Stay cable deicing device and stay cable deicing method

Abstract

The invention belongs to the technical field of bridge maintenance, and relates to a stay cable deicing device and a stay cable deicing method.The stay cable deicing device comprises an openable main body frame, a four-quadrant power mechanism and a deicing mechanism; the openable main body frame is of a rectangular frame-shaped structure on the whole; the four-quadrant power mechanisms are respectively arranged on the side walls of the openable main body frame; the deicing mechanism is arranged on the openable main body frame along the radial direction of the openable main body frame and extends into the openable main body frame from the outside of the openable main body frame; and the deicing mechanism is in contact with the ice-containing stay cable. The invention provides the stay cable deicing device and the stay cable deicing method which are high in deicing efficiency and high in applicability.

Description

Technical Field

[0001] The present invention belongs to the technical field of bridge maintenance, and relates to a de-icing device, in particular to a stay cable de-icing device and a stay cable de-icing method. Background Art

[0002] As an important component of a bridge structure, stay cables play a crucial role in the stability and safety of bridges. However, in cold winters, stay cables are affected by harsh weather conditions such as low temperatures, freezing rain, and snowfall, and ice accretion is likely to form on their surfaces. The accumulation of ice not only increases the load on the stay cables and affects the vibration effect of the bridge, but may also form ice floes, posing a serious safety threat to vehicles and pedestrians on the bridge deck. Currently, the removal of ice on stay cables mainly relies on manual operations. For example, maintenance personnel climb to high altitudes to knock or bake the ice for removal. This method is not only inefficient, but also has significant safety hazards, and it is difficult to meet the demand for removing large-area ice accretion. In addition, existing automated de-icing devices mostly have problems such as complex structures, high energy consumption, and poor adaptability, making it difficult to meet the actual application requirements. Therefore, there is an urgent need for an efficient, safe, and energy-saving stay cable de-icing device to solve the above problems existing in the prior art. Summary of the Invention

[0003] In order to solve the above technical problems in the background art, the present invention provides a stay cable de-icing device and a stay cable de-icing method with high de-icing efficiency and strong applicability.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A stay cable de-icing device, the stay cable de-icing device includes an openable and closable main frame, a four-quadrant power mechanism, and a de-icing mechanism; the openable and closable main frame is a frame structure integrally in a rectangular shape; the four-quadrant power mechanisms are respectively arranged on the side walls of the openable and closable main frame; the de-icing mechanism is arranged on the openable and closable main frame along the radial direction of the openable and closable main frame and extends into the openable and closable main frame from the outside of the openable and closable main frame; the de-icing mechanism contacts the ice-containing stay cable.

[0006] Preferably, the de-icing mechanism is an even number group, and the even number groups of de-icing mechanisms are symmetrically arranged.

[0007] Preferably, the de-icing mechanism includes a de-icing component and a driving component; the driving component is arranged on the openable and closable main frame along the radial direction of the openable and closable main frame and extends into the openable and closable main frame from the outside of the openable and closable main frame; the de-icing component is arranged at the end of the driving component and is placed in the openable and closable main frame; the driving component drives the de-icing component to move along the radial direction of the openable and closable main frame and press on the ice-containing stay cable.

[0008] Preferably, the de-icing component includes a de-icing wheel frame, a de-icing wheel shaft, and a de-icing wheel; the de-icing wheel frame is arranged at the end of the driving component and placed in the openable and closable main frame; the de-icing wheel frame is integrally U-shaped; the de-icing wheel is a concave-waisted cylinder; the de-icing wheel is embedded on the de-icing wheel frame through the de-icing wheel shaft; the de-icing wheel can rotate freely around the axis where the de-icing wheel shaft is located; arc-shaped blades are staggered on the side wall of the de-icing wheel; the driving component drives the de-icing wheel to move radially along the openable and closable main frame through the de-icing wheel frame and presses the arc-shaped blades on the side wall of the de-icing wheel against the ice-containing stay cable.

[0009] Preferably, the de-icing component further includes an electric heating element placed inside the de-icing wheel, and a piezoelectric ceramic oscillator and a pressure sensor both placed at the end of the de-icing wheel frame; preferably, the electric heating element is an electric heating wire wound around the inner wall of the de-icing wheel.

[0010] Preferably, the driving component includes a stepping motor, a lead screw, a fixed rod, a connecting plate, and a spring; the stepping motor is fixedly arranged on the openable and closable main frame; the connecting plate is placed in the openable and closable main frame and connected to the de-icing wheel frame through the spring; the lead screw and the fixed rod are both arranged radially along the openable and closable main frame and extend into the openable and closable main frame from the outside of the openable and closable main frame; the axis where the fixed rod is located is parallel to the axis where the lead screw is located; the lead screw and the fixed rod are respectively connected to the connecting plate; the stepping motor is sleeved on the lead screw and drives the lead screw to rotate around the axis where the lead screw is located; the stepping motor, the lead screw, and the fixed rod form a screw moving pair; the stepping motor drives the de-icing wheel to move radially along the openable and closable main frame through the lead screw, the connecting plate, and the de-icing wheel frame and presses the arc-shaped blades on the side wall of the de-icing wheel against the ice-containing stay cable.

[0011] Preferably, the de-icing mechanism further includes a microwave emitter arranged inside the openable and closable main frame; there are two groups of microwave emitters, and the two groups of microwave emitters are symmetrically arranged.

[0012] Preferably, the four-quadrant power mechanism includes four power rising components with exactly the same structure. The power rising component includes a power support, a propeller blade, a brushless motor, and a support rod; the power support is arranged radially along the openable and closable main frame outside the openable and closable main frame; a brushless motor is arranged at the end of the power support; a propeller blade is arranged at the top of the brushless motor; the support rod is arranged vertically at the bottom of the power support; the brushless motor drives the propeller blade to rotate.

[0013] Preferably, the retractable main frame includes a left shell, a right shell, a rotating shaft and connecting bolts; the structure of the left shell is exactly the same as that of the right shell; the left shell is connected to the right shell through a rotating shaft; both the left shell and the right shell can rotate around the axial direction of the rotating shaft; after the left shell and the right shell are connected, they are fixed by connecting bolts to form a rectangular frame structure.

[0014] A method for deicing a stay cable based on the aforementioned stay cable deicing device, the method comprising the following steps:

[0015] 1) Put the retractable main frame onto the ice-containing inclined cables;

[0016] 2) Activate the four-quadrant power mechanism to move the cable de-icing device upward along the ice-laden cable;

[0017] 3) When the cable de-icing device reaches the top of the ice-containing cable, the de-icing mechanism is activated. As the cable de-icing device descends along the ice-containing cable, the de-icing mechanism breaks the ice covering the ice-containing cable.

[0018] Preferably, the specific implementation of step 1) is as follows: the left housing and / or the right housing are opened around the rotation axis, and are mounted on the ice-containing inclined cables, and the left housing and the right housing are fixed by connecting bolts to form a rectangular frame structure;

[0019] Preferably, the specific implementation of step 2) is:

[0020] 2.1) Acquiring operating data of the stay-cable de-icing device, including GPS positioning coordinates, gyroscope attitude angle, infrared temperature sensor data, and ambient temperature T of the stay-cable de-icing device;

[0021] 2.2) Based on the operating data obtained in step 2.1), dynamically adjusting the rotational speed difference of the propeller blades in the four-quadrant power mechanism so that the operating axis of the cable de-icing device remains in a non-contact state with the surface of the ice-laden cable and parallel to the axis of the ice-laden cable;

[0022] Preferably, the speed difference of the propeller blades is adjusted in the following manner:

[0023] ΔR=k*θ+b

[0024] in:

[0025] ΔR is the speed difference between adjacent propeller blades, unit: rpm;

[0026] θ is the yaw angle between the axis of the cable de-icing device and the axis of the ice-containing cable, unit: degree;

[0027] k is the proportionality coefficient;

[0028] b is the offset constant;

[0029] The rising speed of the stay cable de-icing device It is dynamically adjusted according to the ambient temperature T and the wind speed w, and the adjustment method is:

[0030]

[0031] Wherein:

[0032] is the reference speed;

[0033] Preferably, the non-contact distance between the operating axis of the stay cable de-icing device and the surface of the ice-covered stay cable is 20 - 50 mm;

[0034] Preferably, during the upward movement of the stay cable de-icing device along the ice-covered stay cable, the microwave transmitter is turned on to apply microwaves to the ice layer on the ice-covered stay cable.

[0035] Preferably, the specific implementation manner of step 3) is:

[0036] 3.1) Start the stepper motor, and drive the de-icing wheel frame and the de-icing wheel to move radially along the openable and closable main frame in sequence through the stepper motor, so as to make the de-icing wheel press on the ice layer of the ice-covered stay cable;

[0037] 3.2) Monitor the pressure value of the pressure sensor in real time. When the pressure value is greater than the preset pressure threshold, stop the stepper motor and turn on the heating element and the piezoceramic vibrator at the same time. The heating element heats the ice layer of the ice-covered stay cable through the de-icing wheel; the piezoceramic vibrator vibrates the ice layer of the ice-covered stay cable through the de-icing wheel frame and the de-icing wheel;

[0038] 3.3) The stay cable de-icing device descends along the ice-covered stay cable under the action of gravity. The de-icing wheel rotates axially around the de-icing wheel shaft by friction with the ice layer of the ice-covered stay cable, and the ice layer of the ice-covered stay cable is alternately cut by the arc-shaped blades arranged alternately on the de-icing wheel until the ice layer on the ice-covered stay cable is broken;

[0039] Preferably, the heating temperature of the heating element in step 3.2) is 40 - 60 °C;

[0040] Preferably, the relationship between the vibration frequency f of the piezoceramic vibrator and the ice layer thickness d in step 3.2) is: f = 40 - 1.2d, 1 ≤ d ≤ 15;

[0041] Preferably, the vibration frequency of the piezoceramic vibrator is 20 - 40 kHz, and the amplitude of the piezoceramic vibrator vibrating the ice layer of the ice-covered stay cable through the de-icing wheel frame and the de-icing wheel is ±3 - 5 μm.

[0042] The advantages of the present invention are as follows:

[0043] The present invention provides an ice removal device and an ice removal method for stay cables. The ice removal device for stay cables includes an openable main frame, a four-quadrant power mechanism, and an ice removal mechanism; the openable main frame is a frame structure with an overall rectangular shape; the four-quadrant power mechanisms are respectively arranged on the side walls of the openable main frame; the ice removal mechanism is arranged on the openable main frame along the radial direction of the openable main frame and extends into the openable main frame from the outside of the openable main frame; the ice removal mechanism contacts the ice-containing stay cable. The present invention generates a non-contact lifting force through the four-quadrant power mechanism, driving the present invention to rise along the axis of the stay cable at a safe distance of 20 - 50 mm, avoiding the damage risk to the HDPE sleeve caused by traditional mechanical contact operation. The ice removal mechanism adopted by the present invention can provide an adaptive clamping force, enabling the ice removal wheel to contact the surface of the ice layer. Combining the ultrasonic vibration of the piezoelectric ceramic oscillator and the thermal melting effect of the electric heating blade, the ice layer is broken and peeled off; the microwave module radiates directionally to the ice-HDPE interface, preheating the ice layer to reduce its adhesion, and further increasing the ice removal efficiency.

[0044] Obviously, by integrating non-contact microwave interface peeling, ultrasonic vibration crushing, and thermal control technologies, and integrating a power drive, adaptive clamping, multi-modal collaborative ice removal, and intelligent sensing system, the present invention can achieve multiple linkage effects such as extrusion, heating, vibration, and cutting on the ice layer covering the ice-containing stay cable, perfectly and efficiently achieving the ice removal of the stay cable. The present invention can adapt to different cable diameters and ice layer thicknesses, tolerate extremely cold environments, be applicable to various stay cables, and provide a solution with high safety and high efficiency for high-altitude cable maintenance. Description of the Drawings

[0045] Figure 1 It is a schematic diagram of the overall structure (lower right view) of the ice removal device for stay cables provided by the present invention.

[0046] Figure 2 It is a schematic diagram of the overall structure (upper left view) of the ice removal device for stay cables provided by the present invention.

[0047] Figure 3 It is a schematic top view structure diagram of the ice removal device for stay cables provided by the present invention.

[0048] Figure 4 It is a schematic structure diagram of the ice removal mechanism adopted by the present invention.

[0049] Figure 5 It is a schematic inner cross-sectional structure diagram of the ice removal wheel adopted by the present invention.

[0050] Description of the Reference Numerals:

[0051] 1 - Left housing; 2 - Right housing; 3 - Rotating shaft; 4 - Quadrant power mechanism; 41 - Power support; 42 - Propeller blade; 43 - Brushless motor; 44 - Blade fixing cap; 45 - Support rod; 5 - Deicing mechanism; 51 - Stepper motor; 52 - Lead screw; 53 - Fixed rod; 54 - Connecting plate; 55 - Spring; 56 - Deicing wheel frame; 57 - Deicing wheel shaft; 58 - Deicing wheel; 59 - Piezoelectric ceramic vibrator; 510 - Pressure sensor; 511 - Electric heating element; 6 - Microwave transmitter. Detailed implementation mode

[0052] See Figure 1 、 Figure 2 and Figure 3 As shown in

[0053] See Figure 2 and Figure 3 As shown in Figure 3 and Figure 4 the deicing mechanism 5 adopted by the present invention is an even number group, and the even number groups of deicing mechanisms 5 are symmetrically arranged. Exemplarily, as shown in

[0054] See Figure 4, the de-icing component includes a de-icing wheel frame 56, a de-icing wheel shaft 57, and a de-icing wheel 58; the de-icing wheel frame 56 is arranged at the end of the driving component and placed in the openable and closable main frame; the de-icing wheel frame 56 is U-shaped as a whole; the de-icing wheel 58 is a concave-waisted cylinder; the de-icing wheel 58 is embedded on the de-icing wheel frame 56 through the de-icing wheel shaft 57; the de-icing wheel 58 can rotate freely around the axis where the de-icing wheel shaft 57 is located; arc-shaped blades are arranged in a staggered manner on the side wall of the de-icing wheel 58, which can closely fit the cylindrical surface of the stay cable, and the ice-covered layer is cut and extruded by rotation to achieve efficient de-icing. The blades are made of high-strength wear-resistant materials and have excellent cutting and crushing capabilities. The arc-shaped design of the blades enables them to closely fit the surface of the stay cable; the driving component drives the de-icing wheel 58 to move radially along the openable and closable main frame through the de-icing wheel frame 56 and presses the arc-shaped blades on the side wall of the de-icing wheel 58 against the ice-covered stay cable.

[0055] The de-icing component further includes an electric heating element 511 placed inside the de-icing wheel 58, a piezoelectric ceramic oscillator 59, and a pressure sensor 510, both of which are placed at the end of the de-icing wheel frame 56. The piezoelectric ceramic oscillator 59 generates ultrasonic vibrations driven by a power supply and transmits them to the de-icing blades through the wheel shaft for accelerating the expansion of microcracks inside the ice layer. Preferably, referring to Figure 5 , the electric heating element 511 adopted in the present invention is an electric heating wire wound around the inner wall of the de-icing wheel 58. The electric heating element 511 dynamically adjusts the current through a control system to generate heat energy and forms a closed-loop linkage system with the patch-type temperature sensor; the electric heating device continuously heats to prevent the de-icing wheel 58 from freezing or accumulating snow in a low-temperature environment, ensuring its rotational flexibility and structural stability. At the same time, heat is directionally transferred to the de-icing blades through the heat conduction effect, improving the heat melting efficiency at the contact interface between the blades and the ice layer, thereby accelerating the peeling of the ice layer; the temperature sensor monitors the surface temperature of the de-icing wheel 58 and the blades in real time, combines the ambient temperature, ice layer thickness, and equipment load status, and adjusts the heating power through feedback control to accurately maintain the temperature of key components within a preset threshold range, achieving an optimal balance between energy consumption and de-icing performance. Exemplarily, the stepping motor 51 is welded to the main frame, the lead screw 52 is connected to the stepping motor 51, and is driven by the stepping motor 51 to move in the vertical direction to push the connecting plate 54 closer to or farther away from the cable. The spring 55 is connected between the connecting plate 54 and the de-icing wheel frame 56 to provide an adaptive clamping force to ensure that the de-icing wheel 58 closely fits the surface of the cable.

[0056] Exemplarily, the de-icing wheel 58 adopts a modular design, which is divided into a wheel surface blade part and a wheel inner heating part. The wheel inner heating part integrates an adjustable power electric heating device, which transfers heat directionally to the wheel surface blade through the heat conduction effect, improving the heat melting efficiency at the contact interface between the blade and the ice layer and accelerating the ice layer peeling; the electric heating device dynamically adjusts the current through the control system to generate heat energy, which not only prevents the wheel surface from icing or snow accumulation due to low temperature to ensure the rotation flexibility and structural stability, but also pre-softens the ice layer through continuous heat conduction of the blade to reduce the mechanical crushing resistance; the electric heating device and the patch type temperature sensor form a closed-loop linkage system, which real-time monitors the temperature of the surface and blade of the de-icing wheel 58, and combines the ambient temperature, ice layer thickness and equipment load status, and adjusts the heating power through feedback control to keep the temperature of the key components within the preset threshold range, realizing the dynamic balance of energy consumption optimization and de-icing performance. This design significantly improves the de-icing efficiency through the thermal-mechanical synergistic effect, and at the same time extends the service life of the equipment relying on the intelligent temperature control mechanism.

[0057] Please continue to refer to Figure 4 , the drive assembly adopted by the present invention includes a stepping motor 51, a lead screw 52, a fixed rod 53, a connecting plate 54 and a spring 55; the stepping motor 51 is fixedly arranged on the openable and closable main frame; the connecting plate 54 is placed in the openable and closable main frame and is connected to the de-icing wheel frame 56 through the spring 55; the lead screw 52 and the fixed rod 53 are both arranged along the radial direction of the openable and closable main frame and extend into the openable and closable main frame from the outside of the openable and closable main frame; the axial direction where the fixed rod 53 is located is parallel to the axial direction where the lead screw 52 is located; the lead screw 52 and the fixed rod 53 are respectively connected to the connecting plate 54; the stepping motor 51 is sleeved on the lead screw 52 and drives the lead screw 52 to rotate around the axial direction where the lead screw 52 is located; the stepping motor 51, the lead screw 52 and the fixed rod 53 form a screw moving pair; the stepping motor 51 drives the de-icing wheel 58 to move along the radial direction of the openable and closable main frame through the lead screw 52, the connecting plate 54 and the de-icing wheel frame 56 and presses the arc blade on the side wall of the de-icing wheel 58 against the ice-containing stay cable.

[0058] Refer to Figure 4, taking one set of the deicing mechanism 5 as an example, its working process is described in detail as follows: In the initial state, the deicing wheel 58 does not contact the ice layer covering the surface of the stay cable, and the stepper motor 51 is in a stationary state; during the clamping process, the stepper motor 51 starts and drives the lead screw 52 to approach the stay cable along the center line of the stay cable. The fixed rod 53 ensures the stable transmission of the lead screw 52, and the connecting plate 54 moves with the lead screw 52, pushing the spring 55 to compress; when contacting the ice layer, after the spring 55 is compressed, it pushes the deicing wheel frame 56 to move, so that the deicing wheel 58 contacts the ice layer covering the surface of the stay cable. The pressure sensor 510 monitors the clamping force in real time. When the preset pressure threshold is reached, the stepper motor 51 stops working. Exemplarily, the preset threshold can be 10N±2N; during the deicing operation, the device descends uniformly under the action of gravity, and the deicing wheel 58 rotates passively due to friction. The horizontal and vertical blades cut the ice surface, and cooperate with the piezoceramic vibrator 59 on the wheel shaft to peel off the ice layer, realizing the efficient removal of the ice layer.

[0059] The deicing mechanism adopted by the present invention can provide an adaptive clamping force, so that the deicing wheel contacts the surface of the ice layer. Combining the ultrasonic vibration of the piezoceramic vibrator and the thermal melting effect of the electrothermal blade, the ice layer is broken and peeled off; the microwave module radiates the ice-HDPE interface directionally, preheating the ice layer to reduce its adhesion, and further increasing the deicing efficiency. Obviously, by integrating non-contact microwave interface peeling, ultrasonic vibration crushing and thermal control technologies, and integrating power drive, adaptive clamping, multi-modal collaborative deicing and intelligent sensing systems, the present invention can achieve multiple linkage effects such as extrusion, heating, vibration and cutting on the ice layer covering the stay cable, and perfectly and efficiently realizes the deicing of the stay cable. The present invention induces the reduction of the ice layer adhesion by non-contact radiation of the ice-HDPE sleeve interface by the microwave module, combines the ultrasonic vibration of the piezoceramic vibrator to expand the crack, reduces the mechanical crushing energy consumption, and the electrothermal system in the deicing wheel softens the ice layer directionally. The three-modal collaborative operation improves the deicing efficiency, and the microwave energy penetrates through the ice layer to reach the interface, effectively reducing the physical damage of the blade to the HDPE sleeve. That is, the present invention is applicable to modular design (detachable waveguide, replaceable blade) to reduce the maintenance cost and is applicable to various cable-stayed bridges. The microwave-ultrasonic-thermal timing control logic forms a "interface pre-cracking-vibration expansion-thermal melting peeling" technology chain, providing an integrated solution with high safety and low damage for high-altitude cable maintenance.

[0060] See Figure 3The de-icing mechanism 5 adopted in the present invention also includes a microwave emitter 6 arranged inside the retractable main frame; the microwave emitter 6 is two groups, and the two groups of microwave emitters 6 are symmetrically arranged. Exemplarily, the microwave emitter 6 is bolted to the retractable main frame and can be equipped with a rectangular or horn-shaped restraint device to concentrate the microwave on the inclined cable. The microwave module radiates the ice-HDPE sleeve interface in a directionally manner during the rising stage of the device. The microwave power is adjustable. The microwave can penetrate the ice layer and focus on the interface area, causing the interface temperature to rise to 5-15°C and reducing the ice layer adhesion by 30%-50%. At the same time, the infrared temperature sensor monitors the sleeve surface temperature in real time, and automatically reduces the microwave power when the temperature is ≥50°C to ensure the thermal stability of the HDPE material (softening threshold ≥60°C). When the sleeve temperature is detected to be ≥60°C, the power is immediately cut off and the sound and light alarm is triggered. Exemplarily, the electric heating power of the electric heating element 511 is P 电热 , unit W, the microwave power of microwave transmitter 6 is P 微波 , unit W, the dynamic matching of the two follows: P 电热 =0.2P 微波 +10. If the sleeve temperature is detected to be ≥60°C, the microwave and electric heating power supplies are immediately cut off. This preheating mechanism provides a low-resistance interface for subsequent mechanical de-icing, reducing blade wear and energy consumption. At the same time, the microwave emitter 6 and the electric heating element 511 work together. When the device rises along the inclined cable without contact, the microwave module continuously radiates the ice layer, causing the interface temperature of the ice layer-HDPE sleeve to rise, thereby achieving separation of the ice layer-HDPE sleeve. During the de-icing process of the device descending, the electric heating device is activated to accelerate the peeling of the ice layer. For example, the de-icing wheel 58 of the present invention adopts an arc-shaped blade design. After the microwave pre-cracks the ice layer interface, the ultrasonic vibration synchronously excites the microcracks inside the ice body. The heat conduction effect of the electric heating blade accelerates the delamination of the ice layer, breaking through the efficiency bottleneck of traditional single mechanical or thermal technology.

[0061] See also Figure 1 、 Figure 2 as well as Figure 3 The four-quadrant power mechanism 4 used in the present invention includes four groups of power lifting components with exactly the same structure, which include a power bracket 41, propeller blades 42, a brushless motor 43, a blade fixing cap 44, and a support rod 45. The power bracket 41 is arranged outside the retractable main frame along the radial direction of the retractable main frame. The brushless motor 43 is provided at the end of the power bracket 41. The propeller blades 42 are provided on the top of the brushless motor 43. The support rod 45 is vertically arranged at the bottom of the power bracket 41. When the inclined cable de-icing device provided by the present invention is placed on the ground, the bottom of the support rod 45 touches the ground to support the entire structure. The brushless motor 43 drives the propeller blades 42 to rotate at high speed, generating vertical lift, which pushes the device to move along the inclined cable. The power bracket 41 is connected to the retractable main frame by bolts to ensure its smooth ascent and descent.

[0062] See Figure 1 , the openable main frame adopted by the present invention includes a left housing 1, a right housing 2, a rotating shaft 3 and a connecting bolt; the structure of the left housing 1 is exactly the same as that of the right housing 2; the left housing 1 is connected to the right housing 2 through the rotating shaft 3; both the left housing 1 and the right housing 2 can rotate around the axial direction of the rotating shaft 3; after the left housing 1 and the right housing 2 are connected, they are fixed by the connecting bolt and form a rectangular frame structure. The present invention adopts an openable structure design, and realizes the opening and closing of the left housing 1 and the right housing 2 through the rotating shaft 3, which is convenient for installing on the stay cable and fixing the device.

[0063] Exemplarily, the stay cable de-icing device provided by the present invention can also adopt a modular design. Each main functional component adopts a modular design and can be replaced and upgraded according to different environmental requirements. For example, modules such as the power system and the de-icing wheel 58 can be replaced or adjusted according to different ice layer thicknesses to ensure the efficient operation of the device in various environments. Another advantage of the modular design is that it is convenient for maintenance and repair. Especially in remote or harsh working environments, damaged components can be quickly replaced, reducing downtime. In another embodiment, the stay cable de-icing device provided by the present invention incorporates an intelligent path planning function, that is, a high-precision GPS system and an environmental perception sensor are built into the stay cable de-icing device, which can monitor the operation area of the stay cable in real time and automatically plan the de-icing path. The path planning takes into account the specific layout of the stay cable and real-time weather data (such as wind speed, temperature, etc.) and makes dynamic adjustments. For example, when encountering a change in wind speed, the system can automatically adjust the operation height or speed to ensure that the device is always in a stable working state, thereby improving the de-icing efficiency and reducing manual intervention.

[0064] See Figure 1 , Figure 2 and Figure 3The overall working process of the cable-stayed deicing device provided by the present invention is as follows: rotate the rotating shaft 3, open the retractable main frame to a certain angle, install it on the cable, and close the retractable main frame; start the controller, and use the built-in GPS positioning system to plan the deicing path and set the target height; four sets of brushless motors 43 drive the propeller blades 42 to rotate at high speed, generating vertical lift, and pushing the device to rise steadily along the cable; GPS monitors the position in real time, controls the propeller speed and direction, so that the device maintains a non-contact state with the cable surface, and prevents ice from interfering with the movement trajectory; during the ascent, the microwave transmitter 6 continuously applies microwaves to the ice layer to reduce the adhesion of the ice layer-HDPE interface; after reaching the preset height, the controller starts the deicing mechanism 5. Four groups of stepper motors 51 synchronously drive the lead screw 52 along the center direction of the inclined cable, pushing the connecting plate 54 to move toward the center of the inclined cable; the spring 55 generates adaptive elastic force after being compressed, pushing the de-icing wheel 58 to fit tightly against the surface of the inclined cable, and the pressure sensor 510 monitors the clamping force in real time. When the preset pressure threshold is reached, the stepper motor 51 stops working; the device falls under the action of gravity, and the de-icing wheel 58 rotates passively due to friction. The horizontal and vertical blades cut the ice layer to form cracks, and cooperate with the piezoelectric ceramic vibrator to peel off the ice, thereby achieving efficient removal of the ice layer; after completing the one-way deicing, the device descends to the bottom of the inclined cable, and the stepper motor 51 reversely drives the lead screw 52 to reset the de-icing wheel 58 and detach it from the cable surface; the GPS system locates the next working area, and the de-icing device rises again to start a new round of de-icing cycle.

[0065] Specifically, the stay cable deicing device provided by the present invention, in particular the stay cable deicing method based on the stay cable deicing device, comprises the following steps:

[0066] 1) The retractable main frame is mounted on the ice-containing inclined cables. Specifically, the left housing 1 and / or the right housing 2 are opened around the rotation axis 3 and mounted on the ice-containing inclined cables. The left housing 1 and the right housing 2 are fixed with connecting bolts to form a rectangular frame structure.

[0067] 2) Start the four-quadrant power mechanism 4 to cause the cable de-icing device to rise along the ice-laden cable. Specifically:

[0068] 2.1) Obtaining the operating data of the cable-stayed de-icing device, including the GPS positioning coordinates, gyroscope attitude angle, infrared temperature sensor data, and ambient temperature T of the cable-stayed de-icing device;

[0069] 2.2) Based on the operating data obtained in step 2.1), dynamically adjusting the rotational speed difference of propeller blades 42 in four-quadrant power mechanism 4 so that the operating axis of the cable de-icing device remains in a non-contact state with the surface of the ice-laden cable and parallel to the axis of the ice-laden cable;

[0070] The speed difference of the propeller blades 42 is adjusted as follows:

[0071] ΔR = k * θ + b

[0072] Where:

[0073] ΔR is the rotational speed difference between adjacent propeller blades 42, unit: rpm;

[0074] θ is the yaw angle between the axis where the stay cable de-icing device is located and the axis where the ice-covered stay cable is located, unit: degree;

[0075] k is the proportionality coefficient;

[0076] b is the offset constant;

[0077] The rising speed of the stay cable de-icing device Is dynamically adjusted according to the ambient temperature T and the wind speed w, and the adjustment method is:

[0078]

[0079] Where:

[0080] Is the reference speed;

[0081] The non-contact distance between the operating axis of the stay cable de-icing device and the surface of the ice-covered stay cable is 20 - 50 mm;

[0082] During the process of the stay cable de-icing device ascending along the ice-covered stay cable, turn on the microwave emitter 6 to apply microwaves to the ice layer on the ice-covered stay cable; during the ascending stage, preheat the ice layer non-contact through microwaves, and during the descending stage, the gravitational potential energy drives the de-icing wheel. Combining the multi-sensor fusion (GPS, gyroscope, infrared temperature measurement) of the flight control system, millimeter-level positioning accuracy is achieved. The microwave power, vibration frequency, and electrothermal temperature can be dynamically adjusted to ensure that the surface temperature of the sleeve is much lower than the softening threshold of the HDPE sleeve.

[0083] 3) When the stay cable de-icing device runs to the top of the ice-covered stay cable, start the de-icing mechanism 5. As the stay cable de-icing device descends along the ice-covered stay cable, complete the ice breaking of the ice layer on the ice-covered stay cable through the de-icing mechanism 5. Specifically:

[0084] 3.1) Start the stepper motor 51, and drive the de-icing wheel frame 56 and the de-icing wheel 58 to move radially along the openable main frame in sequence through the stepper motor 51, so that the de-icing wheel 58 presses on the ice layer of the ice-covered stay cable;

[0085] 3.2) The pressure value of the pressure sensor 510 is monitored in real time. When the pressure value is greater than the preset pressure threshold, the stepping motor 51 is stopped while the electric heating element 511 and the piezoceramic vibrator 59 are turned on. The electric heating element 511 heats the ice-covered layer of the ice-containing stay cable through the de-icing wheel 58; the piezoceramic vibrator 59 vibrates the ice-covered layer of the ice-containing stay cable through the de-icing wheel frame 56 and the de-icing wheel 58. Exemplarily, the heating temperature of the electric heating element 511 is 40 - 60 °C. Exemplarily, the relationship between the vibration frequency f of the piezoceramic vibrator 59 and the ice layer thickness d is: f = 40 - 1.2d, where 1 ≤ d ≤ 15. Exemplarily, the vibration frequency of the piezoceramic vibrator 59 is 20 - 40 kHz, and the amplitude of the piezoceramic vibrator 59 vibrating the ice-covered layer of the ice-containing stay cable through the de-icing wheel frame 56 and the de-icing wheel 58 is ±3 - 5 μm.

[0086] 3.3) The stay cable de-icing device descends along the ice-containing stay cable under the action of gravity. The de-icing wheel 58 rotates axially around the de-icing wheel shaft 57 by friction with the ice-covered layer of the ice-containing stay cable, and the ice-covered layer of the ice-containing stay cable is cut alternately by the arc-shaped blades arranged alternately on the de-icing wheel 58 until the ice-covered layer on the ice-containing stay cable is broken.

Claims

1. An ice removal device for stay cables, characterized in that: The cable-stayed cable de-icing device includes an openable and closable main frame, a four-quadrant power mechanism (4), and a de-icing mechanism (5); the openable and closable main frame is a frame structure in a rectangular shape as a whole; the four-quadrant power mechanism (4) is respectively arranged on the side walls of the openable and closable main frame; the de-icing mechanism (5) is arranged on the openable and closable main frame along the radial direction of the openable and closable main frame and extends into the openable and closable main frame from the outside of the openable and closable main frame; during de-icing, the de-icing mechanism (5) contacts the ice-containing cable-stayed cable.

2. The ice removal device for stay cables according to claim 1, characterized in that: The number of the de-icing mechanisms (5) is an even number group, and the even number group of de-icing mechanisms (5) is symmetrically arranged.

3. The ice removal device for stay cables according to claim 2, characterized in that: The de-icing mechanism (5) includes a de-icing component and a driving component; the driving component is arranged on the openable and closable main frame along the radial direction of the openable and closable main frame and extends into the openable and closable main frame from the outside of the openable and closable main frame; the de-icing component is arranged at the end of the driving component and is placed in the openable and closable main frame; the driving component drives the de-icing component to move along the radial direction of the openable and closable main frame and press on the ice-containing cable-stayed cable.

4. The ice removal device for stay cables according to claim 3, wherein: The de-icing component includes a de-icing wheel frame (56), a de-icing wheel shaft (57), and a de-icing wheel (58); the de-icing wheel frame (56) is arranged at the end of the driving component and is placed in the openable and closable main frame; the de-icing wheel frame (56) is in a U shape as a whole; the de-icing wheel (58) is a concave-waisted cylinder; the de-icing wheel (58) is embedded on the de-icing wheel frame (56) through the de-icing wheel shaft (57); the de-icing wheel (58) can rotate freely around the axis where the de-icing wheel shaft (57) is located; arc-shaped blades are arranged in a staggered manner on the side wall of the de-icing wheel (58); the driving component drives the de-icing wheel (58) to move along the radial direction of the openable and closable main frame through the de-icing wheel frame (56) and presses the arc-shaped blades on the side wall of the de-icing wheel (58) on the ice-containing cable-stayed cable.

5. The ice removal device for stay cables according to claim 4, characterized in that: The de-icing component further includes an electric heating element (511) placed inside the de-icing wheel (58), and a piezoelectric ceramic vibrator (59) and a pressure sensor (510) placed at the end of the de-icing wheel frame (56).

6. The ice removal device for stay cables according to claim 5, characterized in that: The driving assembly includes a stepper motor (51), a lead screw (52), a fixed rod (53), a connecting plate (54), and a spring (55); the stepper motor (51) is fixedly arranged on the openable and closable main frame; the connecting plate (54) is placed in the openable and closable main frame and is connected to the deicing wheel frame (56) through the spring (55); the lead screw (52) and the fixed rod (53) are both arranged along the radial direction of the openable and closable main frame and extend into the openable and closable main frame from the outside of the openable and closable main frame; the axial direction where the fixed rod (53) is located is parallel to the axial direction where the lead screw (52) is located; the lead screw (52) and the fixed rod (53) are respectively connected to the connecting plate (54); the stepper motor (51) is sleeved on the lead screw (52) and drives the lead screw (52) to rotate around the axial direction where the lead screw (52) is located; the stepper motor (51), the lead screw (52), and the fixed rod (53) form a screw moving pair; the stepper motor (51) drives the deicing wheel (58) to move along the radial direction of the openable and closable main frame through the lead screw (52), the connecting plate (54), and the deicing wheel frame (56), and presses the arc-shaped blade on the side wall of the deicing wheel (58) against the ice-containing stay cable.

7. The ice removal device for stay cables according to claim 6, wherein: The deicing mechanism (5) further includes a microwave emitter (6) arranged inside the openable and closable main frame; there are two groups of microwave emitters (6), and the two groups of microwave emitters (6) are symmetrically arranged.

8. The ice removal device for stay cables according to any one of claims 1-7, characterized in that: The four-quadrant power mechanism (4) includes four power rising components with exactly the same structure. The power rising component includes a power support (41), a propeller blade (42), a brushless motor (43), and a support rod (45); the power support (41) is arranged along the radial direction of the openable and closable main frame outside the openable and closable main frame; a brushless motor (43) is arranged at the end of the power support (41); a propeller blade (42) is arranged at the top of the brushless motor (43); the support rod (45) is vertically arranged at the bottom of the power support (41); the brushless motor (43) drives the propeller blade (42) to rotate.

9. The ice removal device for stay cables according to claim 8, wherein: The openable and closable main frame includes a left housing (1), a right housing (2), a rotating shaft (3), and a connecting bolt; the structure of the left housing (1) is exactly the same as that of the right housing (2); one end of the left housing (1) is connected to the right housing (2) through the rotating shaft (3); both the left housing (1) and the right housing (2) can rotate around the axial direction of the rotating shaft (3); the other end of the left housing (1) is connected to the right housing (2) and then fixed through the connecting bolt to form a rectangular frame structure.

10. A method for deicing stay cables of the stay cable deicing device according to claim 9, characterized in that: The method for deicing the stay cable includes the following steps: 1) Sleeve the openable and closable main frame on the ice-containing stay cable; 2) Start the four-quadrant power mechanism (4) to prompt the stay cable deicing device to rise along the ice-containing stay cable; 3) When the stay cable deicing device runs to the top of the ice-containing stay cable, start the deicing mechanism (5). As the stay cable deicing device descends along the ice-containing stay cable, complete the ice breaking of the ice layer covering the ice-containing stay cable through the deicing mechanism (5).

11. The method for deicing a stay cable according to claim 10, wherein: The specific implementation method of step 1) is: open the left housing (1) and / or the right housing (2) around the rotating shaft (3), and sleeved on the ice-containing stay cable. At the same time, fix the left housing (1) and the right housing (2) through connecting bolts to form a rectangular frame structure; The specific implementation method of step 2) is: 2.1) Obtain the operation data of the stay cable de-icing device. The operation data includes the GPS positioning coordinates of the stay cable de-icing device, the gyroscope attitude angle, the infrared temperature measurement sensor data, and the environmental temperature T; 2.2) Dynamically adjust the rotational speed difference of the propeller blades (42) in the four-quadrant power mechanism (4) based on the operation data obtained in step 2.1), so that the operation axis of the stay cable de-icing device is kept in a non-contact state with the surface of the ice-containing stay cable and parallel to the axis where the ice-containing stay cable is located; The adjustment method of the rotational speed difference of the propeller blades (42) is: ΔR = k * θ + b Where: ΔR is the rotational speed difference between adjacent propeller blades (42), unit: rpm; θ is the yaw angle between the axis where the stay cable de-icing device is located and the axis where the ice-containing stay cable is located, unit: degree; k is the proportionality coefficient; b is the offset constant; Ascending speed of the stay cable de-icing device Dynamically adjusted according to the ambient temperature T and wind speed w. The adjustment method is as follows: , where: is the reference speed; The specific implementation method of step 3) is: 3.1) Start the stepper motor (51), and drive the de-icing wheel frame (56) and the de-icing wheel (58) to move radially along the openable main frame in sequence through the stepper motor (51), so that the de-icing wheel (58) is pressed against the ice layer on the ice-containing stay cable; 3.2) Real-time monitor the pressure value of the pressure sensor (510). When the pressure value is greater than the preset pressure threshold, stop the stepper motor (51) and turn on the electric heating element (511) and the piezoelectric ceramic vibrator (59) at the same time. The electric heating element (511) heats the ice layer on the ice-containing stay cable through the de-icing wheel (58); the piezoelectric ceramic vibrator (59) vibrates the ice layer on the ice-containing stay cable through the de-icing wheel frame (56) and the de-icing wheel (58); 3.3) The stay cable de-icing device descends along the ice-containing stay cable under the action of gravity. The de-icing wheel (58) rotates axially around the de-icing wheel shaft (57) by friction with the ice layer on the ice-containing stay cable, and the ice layer on the ice-containing stay cable is cut alternately through the arc-shaped blades arranged alternately on the de-icing wheel (58) until the ice layer on the ice-containing stay cable is broken.

12. The method for deicing a stay cable according to claim 11, wherein: The non-contact distance between the operation axis of the stay cable de-icing device and the surface of the ice-containing stay cable is 20 - 50 mm; During the ascending process of the stay cable de-icing device along the ice-containing stay cable, turn on the microwave emitter (6) to apply microwaves to the ice layer on the ice-containing stay cable; The heating temperature of the electric heating element (511) in step 3.2) is 40 - 60 °C; The relationship between the vibration frequency f of the piezoelectric ceramic vibrator (59) and the ice layer thickness d in step 3.2) is: f = 40 - 1.2d, 1 ≤ d ≤ 15; The vibration frequency of the piezoelectric ceramic vibrator (59) is 20 - 40 kHz, and the amplitude of the piezoelectric ceramic vibrator (59) vibrating the ice layer on the ice-containing stay cable through the de-icing wheel frame (56) and the de-icing wheel (58) is ±3 - 5 μm.

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