering the outer periphery of the ground wire; d is the diameter of the ground wire.

7. The nozzle adjustment method according to claim 3, characterized in that: The actual polar coordinate angle θ is obtained by the polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 , specifically: The optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles (64) are compared one by one with the polar coordinate angle intervals set for the three nozzles (64); When the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles (64) are all within the polar coordinate angle intervals set for the three nozzles (64), the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles θ1, θ2, and θ3. 1实 ,θ 2实 ,θ 3实 ; When any of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles (64) is not within the respective polar coordinate angle intervals, the order of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles (64) is arbitrarily adjusted so that the optimal polar coordinate angles of the three nozzles (64) formed finally are all within the respective polar coordinate angle intervals of the three nozzles (64), and the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles of the three nozzles (64) formed finally 1实 ,θ 2实 ,θ 3实 .

8. A method for controlling the spray speed of a nozzle, the method for controlling the spray speed of a nozzle applying the spray mechanism as claimed in claim 1 or 2, characterized in that: The following steps are involved: Get the current ambient temperature T and the travel speed V of the de-icing device 装置 and a moving direction of the deicing device to adjust the spraying speed of the three spray heads (64); the moving direction of the deicing device includes moving the device forward and moving the device backward; When the de-icing device is moving in the forward direction and the current ambient temperature T is -20℃≤T≤0℃, When the de-icing device is moving in the forward direction and the current ambient temperature T is T<-20℃, When the de-icing device is moving in the backward direction and the current ambient temperature T is T≤0℃, When the travel speed of the de-icing device V 装置 When a sudden change occurs, or the current ambient temperature T is T>0℃, V 喷头 =0; Among them, V 装置 is the travel speed of the device, in m / s; T is the ambient temperature, in °C; ε is the temperature influence factor; V 喷头 is the spraying speed of the nozzle (64), in m / s; a is the spray thickness of the antifreeze liquid on the ground wire when the deicing device moves in the forward direction and the current ambient temperature T is -20℃≤T≤0℃, in mm; B is the spraying width of the nozzle (64), in mm; a1 is the spray thickness of the antifreeze liquid on the ground wire when the deicing device moves in the forward direction and the current ambient temperature T is T<-20°C, in mm, a1=5mm; a2 is the spray thickness of the antifreeze liquid on the ground wire when the deicing device moves in the backward direction and the current ambient temperature T is T≤0°C, in mm, a2=1mm; I is the spraying flow rate unit of the nozzle (64), L / s; A is the cross-sectional area of ​​the nozzle (64), in mm 2 .

9. A deicing device, wherein the nozzle spray speed control method is applied to the nozzle adjustment method as claimed in claim 3, characterized in that: The invention comprises a frame (10) having an open wire-passing channel (13) at the bottom and an ice-breaking mechanism (30) installed on the frame (10); the upper part of the wire-passing channel (13) forms a running cavity for only the ground wire to pass through; the lower part of the wire-passing channel (13) forms an initial deicing cavity for the ground wire and ice to enter; a running mechanism (20) for the deicing device to move on the ground wire is installed in the running cavity; a clamping mechanism (50) and a crawling mechanism (40) are also installed on the frame (10); the clamping mechanism (50) includes two second clamping plates (54); and the crawling mechanism (40) includes two first clamping plates (42) The two second clamping plates (54) and the two first clamping plates (42) are symmetrically distributed on both sides of the channel where the initial de-icing chamber is located, and an open clamping area is formed between the two second clamping plates (54) and between the two first clamping plates (42). The two second clamping plates (54) and the two first clamping plates (42) can perform horizontal reciprocating clamping motion in a direction perpendicular to the wire-passing channel (13) to clamp and remove ice on the ground wire, and clamp the ground wire after the ice is removed; a crawling cylinder (43) is arranged along the length direction of the wire-passing channel (13) between the clamping mechanism (50) and the crawling mechanism (40).

10. The deicing device according to claim 9, characterized in that: The invention also comprises a lock assembly (70) mounted on the frame (10), wherein the lock assembly (70) comprises an outer shell (71), wherein the lower part of the outer shell (71) is provided with a wire entry groove (711) which can be sleeved on the outer periphery of the ground wire, and a U-shaped lock assembly (72) is provided on the side of the wire entry groove (711), wherein the U-shaped bottom end of the U-shaped lock assembly (72) forms a swivel fit with the outer shell (71) via a horizontal rotation axis, and the inner cavity length direction of the horizontal rotation axis and the U-shaped lock assembly (72) are arranged along the groove length direction of the wire entry groove (711); the U-shaped lock assembly (72) has an initial state in which the inner cavity and the groove cavity of the wire entry groove (711) share the same opening, and the U-shaped lock assembly (72) is provided with a U-shaped lock assembly (72) which is provided with a U-shaped lock assembly (72). The ground wire in the inner cavity of the lock buckle (72) pushes it to rotate to form a locked state in which the inner cavity of the U-shaped lock buckle (72) and the groove cavity of the wire inlet groove (711) cross each other, and the inner cavity wall of the U-shaped lock buckle (72) in the locked state and the groove wall of the wire inlet groove (711) together enclose a locking cavity for locking the ground wire; the outer shell (71) is also provided with a locking member for elastically locking the U-shaped lock buckle (72) after rotating to the locked state, and the locking member is connected to a sling assembly (76) whose hanging part is located outside the outer shell (71), and when the hanging part of the sling assembly (76) is pulled, it generates a resisting elastic locking force on the locking member and unlocks the U-shaped lock buckle (72) to unlock the U-shaped lock buckle (72).

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