Vibration-based aerial cable deicing robot and control method

Abstract

The invention belongs to the technical field of aerial cable deicing and discloses a vibration-based aerial cable deicing robot and a control method. The robot comprises an integral mechanical frame, a driving module, a balancing module and a vibration deicing module. The overall mechanical frame is designed by adopting light-weight aluminum profiles, and double-layer carbon fiber plates are arranged in the overall mechanical frame and used for installing all assemblies. The driving module stably walks through a worm and gear mechanism; the balance module adopts a Y-shaped guide groove and a balancing weight to ensure the stability of high-altitude operation; the vibration deicing module directly clamps a cable through a flexible mechanical clamping jaw, and an ice layer is broken through high-frequency vibration. The control method comprises the tasks of vibration control, walking driving, clamping jaw adjustment and the like, and automatic control is achieved through the STM main control chip. High-frequency vibration and amplitude optimization design are adopted, and a flexible clamping jaw structure is matched, so that the deicing effect is ensured, and cable damage is avoided. And the safety and the efficiency of the deicing operation of the overhead cable are obviously improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-altitude cable deicing, and in particular relates to a vibration-based high-altitude cable deicing robot and a control method. Background Art

[0002] In winter, when the surface temperature is between -5°C and -1°C, raindrops freezing to ice quickly coat transmission lines, easily leading to ice buildup. During snowfall, snow also accumulates on transmission lines. If the ice load generated by ice and snow exceeds the limit, it can cause tower collapse, disrupting power supply and endangering transmission safety.

[0003] At present, when faced with transmission lines with thick ice, the only method that can be used is manual online de-icing. However, the use of manual de-icing not only has low safety guarantees, but also low efficiency. Artificial de-icing methods are sometimes limited by conditions such as terrain, landform, climate and safety, and it is difficult to meet the needs of large-scale de-icing tasks in terms of work efficiency. When the ice on the transmission line is thick and has been frozen for a long time, the use of manual de-icing methods often fails to completely remove it, and it is prone to secondary freezing, or even ineffective de-icing. Some other technologies, such as drone flame de-icing and mechanical engagement de-icing, have low de-icing efficiency and cause greater damage to the cable itself, and still cannot effectively solve the current de-icing situation.

[0004] Therefore, a new de-icing technology is needed to cope with the current situation of icing on transmission lines, which can not only ensure the stability of the power system but also achieve efficient and safe cable de-icing.

[0005] While inspection robots have been developed abroad (such as Japan's curved-arm robot and Canada's LineScout), specialized de-icing devices remain immature. While recent attempts in China have included pulley blades and laser de-icing, none have solved the challenge of efficient, safe, and stable operation. Existing de-icing technologies suffer from low efficiency, poor safety, significant cable damage, and insufficient balance at high altitudes. Summary of the Invention

[0006] The purpose of the present invention is to provide a vibration-based high-altitude cable deicing robot and a control method to solve the above-mentioned technical problems.

[0007] To solve the above technical problems, the specific technical solutions of the vibration-based high-altitude cable deicing robot and control method of the present invention are as follows: A vibration-based high-altitude cable deicing robot includes: an overall mechanical frame, a drive module, a balance module and a vibration deicing module. The overall mechanical frame includes a square frame with an intermediate shelf in the middle of the square frame, and two layers of carbon fiber plates are fixed on the intermediate shelf, namely an upper carbon fiber plate and a lower carbon fiber plate; the drive module includes a battery, an STM main control chip, a DC reduction motor drive board and a walking drive mechanism. The battery, STM main control chip and DC reduction motor drive board are installed on the upper carbon fiber plate, and the walking drive mechanism is installed on the lower carbon fiber plate. The STM main control chip is electrically connected to a DC reduction motor drive board, which is electrically connected to a travel drive mechanism. A battery provides power for the STM main control chip and the DC reduction motor drive board. The STM main control chip controls the travel drive mechanism to travel on the cable through the DC reduction motor drive board. The balancing module includes symmetrically arranged Y-shaped guide grooves and counterweights to improve the stability of the robot on the cable. The vibration deicing module includes a vibration motor and a flexible mechanical gripper. The flexible mechanical gripper is used to clamp the cable and transmit vibration under the action of the vibration motor to break the ice layer.

[0008] Furthermore, the overall mechanical frame includes a tripod, which is fixed on both sides below the square frame and is used to fix the counterweight to maintain the balance of the entire device. The frame is covered with a packaging plate, and the bottom of the tripod is equipped with universal wheels.

[0009] Furthermore, the overall mechanical frame is an aluminum profile of 20×20×1.5 mm.

[0010] Furthermore, the walking drive mechanism includes two groups, and the walking drive mechanism includes a DC reduction motor, a coupling, a worm, a worm wheel, a horizontal bearing seat, a vertical bearing seat and a wheel. The two DC reduction motors are respectively fixedly mounted on the left and right side plates of the square frame, and the output end of the DC reduction motor is connected to the coupling, and the coupling is connected to the worm. Two groups of horizontal bearing seats and vertical bearing seats are fixed on the lower carbon fiber plate. The horizontal bearing seat is used to fix the worm. The worm wheel is connected to the drive shaft through a key. The two ends of the drive shaft are respectively fixed on the vertical bearing seats. The two groups of worm wheels are arranged front and back and mesh with the corresponding worms respectively. The two wheels are respectively connected to the corresponding drive shafts through keys. The two DC reduction motors drive the worm through the coupling. The worm wheel is transmitted to the rotating shaft through a key, and the rotating shaft drives the rotation of the two wheels.

[0011] Furthermore, the Y-shaped guide groove is installed on the front and rear side panels of the overall mechanical frame. The lower end of the Y-shaped guide groove is open, and the upper end is a narrow channel for the cable to pass through.

[0012] Furthermore, the drive module maintains the left and right balance of the device through the left-right symmetrical arrangement of the battery, STM main control chip, and DC reduction motor drive board. The DC reduction motor is installed under the wheels, and a 3kg counterweight is installed on each side of the tripod at the lower end of the overall mechanical frame.

[0013] Furthermore, the vibration de-icing module includes a vibration motor and a flexible mechanical clamp, and the flexible mechanical clamp includes a base, a flexible connecting plate, a servo, a rigid gear, a flexible rack, a rigid vibration plate and a rigid guide structure. The base is fixedly installed on the front side of the square frame through a flexible connecting plate, and the flexible connecting plate is used to isolate the vibration transmission between the vibration motor and the overall mechanical frame. The rigid vibration plate is fixedly installed under the base, and the servo is fixedly installed on the base. The output end is connected to the rigid gear, and the rigid gear is meshed with the upper end of the flexible rack. The flexible rack is connected to the base through a rigid guide structure, and the lower end is clamped with the rigid gear. The vibration motor is tightly connected to the rigid vibration plate to realize direct transmission of vibration. A vibration sensor is installed on the vibration motor to measure the frequency and amplitude of the vibration of the device.

[0014] Furthermore, the flexible rack and flexible connecting plate are manufactured by 3D printing using TPU95-HF flexible material, and the base, rigid gear, rigid vibration plate and rigid guide structure are manufactured by 3D printing using PLA rigid material. The clamping surface of the flexible rack has a convex array, and the surface of the rigid vibration plate has an array of sharp-angled protrusions.

[0015] Furthermore, the de-icing robot also includes a wireless communication module and a human-computer interaction module. The wireless communication module uses Bluetooth communication to transmit information to control the de-icing robot and transfer data. The human-computer interaction module is used for human-computer interaction to manually adjust the vibration frequency operation.

[0016] The present invention also discloses a control method for a high-altitude cable deicing robot based on vibration, comprising the following steps: Start Task: used to create each task; Vibration motor vibration task: Process the vibration sensor data through the STM main control chip to control the vibration of the vibration motor; DC reduction motor driving task: control the rotation and speed of the DC reduction motor through the DC reduction motor driver board; Processing vibration switch signals: Receive vibration switch signals through the wireless communication module, process the signals on the STM main control chip, and turn the vibration motor on or off; Communication task: Control the wireless communication module to communicate with the host computer for data transmission; Flexible mechanical gripper gripping task: The STM main control chip controls the rotation of the servo to achieve the tightness of the flexible mechanical gripper; Measuring task: Measure the frequency and amplitude of the device's vibrations using a vibration sensor.

[0017] The vibration-based high-altitude cable deicing robot and control method of the present invention have the following advantages: 1. High-efficiency de-icing performance By directly applying high-frequency vibration (preferably 116.67Hz) to the ice, the module can rapidly break up the ice within 2 seconds, significantly outperforming traditional low-frequency vibration de-icing methods. The vibration module transmits vibration energy through an array of sharp protrusions on the surface of a rigid vibration plate. Combined with the tight grip of a flexible mechanical gripper, this achieves efficient vibration energy transfer, significantly improving de-icing efficiency.

[0018] 2. Excellent stability and safety The robot adopts a low center of gravity design, with symmetrically arranged drive modules, bottom counterweights (3kg per side), and a Y-shaped guide groove structure to ensure dynamic balance on the high-altitude cable and withstand interference from harsh environments such as strong winds. The vibration module isolates vibration transmission through a flexible connecting plate to prevent resonance damage to the robot structure. At the same time, the aluminum profile frame is insulated to ensure safe operation in high-voltage environments.

[0019] 3. Cable-friendliness Finite element analysis was used to optimize vibration parameters (e.g., frequency 512 Hz, amplitude 26.8 mm) to prevent fatigue damage to the cable caused by high-frequency vibration. The flexible mechanical gripper is made of TPU95-HF flexible material, and the clamping surface is designed with a convex array to provide sufficient friction while avoiding scratching the cable surface.

[0020] 4. Intelligence and Automation Integrates an STM main control chip and wireless communication module, supports remote control and autonomous operation modes, can adjust vibration frequency in real time and monitor de-icing status; Closed-loop control is achieved through feedback data from vibration sensors, ensuring that de-icing parameters are always within the optimal range and reducing manual intervention.

[0021] 5. Lightweight structure and reliability Adopting 20×20×1.5mm aluminum profile frame, it is light and strong enough to meet vibration requirements, and cooperates with worm gear transmission mechanism to achieve high torque drive and stable travel; The modular design facilitates maintenance, and the encapsulated board protects the internal structure, making it suitable for complex outdoor environments.

[0022] 6. Multifunctional adaptability It can handle both cable clamping vibration deicing and ice clamping direct crushing conditions, cope with different ice types (such as rime and snow), and solve the problems of secondary icing or incomplete removal of traditional methods.

[0023] In summary, the present invention has outstanding advantages in deicing efficiency, operation safety, cable protection and degree of automation, and is suitable for the high-efficiency deicing needs of high-voltage transmission lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of the high-altitude cable deicing robot of the present invention; Figure 2 This is a schematic diagram of the high-altitude cable deicing robot of the present invention with the packaging plate removed; Figure 3 This is a schematic diagram of the side structure of the high-altitude cable deicing robot of the present invention; Figure 4 This is a schematic structural diagram of the driving module of the present invention; Figure 5 This is a schematic structural diagram of the vibration deicing module of the present invention; Figure 6 This is a schematic diagram of the flexible rack structure of the present invention; Figure 7 Schematic diagram of the rigid vibration plate structure of the present invention; Figure 8 Schematic diagram of the overall control system of the de-icing robot of the present invention; Figure 9 A schematic diagram of the control system of the present invention; Figure 10 This is a system control flow chart of the present invention; Figure 11a Schematic diagram of the natural frequency and fifth-order vibration mode of the wide-frame deicing robot frame of the present invention; Figure 11b Schematic diagram of the natural frequency and fifth-order vibration mode of the narrow-frame deicing robot frame of the present invention; Figure 12 This is a schematic diagram of a prototype of the present invention hanging on a cable; Figure 13 This is a diagram of a simulated experimental walking condition of the present invention; Figure 14 This is a simulation experiment balance test diagram of the present invention; Figure 15a This is a test diagram of the prototype of the present invention's cable clamping vibration deicing function; Figure 15b This is a test diagram of the prototype of the present invention's ice-clamping and vibration de-icing function; Figure 16a This is a low-frequency vibration deicing test diagram of the prototype of the present invention; Figure 16b This is a high-frequency vibration deicing test diagram of the prototype of the present invention; Explanation of the symbols in the figure: 1. Overall mechanical frame; 11. Square frame; 12. Tripod; 121. Universal wheel; 111. Middle shelf; 1111. Upper carbon fiber plate; 1112. Lower carbon fiber plate; 13. Packaging board; 2. Drive module; 21. Battery; 22. STM main control chip; 23. DC reduction motor drive board; 24. DC reduction motor; 25. Coupling; 26. Worm; 27. Worm gear; 271. Drive shaft; 28. Horizontal bearing seat; 29. Vertical bearing seat; 30. Wheel; 3. Balancing module; 31. Y-shaped guide groove; 32. Counterweight; 4. Vibration de-icing module; 41. Vibration motor; 42. Flexible mechanical gripper; 421. Base; 422. Flexible connecting plate; 423. Servo; 424. Rigid gear; 425. Flexible rack; 4251. Convex circle array; 426. Rigid vibration plate; 4261. Sharp-angle protrusion array; 427. Rigid guide structure. DETAILED DESCRIPTION

[0025] In order to better understand the purpose, structure and function of the present invention, the vibration-based high-altitude cable deicing robot and control method of the present invention are further described in detail below with reference to the accompanying drawings.

[0026] The vibration-based high-altitude cable deicing robot of the present invention comprises an overall mechanical frame 1, a driving module 2, a balancing module 3 and a vibration deicing module 4. like Figure 1 As shown, the overall mechanical frame 1 comprises a square frame 11 and a tripod 12. The square frame 11 has an intermediate shelf 111 in the center. Two layers of carbon fiber plates, an upper carbon fiber plate 1111 and a lower carbon fiber plate 1112, are fixed to the intermediate shelf 111, securing the drive module 2. The tripods 12 are fixed to the sides below the square frame 11 to secure the counterweights and maintain the balance of the entire device. The frame is covered with an encapsulation plate 13, which protects the internal structure of the entire device and prevents foreign matter from entering and affecting its operation. Universal wheels 121 are installed at the bottom of the tripod 12 to facilitate movement of the device.

[0027] Since the vibration deicing solution adopted in the present invention has high requirements on the strength and stability of the overall mechanical frame, aluminum alloy is selected to make the overall mechanical frame of the deicing robot during design, wherein angle brackets are used to fix the aluminum profiles.

[0028] According to the data in the aluminum profile parameter table in Table 1, the 20×20×1.5mm aluminum profile can withstand a maximum moment of inertia of 0.94mm' and a maximum bending moment of 0.94N / m, which fully meets the de-icing robot's frame strength requirements. Therefore, the 20x20mm aluminum profile is selected as the overall mechanical frame material.

[0029] Table 1: Aluminum profile parameters

[0030] Based on the above calculations, the use conditions can be met by selecting smaller load-bearing parts. Furthermore, since the de-icing robot must be mounted on a drone and flown above high-voltage transmission lines, the weight of the overall mechanical frame material is a primary consideration. Lightweight materials that will not affect its performance must be selected while also meeting the maximum power vibration requirements of the vibration motor. Oxidation treatment transforms aluminum profiles into insulators. Considering the de-icing robot's operating environment, spraying the de-icing robot frame with an insulating spray fully meets the requirements of this design. Therefore, standard 20×20×1.5 aluminum profiles are sufficient to meet the design requirements for the de-icing robot's main mechanical structure. This overall mechanical frame design is relatively simple and lightweight while ensuring strength, which facilitates the achievement of design goals.

[0031] like Figure 3 Figure 4As shown, the drive module 2 is used to drive the de-icing robot to move on the cable. The drive module 2 includes a battery 21, an STM main control chip 22, a DC reduction motor drive board 23, and a travel drive mechanism. The battery 21, STM main control chip 22, and DC reduction motor drive board 23 are fixedly mounted on the upper carbon fiber plate 1111, and the travel drive mechanism is mounted on the lower carbon fiber plate 1112. The STM main control chip 22 is electrically connected to the DC reduction motor drive board 23, which is in turn electrically connected to the travel drive mechanism. The battery 21 provides power to the STM main control chip 22 and the DC reduction motor drive board 23. The STM main control chip 22 controls the travel drive mechanism via the DC reduction motor drive board 23 to move on the cable. The travel drive mechanism comprises two groups, including a DC reduction motor 24, a coupling 25, a worm 26, a worm gear 27, a horizontal bearing seat 28, a vertical bearing seat 29, and wheels 30. The two DC reduction motors 24 are fixedly mounted on the left and right side panels of the square frame 11, respectively. The output end of the DC reduction motor 24 is connected to the coupling 25, which is in turn connected to the worm 26. The two sets of horizontal bearing seats 28 and vertical bearing seats 29 are fixed to the lower carbon fiber plate 1112. The horizontal bearing seat 28 is used to fix the worm 26. The worm gear 27 is connected to the drive shaft 271 via a key. The ends of the drive shaft 271 are respectively fixed to the vertical bearing seats 29. The two sets of worm gears 27 are arranged front and back, respectively meshing with the corresponding worm 26. The two wheels 30 are respectively connected to the corresponding drive shaft 271 via a key. Two DC reduction motors 24 drive worm gears 26 through couplings 25. Worm gears 27 are keyed to shafts 271, which in turn drive two wheels 30. The contact surfaces of the wheels 30 are coated with a friction-enhancing material, improving the efficiency of the motor's drive. The device's gravity maintains close contact between the wheels 30 and the cable, and the rotation of the wheels 30 drives the de-icing robot. This worm gear transmission scheme easily achieves a high speed ratio, effectively overcoming the problem of the de-icing robot requiring a large driving force due to its weight.

[0032] like Figure 1 As shown, the balancing module 3 achieves the balance of the entire device through the Y-shaped guide groove 31, the counterweight block 32 and the installation positions of the various components of the driving module 2.

[0033] The de-icing robot is suspended from a drone and ultimately placed on a cable. If the robot's positioning deviates during the process of detaching from the drone, it could easily tip over and lose balance. Therefore, Y-shaped guide slots 31 are symmetrically designed at the front and rear of the de-icing robot. These slots are mounted on the front and rear side panels of the overall mechanical frame 1. The lower ends of the Y-shaped guide slots 31 are open, while the upper ends form a narrow passage for the cable to pass through. This design serves as a guide when the drone places the de-icing device on the cable, effectively ensuring that the de-icing robot maintains balance and prevents tipping during placement.

[0034] Since the de-icing robot of this design will eventually separate from the rotor flight module and ride alone on the cable, and high-altitude operations are often affected by strong winds, it is also crucial to ensure the balance of the de-icing robot on the cable.

[0035] The de-icing robot's drive module 2 is symmetrically arranged. The left-right symmetry of the battery 21, STM main control chip 22, and DC reduction motor drive board 23 maintains the device's left-right balance. The heavy DC reduction motor 24 is installed below the wheels 30, ensuring the heavy equipment is under the cables. This effectively optimizes the device's balance, resulting in a low center of gravity and high operational stability for the de-icing robot. During simulation field testing, we found that although the de-icing robot's theoretical center of gravity was lower than the cable position, it remained unstable under large swings and high-frequency vibrations. Therefore, 3kg counterweights 32 were installed on both sides of the legs 12 at the lower end of the overall mechanical frame 1 to further increase the chassis weight and achieve balance under large swings and high-frequency vibrations.

[0036] The vibration deicing module 4 includes a vibration motor 41 and a flexible mechanical clamp 42. When designing a vibration scheme for an ordinary deicing robot, the two vibration motors are placed at the bottom of both sides to lower the center of gravity and maintain balance. However, during actual testing in a simulated environment, it was found that the vibration transmission chain distance of the overall deicing robot was too long. When the vibration caused by the vibration motor was transmitted to the cable through the deicing frame, the vibration deicing effect was not obvious. The vibration deicing module 4 of the present invention is designed with a flexible mechanical clamp 42. First, the flexible mechanical clamp 42 clamps the ice-covered cable to achieve a tight connection between the cable and the flexible mechanical clamp 42, and then the vibration motor 41 is installed on the clamping surface of the clamp, which greatly shortens the length of the vibration transmission chain and improves the vibration effect.

[0037] like Figure 5As shown, the flexible mechanical gripper 42 includes a base 421, a flexible connecting plate 422, a steering gear 423, a rigid gear 424, a flexible rack 425, a rigid vibration plate 426 and a rigid guide structure 427. The base 421 is fixedly mounted on the front side of the square frame 11 through the flexible connecting plate 422, and the flexible connecting plate 421 is used to isolate the vibration transmission between the vibration motor 41 and the overall mechanical frame 1. The rigid vibration plate 426 is fixedly mounted below the base 421, and the steering gear 423 is fixedly mounted on the base 421. The output end is connected to the rigid gear 424, and the rigid gear is meshed with the upper end of the flexible rack 425. The flexible rack 425 is connected to the base 421 through the rigid guide structure 427, and the lower end is clamped with the rigid gear 424. The vibration motor 41 is tightly connected to the rigid vibration plate 426 to achieve direct transmission of vibration. A vibration sensor is installed on the vibration motor 41 to measure the frequency and amplitude of the vibration of the device.

[0038] The flexible rack 425 and the flexible connecting plate 422 are made of TPU95-HF flexible material by 3D printing, and the base 421, the rigid gear 424, the rigid vibration plate 426 and the rigid guide structure 427 are made of PLA rigid material by 3D printing. Figure 6 As shown, the clamping surface of the flexible rack 425 is designed with a convex array 4251 to increase the friction between the clamping claw and the cable; in order to optimize the deicing effect, as shown in FIG. Figure 7 As shown, a sharp-angle protrusion array 4261 is designed on the surface of the rigid vibration plate 426 .

[0039] The driving process of the flexible mechanical clamp 42 is that the servo 423 rotates to drive the rigid gear 424 to rotate, and the rigid gear 424 drives the flexible rack 425 to move up and down. Since the rigid guide structure 427 is tightly fitted with the flexible rack 425, the flexible rack 425 will flexibly deform in the direction preset by the rigid guide structure 427, so that the space between the flexible rack 425 and the rigid vibration plate 426 becomes smaller, thereby achieving the purpose of clamping.

[0040] The de-icing robot can also include a wireless communication module, which uses Bluetooth communication to transmit information, control the de-icing robot and transmit related data. In order to better control the de-icing robot, a human-computer interaction module can be added when necessary to perform human-computer interaction, manual adjustment of vibration frequency and other operations. Figure 8 shown.

[0041] The control method of the vibration-based high-altitude cable deicing robot of the present invention comprises the following steps: Start Task: used to create each task; Vibration motor vibration task: Process the vibration sensor data through the STM main control chip 22 to control the vibration of the vibration motor; DC reduction motor driving task: control the rotation and speed of the DC reduction motor through the DC reduction motor driving board 23; Processing vibration switch signal task: receiving the vibration switch signal through the wireless communication module, processing the signal on the STM main control chip 22, and turning on or off the vibration motor 41; Communication task: Control the wireless communication module to communicate with the host computer for data transmission; Flexible mechanical gripper clamping task: The STM main control chip 22 controls the rotation of the servo to achieve the tightness of the flexible mechanical gripper; Measuring task: Measure the frequency and amplitude of the device's vibrations using a vibration sensor.

[0042] The control flow diagram of the system is as follows Figure 10 As shown, first, the UAV is controlled by a remote control device to transport the de-icing robot to the location of the high-voltage cable. After determining that the de-icing robot has been stably placed on the high-voltage cable, the UAV will separate from the de-icing robot. At this time, a vibration start signal is transmitted on the ground. First, the flexible mechanical clamp 42 clamps the vibration motor 41 and fixes it to the cable, and then the vibration motor 41 starts to vibrate and de-ice. Combined with the vibration frequency and amplitude of the de-icing robot measured by the vibration sensor, the speed of the vibration motor 41 is adjusted by remote manual control or embedded control of the STM main control chip 22 so that the frequency and amplitude of the vibration reach the required range. After the task is completed at the first vibration point, the flexible mechanical clamp 42 is first released, and the DC reduction motor 24 is turned on to drive the de-icing robot forward. After the de-icing is completed, a vibration stop signal is transmitted on the ground, and the de-icing robot is carried back to the ground by the UAV.

[0043] Experimental testing process: Finite element modal analysis of the overall mechanical frame 1 like Figure 11a and 11b As shown, finite element analysis can be used to obtain the natural frequencies and 5th-order vibration modes of the wide and narrow frames. To avoid resonance during the de-icing process, the natural frequency and vibration frequency of the de-icing robot cannot be in the same range to prevent any impact on the de-icing robot. The first 15 natural frequencies of the narrow-frame de-icing robot frame are all 0, the 16th natural frequency is 42 Hz, and the difference between the 19th and 20th natural frequencies is 50 Hz. Therefore, the vibration frequency of the vibration motor 41 was finally selected to be 106 Hz, which is between the 19th and 20th natural frequencies, so that the vibration has less impact on the de-icing frame.

[0044] Simulated experimental conditions In order to simulate the actual cable deicing environment as much as possible, we selected a 17.5mm cable, which is very close to the actual cable diameter. The ice layer mold used a single layer of ice thickness of 15mm, which is also close to the actual ice thickness. Figure 12 This is a picture of the prototype hanging on cables.

[0045] Walking function test The STM main control chip 22 controls the DC reduction motor drive board 23, which in turn controls the DC reduction motor 24 to start rotating. The rotation of the DC reduction motor 24 drives the movement of the transmission chain, including the worm gear, rotating shaft, and wheels. In the simulation experiment, the STM main control chip 22 issued a walking command for the de-icing robot, and the robot was tested to be able to walk normally on the cable. The walking status of the simulation experiment is shown in Figure 2. Figure 13 .

[0046] Device balance test In the actual de-icing environment, there are strong wind conditions, so the de-icing robot is prone to large shaking. Therefore, in the simulation experiment, the balance of the device was tested by manually shaking the prototype. The final test result showed that the device can still maintain good balance under large shaking. Figure 14 .

[0047] Vibration de-icing function test In actual operation, the cable deicing robot needs to face two situations: clamping ice layer deicing and clamping cable deicing. Clamping ice layer is used to remove hard and solid ice. However, after removing such ice by vibration deicing, a layer of fragile ice may remain on the cable. In this case, the device needs to clamp the cable for vibration deicing to effectively remove the remaining ice on the cable. In the simulation experiment, we clamped the cable for vibration deicing (see Figure 15a ) and clamping the ice layer for vibration de-icing (see Figure 15b The experimental results show that the device can achieve the effect of vibrating ice removal in both ice-clamping and cable-clamping situations.

[0048] Experimental comparison of high and low vibration frequencies In the simulation experiment, the feasibility of the high-frequency and low-amplitude deicing scheme was demonstrated by conducting deicing effect tests at two vibration frequencies: high frequency and low frequency. Figure 16a The simulated low-frequency vibration de-icing method failed to break the ice layer after 30 seconds of vibration. Figure 16b The simulated high-frequency vibration deicing only requires 2 seconds of vibration to destroy the ice layer and achieve deicing. Therefore, the feasibility of the high-frequency vibration deicing method has been demonstrated.

[0049] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A vibration-based high-altitude cable deicing robot, characterized in that: include: An overall mechanical frame (1), a drive module (2), a balancing module (3) and a vibration deicing module (4), wherein the overall mechanical frame (1) comprises a square frame (11), wherein an intermediate frame (111) is provided in the middle of the square frame (11), and two layers of carbon fiber plates are fixed on the intermediate frame (111), namely an upper carbon fiber plate (1111) and a lower carbon fiber plate (1112); the drive module (2) comprises a battery (21), an STM main control chip (22), a DC reduction motor drive board (23) and a travel drive mechanism, wherein the battery (21), the STM main control chip (22) and the DC reduction motor drive board (23) are mounted on the upper carbon fiber plate (1111), and the travel drive mechanism is mounted on the lower carbon fiber plate (1112). The STM main control chip (22) is electrically connected to a DC reduction motor drive board (23), the DC reduction motor drive board (23) is electrically connected to a walking drive mechanism, the battery (21) provides power to the STM main control chip (22) and the DC reduction motor drive board (23), and the STM main control chip (22) controls the walking drive mechanism to walk on the cable through the DC reduction motor drive board (23); the balancing module (3) includes symmetrically arranged Y-shaped guide grooves (31) and counterweights (32) for improving the stability of the robot on the cable; the vibration deicing module (4) includes a vibration motor (41) and a flexible mechanical gripper (42), and the flexible mechanical gripper (42) is used to clamp the cable and transmit vibration under the action of the vibration motor (41) to break the ice layer.

2. The vibration-based high-altitude cable deicing robot according to claim 1, characterized in that The overall mechanical frame (1) includes a tripod (12), which is fixed to both sides below the square frame (11) and is used to fix the counterweight (32) to maintain the balance of the entire device. The frame is covered with a packaging plate (13), and the bottom of the tripod (12) is equipped with a universal wheel (121).

3. The vibration-based high-altitude cable deicing robot according to claim 1, characterized in that The overall mechanical frame (1) is an aluminum profile of 20×20×1.5 mm.

4. The vibration-based high-altitude cable deicing robot according to claim 1, characterized in that The walking drive mechanism includes two groups, and the walking drive mechanism includes a DC reduction motor (24), a coupling (25), a worm (26), a worm wheel (27), a horizontal bearing seat (28), a vertical bearing seat (29) and a wheel (30). The two DC reduction motors (24) are fixedly mounted on the left and right side plates of the square frame (11), respectively. The output end of the DC reduction motor (24) is connected to the coupling (25), and the coupling (25) is connected to the worm (26). The two groups of horizontal bearing seats (28) and the vertical bearing seat (29) are fixed on the lower carbon fiber plate (1112). The horizontal shaft The support seat (28) is used to fix the worm (26), the worm wheel (27) is connected to the transmission shaft (271) through a key, and the two ends of the transmission shaft (271) are respectively fixed on the vertical bearing seat (29). Two sets of worm wheels (27) are arranged front and back, respectively meshing with the corresponding worm (26), and two wheels (30) are respectively connected to the corresponding transmission shaft (271) through a key. Two DC reduction motors (24) drive the worm (26) through a coupling (25). The worm wheel (27) is driven to the rotating shaft (271) through a key, and the rotating shaft (271) drives the rotation of the two wheels (30).

5. The vibration-based high-altitude cable deicing robot according to claim 1, characterized in that The Y-shaped guide groove (31) is mounted on the front and rear side panels of the overall mechanical frame (1). The lower end of the Y-shaped guide groove (31) is open, and the upper end is a narrow passage for the cable to pass through.

6. The vibration-based high-altitude cable deicing robot according to claim 1, characterized in that The drive module (2) maintains the left-right balance of the device through the left-right symmetrical arrangement of the battery (21), the STM main control chip (22), and the DC reduction motor drive board (23). The DC reduction motor (24) is installed below the wheel (30). 3 kg counterweights (32) are respectively installed on the legs (12) on both sides of the lower end of the overall mechanical frame (1).

7. The vibration-based high-altitude cable deicing robot according to claim 1, characterized in that The vibration deicing module (4) includes a vibration motor (41) and a flexible mechanical gripper (42), wherein the flexible mechanical gripper (42) includes a base (421), a flexible connecting plate (422), a steering gear (423), a rigid gear (424), a flexible rack (425), a rigid vibration plate (426) and a rigid guide structure (427), wherein the base (421) is fixedly mounted on the front side of the square frame (11) via the flexible connecting plate (422), wherein the flexible connecting plate (422) is used to isolate the vibration transmission between the vibration motor (41) and the overall mechanical frame (1), and the rigid vibration plate (42 6) is fixedly mounted below the base (421), the servo (423) is fixedly mounted on the base (421), the output end is connected to the rigid gear (424), the rigid gear (424) is meshed with the upper end of the flexible rack (425), the flexible rack (425) is connected to the base (421) through a rigid guide structure (427), and the lower end is clamped with the rigid gear (424), the vibration motor (41) is tightly connected to the rigid vibration plate (426), and the direct transmission of vibration is achieved. A vibration sensor is installed on the vibration motor (41) for measuring the frequency and amplitude of the vibration of the device.

8. The vibration-based high-altitude cable deicing robot according to claim 7, characterized in that The flexible rack (425) and the flexible connecting plate (422) are manufactured by 3D printing using TPU95-HF flexible material, and the base (421), the rigid gear (424), the rigid vibration plate (426) and the rigid guide structure (427) are manufactured by 3D printing using PLA rigid material. The clamping surface of the flexible rack (425) has a convex circle array (4251), and the surface of the rigid vibration plate (426) has a sharp-angle protrusion array (4261).

9. The vibration-based high-altitude cable deicing robot according to claim 1, characterized in that The de-icing robot also includes a wireless communication module and a human-computer interaction module. The wireless communication module uses Bluetooth communication to transmit information and control the de-icing robot and transfer data. The human-computer interaction module is used for human-computer interaction to manually adjust the vibration frequency.

10. A control method for a high-altitude cable deicing robot based on vibration according to any one of claims 1 to 9, characterized in that: The steps include: Start Task: used to create each task; Vibration motor vibration task: Process the vibration sensor data through the STM main control chip (22) to control the vibration of the vibration motor; DC reduction motor driving task: controlling the rotation and speed of the DC reduction motor through the DC reduction motor driving board (23); Processing vibration switch signal task: receiving the vibration switch signal through the wireless communication module, processing the signal on the STM main control chip (22), and turning on or off the vibration motor (41); Communication task: Control the wireless communication module to communicate with the host computer for data transmission; Flexible mechanical gripper gripping task: controlling the rotation of the servo through the STM main control chip (22) to achieve the tightness of the flexible mechanical gripper; Measuring task: Measure the frequency and amplitude of the device's vibrations using a vibration sensor.

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