Vibrating type cable deicing device based on unmanned aerial vehicle wire hanging

Abstract

The utility model relates to the technical field of cable deicing, and particularly discloses a vibration type cable deicing device based on unmanned aerial vehicle wire hanging, which comprises a rack, a walking mechanism, a deicing mechanism and a pressing mechanism, the eccentric rotating assembly comprises a fixed seat, a first driving device, an eccentric shaft, a deicing plate, a rotating shaft mounting seat and a fixed rotating shaft; the deicing plate is provided with a deflection part and a rotating part; during deicing, the distance between the two rotating parts can be adjusted to be small, the eccentric shaft is utilized to drive the deicing plate to periodically clamp or break ice on a cable in a vibration mode in the direction of the deicing channel, in cooperation with extrusion of the two rotating parts, an ice coating layer of the cable is efficiently broken in a vibration mode and then crushed, then the ice coating layer is separated from the cable under the action of gravity, and deicing can be achieved while walking is conducted. The deicing efficiency is high; and a pressing mechanism is further arranged, after wire hanging is completed, the auxiliary wheel can be driven to ascend, the upper end of the auxiliary wheel abuts against the lower end of the cable, and the stability of the cable deicing device during walking is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to cable deicing technical field especially relates to a vibration type cable deicing device based on unmanned plane hanging line. BACKGROUND

[0002] The icing of transmission line is mainly formed by sleet, rime and freezing rain, which is easy to cause fault tripping. When the icing of transmission line exceeds the theoretical design value, the conductor wire is easily broken, and serious accidents such as tower collapse may occur, which brings great danger to power operation and supply and serious influence to people's production and life. At present, workers mainly climb the transmission tower to knock and remove ice manually, which has high working strength, low deicing efficiency and faces the danger of falling from high altitude. In addition, the deicing efficiency of the large current thermal ice melting method is relatively high, but this method needs to consume a large amount of energy and is very complex to operate, and the line needs to be powered off, so it is difficult to use the direct current ice melting method on the transmission ground wire.

[0003] In order to deice the high-voltage overhead cable, some manufacturers design some deicers. Such deicers can be seen in a high-voltage overhead line deicing robot disclosed in Chinese patent application No. CN202410158335.X, which uses a winch mechanism to realize the up and down hanging action of the robot on the cable. However, through such a way, not only the operation is complicated, but also the winch mechanism is easy to slip when hanging the iced cable.

[0004] On the other hand, most of the deicing robots on the market use mechanical vibration deicing. Such structure can be referred to as an electromagnetic vibration deicing device disclosed in Chinese patent publication No. CN117913732A, which strikes the cable through a vibration impact head, the cable generates vibration, the ice block is separated from the cable, and the deicing of the cable is realized. This kind of structure using impact method for deicing cannot deice while walking, and the deicing efficiency is low.

[0005] Therefore, the prior art still needs to be improved and developed. UTILITY MODEL CONTENTS

[0006] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a vibration type cable deicing device based on unmanned plane hanging line to solve the above problems.

[0007] A vibration type cable deicing device based on unmanned plane hanging line, comprising:

[0008] A rack is provided with a hook for hanging the unmanned plane through a hanging rod;

[0009] A walking mechanism includes front and rear walking wheels rotatably arranged on the rack, the front walking wheel walks on the icing layer of the cable, and the rear walking wheel walks on the cable;

[0010] The deicing mechanism comprises eccentric rotating assemblies arranged on the frame and located on both sides of the cable in the radial direction, and a deicing channel for the cable is formed between the two eccentric rotating assemblies;

[0011] The eccentric rotating assembly comprises a fixed seat, a first driving device mounted on the fixed seat, an eccentric shaft connected to the output end of the first driving device, a deicing plate driven to vibrate by the eccentric shaft, a rotating shaft mounting seat hinged to the upper end of the eccentric shaft, and a fixed rotating shaft connected between the fixed seat and the rotating shaft mounting seat, the upper end of the fixed rotating shaft penetrating the deicing plate;

[0012] The deicing plate has a deflection part towards one end of the front traveling wheel and a rotating part towards one end of the rear traveling wheel;

[0013] The eccentric shaft is rotationally connected with the deflection part, so that the deicing plate periodically clamps the ice on the cable towards the direction of the deicing channel;

[0014] The distance between the two rotating parts is adjustable.

[0015] Specifically, the end surface of the deicing plate towards the deicing channel has a plurality of protruding teeth.

[0016] Specifically, the cable deicing device further comprises a distance adjusting mechanism;

[0017] The distance adjusting mechanism comprises a first adjusting seat and a second adjusting seat which can adjust the distance in the radial direction of the cable, a second driving device for driving the first adjusting seat and the second adjusting seat to move synchronously in opposite directions or in reverse directions, and the first adjusting seat and the second adjusting seat respectively drive the two rotating shaft mounting seats to swing.

[0018] Specifically, the second driving device comprises a first motor fixed on the frame, a first helical gear connected to the output end of the first motor, a second helical gear meshing with the first helical gear, a screw having a first threaded portion and a second threaded portion in transmission connection with the second helical gear, and the screw thread directions of the first threaded portion and the second threaded portion are opposite, one of the adjusting seats is threadedly connected with the first threaded portion, and the other adjusting seat is threadedly connected with the second threaded portion.

[0019] Specifically, the first adjusting seat is connected with a bearing, and the rotating shaft mounting seat is provided with a sliding groove for the movement of the bearing.

[0020] Specifically, the cable deicing device further comprises a first detection mechanism and a second detection mechanism.

[0021] The first detection mechanism comprises first distance sensors fixed to the first adjusting seat, and the sensing ends of the first distance sensors are all arranged towards the deicing channel;

[0022] The second detection mechanism comprises second distance sensors arranged on the rack and downwards towards the deicing channel.

[0023] Specifically, the lower end of the first adjusting seat is connected with a pressing mechanism.

[0024] The pressing mechanism comprises two guide rods fixed to the lower ends of the first adjusting seat and the second adjusting seat respectively, a lifting seat which can be lifted and slid on the guide rods, an auxiliary wheel arranged on the lifting seat and located below the deicing channel, and a third driving device fixed to the guide rods and used for driving the lifting seat to lift along the guide rods.

[0025] The auxiliary wheel can be lifted to the lower end of the cable and walk on the lower end of the cable.

[0026] Specifically, the lower end of the rack is provided with an incoming cable slot which is communicated with the deicing channel and is open downwards, and the incoming cable slot is provided with locking pieces on both sides along the walking direction of the walking mechanism.

[0027] The cable deicing device has the advantages that:

[0028] 1. The cable deicing device can be used in cooperation with a UAV, the hanging rod of the UAV is hooked on the hook, the cable deicing device is hung on the cable by the UAV or the cable deicing device is taken off from the cable;

[0029] 2. Two eccentric rotating assemblies are adopted, the eccentric rotating assembly comprises an eccentric shaft and a deicing plate, the deicing plate has a swing part and a rotating part, when the cable deicing device needs to be hung on the cable, the distance between the two rotating parts can be increased, so that the vertical projection of the deicing channel presents an inverted "8" structure, the iced cable can enter the deicing channel, and the walking wheels of the walking mechanism can be hung on the iced cable; after the hanging operation is completed, the distance between the two rotating parts can be reduced, so that the vertical projection of the deicing channel presents an "8" structure, the eccentric shaft can be controlled to rotate, the deicing plate is driven by the eccentric shaft to periodically clamp or break the ice on the cable towards the direction of the deicing channel, the ice layer of the cable is efficiently broken and then crushed in cooperation with the extrusion of the two rotating parts, and then the ice layer is separated from the cable under the action of gravity, so that the ice removal operation of the cable is completed, and the cable can be walked and deiced at the same time, and the deicing efficiency is high;

[0030] 3. The pressing mechanism is arranged, the pressing mechanism comprises a guide rod, a lifting seat, an auxiliary wheel and a third driving device, after the hanging operation is completed, the lifting seat can be lifted by the third driving device, so that the auxiliary wheel is lifted, the upper end of the auxiliary wheel abuts against the lower end of the cable, and the auxiliary wheel walks on the lower end of the cable, and the stability of the cable deicing device when walking is improved. Attached Figure Description

[0031] Figure 1 A schematic diagram of a structure for attaching the cable de-icing device of this application to a cable using a drone;

[0032] Figure 2 This is a perspective view of the cable de-icing device of this application;

[0033] Figure 3 A perspective view of the cable de-icing device of this application after removing the hooks, legs and the top cover of the frame;

[0034] Figure 4 This is a schematic diagram of the cable de-icing device of this application after the cable is attached. The dotted line in the diagram represents the ice layer on the surface of the cable.

[0035] Figure 5 This is a schematic diagram of the cable de-icing device of this application during the cable de-icing process. The dotted line in the diagram represents the ice layer on the surface of the cable.

[0036] Figure 6 This is a perspective view of the eccentric rotation component, the spacing adjustment mechanism, the first detection mechanism, the second detection mechanism, and the clamping mechanism of this application;

[0037] Figure 7 This is a cross-sectional view of the eccentric rotation assembly, the spacing adjustment mechanism, the first detection mechanism, the second detection mechanism, and the clamping mechanism of this application.

[0038] The attached figures are labeled as follows: frame 10, hook 11, cable inlet 12, locking component 13, tripod 14, drone 20, hanging pole 22, walking mechanism 30, front walking wheel 31, first rotating shaft 32, rear walking wheel 33, second rotating shaft 34, eccentric rotating assembly 40, de-icing channel 401, fixed seat 41, first drive device 42, eccentric shaft 43, de-icing plate 44, swaying part 441, rotating part 442, protruding tooth 443, rotating shaft mounting seat 45, fixed rotating shaft 46, spacing adjustment mechanism 50, first adjustment seat 51, second drive device 52, first motor 521, first helical tooth 522, second helical tooth 523, screw 524, rotating shaft 53, bearing 54, second adjustment seat 55, slide groove 431, first distance sensor 61, second distance sensor 62, pressing mechanism 70, guide rod 71, lifting seat 72, auxiliary wheel 73, third drive device 74, cable 80. Detailed Implementation

[0039] The utility model provides a kind of vibration type cable deicing device based on unmanned aerial vehicle hanging line, to make the purpose, technical scheme and effect of the utility model more clear, definite, the following with reference to drawing and taking example to make further detailed description to the utility model of embodiment.It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model.

[0040] In the description of the utility model, it should be understood that, involving orientation description, for example, the orientation or positional relationship of the upper, lower, front, rear, left, right etc.

[0041] Please refer to Figures 1 to 7 The utility model discloses a kind of vibration type cable deicing device based on unmanned aerial vehicle hanging line, comprising:

[0042] Frame 10, frame 10 is equipped with for unmanned aerial vehicle 20 by hanging hook 11 of hanging pole 22 suspension;

[0043] Traveling mechanism 30, rotation is equipped with front traveling wheel 31 and rear traveling wheel 33 of frame 10, front traveling wheel 31 travels in the ice layer of cable 80, rear traveling wheel 33 travels in cable 80;

[0044] Deicing mechanism, including being located in frame 10 and being located in the eccentric rotation component 40 of the radial two sides of cable 80, two eccentric rotation component 40 forms the deicing passage 401 for cable 80 to pass between;

[0045] Eccentric rotation component 40 includes fixed seat 41, first drive device 42 installed in fixed seat 41, eccentric shaft 43 connected to the output end of first drive device 42, deicing plate 44 vibrated by eccentric shaft 43, pivot mounting seat 45 articulated on the upper end of eccentric shaft 43, fixed pivot 46 is connected between fixed seat 41 and pivot mounting seat 45;Fixed pivot 46 upper end passes through deicing plate 44;

[0046] Deicing plate 44 has eccentric swing portion 441 towards one end of front traveling wheel 31 and rotating portion 442 towards one end of rear traveling wheel 33;

[0047] Eccentric shaft 43 and eccentric swing portion 441 rotate and cooperate, to make deicing plate 44 periodically clamp ice on cable 80 towards deicing passage 401 direction;

[0048] The interval of two rotating portions 442 is adjustable.

[0049] The cable de-icing device of this embodiment can be used in conjunction with a drone 20. Operators can pre-install a hanging pole 22 on the arm of the drone 20. When the cable de-icing device needs to be attached to the cable 80, the hanging pole 22 is first hooked onto the hook 11. The drone 20 is then started and controlled to take off via remote control. After takeoff, the hanging pole 22 pulls the cable de-icing device upwards. The drone 20 is then raised above the icy cable 80 via remote control, and then lowered to a certain height so that the walking mechanism 30 contacts the cable 80. The drone 20 then controls the hanging pole 22 to no longer hook onto the hook 11, allowing the walking mechanism 30 to autonomously travel along the length of the cable 80. When the cable de-icing device needs to be removed from the cable 80, the drone 20 controls the hanging pole 22 to re-hook onto the hook 11, and then the drone 20 raises the cable de-icing device, causing the walking mechanism 30 to detach from the cable 80. The device is then lowered to the ground to remove it. This application utilizes a drone 20 for loading and unloading, making the operation more flexible.

[0050] Furthermore, the de-icing mechanism of this application employs two eccentric rotating components 40, which can be designed to be mirror-symmetrical. Each eccentric rotating component 40 includes an eccentric shaft 43 and a de-icing plate 44. The de-icing plate 44 has a swinging part 441 and a rotating part 442. When the cable de-icing device needs to hang cables, the distance between the two rotating parts 442 can be increased. The effect after adjustment is as follows: Figure 4 As shown, the vertical projection of the de-icing channel 401 is an inverted "V" shape. Due to the increased spacing between the two rotating parts 442, and the fact that the spacing between the two rotating parts 442 is greater than the diameter of the icing cable 80, when the drone 20 lowers the cable de-icing device, the icing cable 80 can enter the de-icing channel 401, allowing the front wheels 31 of the walking mechanism 30 to be hooked on the icing cable 80.

[0051] After hanging the wire, the distance between the two rotating parts 442 can be reduced. The effect after adjustment is as follows: Figure 5 As shown, the vertical projection of the de-icing channel 401 is a figure-eight structure. Due to the reduced distance between the two rotating parts 442, and the ability to adjust the distance between the two rotating parts 442 to be slightly larger than the diameter of the bare wire of the cable 80, the eccentric shaft 43 can be controlled to rotate. The eccentric shaft 43 drives the de-icing plate 44 to periodically clamp or break the ice on the cable 80 in the direction of the de-icing channel 401. Combined with the squeezing of the two rotating parts 442, the ice layer on the cable 80 is efficiently broken and crushed first, and then removed from the cable 80 under the action of gravity, so as to complete the ice removal operation of the cable 80.

[0052] The de-icing mechanism of this embodiment, through the combination of the clamping action of two swaying parts 441 and the squeezing action of two rotating parts 442, can achieve de-icing while moving, with a clever structure and high de-icing efficiency.

[0053] Furthermore, the frame 10 is provided with a first rotating shaft 32 and a second rotating shaft 34. The front walking wheel 31 is mounted on the first rotating shaft 32, and the rear walking wheel 33 is mounted on the second rotating shaft 34. The first rotating shaft 32 can be controlled to rotate by a drive device such as a drive motor, so that the front walking wheel 31 can move autonomously.

[0054] For further details, please refer to... Figure 7 In this embodiment, the end face of the de-icing plate 44 facing the de-icing channel 401 has several protruding teeth 443. The sharp protruding teeth 443 are used to clamp the ice layer, and the stress at the tip of the protruding teeth 443 is more concentrated. The tip of the protruding teeth 443 acts directly on the ice layer, which can easily break the ice layer.

[0055] Furthermore, the protruding tooth 443 in this embodiment can be a helical tooth, with the tooth tip pointing towards the backward direction of the walking mechanism 30. This can prevent the tooth tip from getting stuck on the cable 80 or the ice layer on the surface of the cable 80, making the movement of the walking mechanism 30 smoother.

[0056] Please refer to Figure 6 and Figure 7 The eccentric rotation assembly 40 in this embodiment also includes a rotating shaft mounting base 45 and a first driving device 42. The bottom of the first driving device 42 is fixed to the frame 10. The first driving device 42 can be fixed to the frame 10 by means of screw fixing, snap-fit ​​fixing, welding fixing, etc. In this embodiment, the first driving device 42 is installed by snap-fit ​​fixing. A slot is provided on the outside of the first driving device 42 and a snap-fit ​​is provided on the inside of the frame 10. The installation efficiency is higher by snap-fit ​​fixing. Of course, the snap-fit ​​fixing in this embodiment is only one implementation method. In other embodiments, the fixing methods mentioned above can also be used.

[0057] In a preferred embodiment, the first drive device 42 adopts a high-speed motor. The output shaft of the high-speed motor is connected to the lower end of the eccentric shaft 43. By driving the eccentric shaft 43 to rotate at high speed, the oscillating part 441 is driven to oscillate at high frequency, so that the de-icing plate 44 clamps the ice layer on the surface of the cable 80 at high frequency, thereby improving the de-icing efficiency.

[0058] Please refer to Figure 6 In this embodiment, the upper end of the eccentric shaft 43 is hinged to the rotating shaft mounting base 45. The upper end of the eccentric shaft 43 also passes through the crossbeam of the frame 10, stabilizing one end of the rotating shaft mounting base 45 within the frame 10. Please refer to [reference needed]. Figure 7 The other end of the rotating shaft mounting base 45 is rotatably connected to the rotating part 442 via a fixed rotating shaft 46. The fixed rotating shaft 46 passes through the rotating shaft mounting base 45 vertically and horizontally. The fixed rotating shaft 46 also serves as the rotation center of the rotating shaft mounting base 45 and the rotating part 442 to ensure the stability of the rotation of the rotating shaft mounting base 45 and the rotating part 442.

[0059] Please refer to Figure 3 and Figure 6 The cable deicing device of the embodiment further comprises a distance adjusting mechanism 50; the distance adjusting mechanism 50 comprises a first adjusting seat 51 and a second adjusting seat 55 which can adjust the distance horizontally along the radial direction of the cable 80, a second driving device 52 which is used to drive the first adjusting seat 51 and the second adjusting seat 55 to move synchronously in the same direction or in the opposite direction, the first adjusting seat 51 and the second adjusting seat 55 drive the two rotating shaft mounting seats 45 to swing respectively; when the cable deicing device needs to hang the cable, the second driving device 52 is used to drive the first adjusting seat 51 and the second adjusting seat 55 to move synchronously in the opposite direction, so that the two rotating shaft mounting seats 45 swing around the two first rotating shafts 45 respectively, and the two deicing plates 44 are correspondingly arranged below the two rotating shaft mounting seats 45 respectively, so that the two deicing plates 44 open outward around the two first rotating shafts 45, and the iced cable 80 can enter the deicing channel 401; the first adjusting seat 51 and the second adjusting seat 55 of the application can move synchronously in the same direction or in the opposite direction, can realize automatic centering, and the structure is ingenious.

[0060] Further, the second driving device 52 of the embodiment comprises a first motor 521 which is fixed to the frame 10, a first helical gear 522 which is connected to the output end of the first motor 521, a second helical gear 523 which is engaged with the first helical gear 522, a screw rod 524 which is in transmission connection with the second helical gear 523 and has a first threaded part and a second threaded part, the screw thread directions of the first threaded part and the second threaded part are opposite, the first adjusting seat 51 is in threaded cooperation with the first threaded part, the second adjusting seat 55 is in threaded cooperation with the second threaded part, by setting the screw rod 524 with opposite threads, the first adjusting seat 51 and the second adjusting seat 55 can be driven to move synchronously in the same direction or in the opposite direction, and the structure is ingenious.

[0061] Since the first adjusting seat 51 and the second adjusting seat 55 are moved along the length direction of the screw rod 524, and the extension direction of the screw rod 524 is perpendicular to the walking direction of the walking mechanism 30, when the first adjusting seat 51 and the second adjusting seat 55 adjust the position along the length direction of the screw rod 524, in order to avoid the rotating interference of the rotating shaft 53 to the rotating shaft mounting seat 45, please refer to Figure 6 The first adjusting seat 51 and the second adjusting seat 55 of the embodiment are both connected with the bearing 54 through the rotating shaft 53, and one end of the rotating shaft mounting seat 45 is provided with a sliding groove 431 for the bearing 54 to move.

[0062] Further, please refer to Figure 6 and Figure 7The cable deicing device further comprises a first detection mechanism and a second detection mechanism. The first detection mechanism comprises two first distance sensors 61 fixed to the first adjusting seat 51 and the second adjusting seat 55 respectively, and the sensing ends of the two first distance sensors 61 are both arranged towards the deicing channel 401. When the cable 80 enters the deicing channel 401, the two first distance sensors 61 detect the distance between the detection ends and the bare wire of the cable 80 (the transparent layer under the ideal ice layer does not affect the detection of the bare wire of the cable 80). When the detection distance is greater than a set threshold value, the first adjusting seat 51 and the second adjusting seat 55 are driven to move synchronously and oppositely by the second driving device 52 until the detection distance of the two first distance sensors 61 reaches the set threshold value, and then the movement is stopped. Generally, the size of the threshold value is set to be 1-2 mm from the bare wire of the cable 80.

[0063] Further, the first distance sensor 61 can be an optical sensor, which has high sensitivity and high detection accuracy.

[0064] Further, the second detection mechanism comprises a second distance sensor 62 arranged on the rack 10 and downwardly towards the deicing channel 401. The second distance sensor 62 is used to detect whether the cable deicing device has completed the wire hanging. The second distance sensor 62 can be an optical sensor, which has high sensitivity and high detection accuracy.

[0065] As a preferred embodiment, please refer to Figure 7 The lower ends of the first adjusting seat 51 and the second adjusting seat 55 are both connected with a pressing mechanism 70. The pressing mechanism 70 comprises two guide rods 71 fixed to the lower ends of the first adjusting seat 51 and the second adjusting seat 55 respectively, a lifting seat 72 which can slide up and down along the guide rods 71, an auxiliary wheel 73 rotatably arranged on the lifting seat 72, and a third driving device 74 fixed to the guide rods 71 and used to drive the lifting seat 72 to move up and down along the guide rods 71. After the wire hanging is completed, the lifting seat 72 can be lifted by the third driving device 74, so as to drive the auxiliary wheel 73 to rise, and the upper end of the auxiliary wheel 73 abuts against the lower end of the cable 80 and walks along the lower end of the cable 80.

[0066] Further, the third driving device 74 can be a lead screw module, which has a corresponding high speed. Moreover, the lead screw module has a thread, and the thread has a self-locking function. After the lifting is completed, the lifting seat 72 can be locked in the vertical direction, so as to avoid the auxiliary wheel 73 from being deviated or shaken.

[0067] Please refer to Figures 1 to 3The lower end of the rack 10 is provided with an inlet slot 12 which is communicated with the deicing channel 401 and is downwardly open, and the inlet slot 12 is provided with locking members 13 on both sides along the walking direction of the walking mechanism 30, the locking members 13 can be automatic locks or linkage locks, before the unmanned aerial vehicle 20 is hung, the locking members 13 are opened, so that the inlet slot 12 is unblocked, after the hanging is completed, the locking members 13 are opened and closed, so as to avoid the falling of the cable deicing device, and the self-locking anti-falling effect is good.

[0068] Please refer to Figure 1 and Figure 2 The lower end of the rack 10 is provided with foldable foot supports 14 on both sides along the radial direction of the cable 80, so that the storage is facilitated.

[0069] The embodiment also discloses a cable deicing method using the cable deicing device, and the method comprises the following steps:

[0070] S1, the interval of the two rotating parts 442 is adjusted to be greater than the diameter of the iced cable 80;

[0071] S2, the unmanned aerial vehicle 20 is hung on the hook 11, the cable 80 is placed in the deicing channel 401 by using the lifting control of the unmanned aerial vehicle 20, and the interval of the two rotating parts 442 is adjusted to be slightly greater than the diameter of the bare wire of the cable 80;

[0072] S3, the walking mechanism 30 walks along the cable 80, and the deicing plate 44 is periodically clamped or broken on the iced cable 80 in the direction of the deicing channel 401 by using the eccentric shaft 43 in the walking process, the iced layer of the cable 80 is efficiently broken and crushed in cooperation with the extrusion of the two rotating parts 442, and then is separated from the cable 80 under the action of gravity, so that the iced cable 80 is removed.

[0073] The cable deicing method of the embodiment can be more flexible in operation mode by using the unmanned aerial vehicle 20 to be hung and lowered, and can realize the deicing while walking by cooperating the clamping (or breaking) of the two eccentric parts 441 with the extrusion of the two rotating parts 442, the structure is ingenious, and the deicing efficiency is high.

[0074] The preferred embodiments of the utility model are specifically described above, but the application is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the application, and the equivalent modifications or replacements are all included in the range defined by the claims of the application.

Claims

1. A vibration-type cable de-icing device based on a drone-mounted cable, characterized in that, include: A frame (10) is provided with hooks (11) for the drone (20) to be suspended by a hanging rod (22). The walking mechanism (30) includes a front walking wheel (31) and a rear walking wheel (33) rotatably mounted on the frame (10). The front walking wheel (31) travels on the ice layer of the cable (80), and the rear walking wheel (33) travels on the cable (80). The de-icing mechanism includes eccentric rotating components (40) disposed on the frame (10) and located on both sides of the cable (80) in the radial direction, and a de-icing channel (401) for the cable (80) to pass through is formed between the two eccentric rotating components (40). The eccentric rotation assembly (40) includes a fixed base (41), a first drive device (42) mounted on the fixed base (41), an eccentric shaft (43) connected to the output end of the first drive device (42), a de-icing plate (44) driven to vibrate by the eccentric shaft (43), a rotating shaft mounting seat (45) hinged to the upper end of the eccentric shaft (43), and a fixed rotating shaft (46) connected between the fixed base (41) and the rotating shaft mounting seat (45), with the upper end of the fixed rotating shaft (46) passing through the de-icing plate (44). The de-icing plate (44) has a swaying part (441) facing the front wheel (31) and a rotating part (442) facing the rear wheel (33). The eccentric shaft (43) rotates in conjunction with the swaying part (441) so that the de-icing plate (44) periodically clamps the ice on the cable (80) in the direction of the de-icing channel (401); The distance between the two rotating parts (442) is adjustable.

2. The vibration-type cable de-icing device based on UAV cable hanging as described in claim 1, characterized in that, The end face of the de-icing plate (44) facing the de-icing channel (401) has several protruding teeth (443).

3. The vibration-type cable de-icing device based on UAV cable hanging as described in claim 2, characterized in that, The cable de-icing device also includes a spacing adjustment mechanism (50); The spacing adjustment mechanism (50) includes a first adjustment seat (51) and a second adjustment seat (55) that can adjust the spacing horizontally along the radial direction of the cable (80), and a second drive device (52) for driving the first adjustment seat (51) and the second adjustment seat (55) to move synchronously towards each other or synchronously in opposite directions. The first adjustment seat (51) and the second adjustment seat (55) respectively drive the two rotating shaft mounting seats (45) to swing.

4. The vibration-type cable de-icing device based on UAV cable hanging as described in claim 3, characterized in that, The second drive device (52) includes a first motor (521) fixed to the frame (10), a first helical tooth (522) connected to the output end of the first motor (521), a second helical tooth (523) meshing with the first helical tooth (522), and a screw (524) that is drivenly connected to the second helical tooth (523) and has a first threaded portion and a second threaded portion. The first threaded portion and the second threaded portion have opposite thread directions. The first adjusting seat (51) is threadedly engaged with the first threaded portion, and the second adjusting seat (55) is threadedly engaged with the second threaded portion.

5. A vibration-type cable de-icing device based on a drone-mounted cable according to claim 3, characterized in that, The first adjusting seat (51) is connected to a bearing (54), and one end of the rotating shaft mounting seat (45) is provided with a sliding groove (431) for the bearing (54) to move.

6. A vibration-type cable de-icing device based on a drone-mounted cable according to claim 3, characterized in that, The cable de-icing device also includes a first detection mechanism and a second detection mechanism; The first detection mechanism includes a first distance sensor (61) fixed to the first adjustment seat (51), and the sensing ends of the first distance sensor (61) are all arranged facing the de-icing channel (401); The second detection mechanism includes a second distance sensor (62) disposed on the frame (10) and facing downward toward the de-icing channel (401).

7. A vibration-type cable de-icing device based on a drone-mounted cable according to claim 3, characterized in that, The lower end of the first adjusting seat (51) is connected to a pressing mechanism (70); The pressing mechanism (70) includes two guide rods (71) fixed to the lower ends of the first adjusting seat (51) and the second adjusting seat (55) respectively, a lifting seat (72) that can slide up and down on the guide rods (71), an auxiliary wheel (73) provided on the lifting seat (72) and located below the de-icing channel (401), and a third driving device (74) fixed to the guide rods (71) and used to drive the lifting seat (72) to move up and down along the guide rods (71). The auxiliary wheel (73) can be raised and lowered to the lower end of the cable (80) and travel along the lower end of the cable (80).

8. A vibration-type cable de-icing device based on a drone-mounted cable according to claim 1, characterized in that, The lower end of the frame (10) is provided with a cable inlet groove (12) that communicates with the de-icing channel (401) and is open downward. The cable inlet groove (12) is provided with locking parts (13) on both sides along the walking direction of the walking mechanism (30).

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