CN105736898A - High-voltage cable detecting robot capable of detecting heat source temperature - Google Patents
High-voltage cable detecting robot capable of detecting heat source temperature Download PDFInfo
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- CN105736898A CN105736898A CN201610117513.XA CN201610117513A CN105736898A CN 105736898 A CN105736898 A CN 105736898A CN 201610117513 A CN201610117513 A CN 201610117513A CN 105736898 A CN105736898 A CN 105736898A
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- heat source
- adjutage
- source temperature
- robot body
- arm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a high-voltage cable detecting robot capable of detecting a heat source temperature. The high-voltage cable detecting robot comprises a robot body; L-shaped shaft arms are respectively arranged on two sides of the robot body; free ends of the shaft arms are axially connected with rollers for enabling the robot body to advance or retreat in a cable pipe; and the rollers are butted against the inner wall of the cable pipe. The high-voltage cable detecting robot further comprises a driving motor for driving the rollers to rotate; and the robot body includes a control circuit inside. The robot is arranged in the cable pipe, and advances through the rollers to monitor the conditions in the pipe at any time; and the cable conditions can be examined in a section of linear pipe without needing to disassemble the pipe.
Description
Technical field
The present invention relates to the high tension cable measuring robots of a kind of detectable heat source temperature.
Background technology
At present, in a lot of cities or the high voltage wire cable in field or common cable all adopt pipeline wiring mode, be embedded in underground by pipeline, then again by cable from pipeline poling, the benefit of do so takes cable exactly away and to install cable very convenient；But, compare the mode that cable aloft connects up, it has a very big weakness, it is simply that when cable certain is damaged or leaks electricity, it is necessary to whole piece cable is released and could be checked, and is almost difficult at ordinary times safeguard, it is impossible to observe constantly.
Summary of the invention
It is an object of the invention to overcome disadvantages described above, it is provided that a kind of cable detection robot that can carry out real-time circling measurment in pipeline.
For achieving the above object, the concrete scheme of the present invention is as follows: the high tension cable measuring robots of a kind of detectable heat source temperature, include robot body, robot body both sides are equipped with L-shaped armshaft, the free end shaft of described armshaft is connected to the roller for making robot body move ahead in cable pipeline or retreat, roller and cable pipeline inwall against；Also include the drive motor rotated for driving rolls；Including a control circuit in described robot body, described control circuit includes power module, and described power module is for powering to drive motor and control circuit；Described control circuit also includes central processing unit, alarm device, the camera head of collection cable video information and communicator for passing the information on away, and described communicator, alarm device, camera head are connected with central processing unit signal respectively；Described camera head is located at below robot body；Described communicator includes communication chip and the communication antenna of signal connection with it, and described communication antenna is located at robot body's end face.
Wherein, described antenna includes cylinder, is provided with multiple antenna stack in described cylinder, and each antenna stack includes a communication oscillator.
Wherein, described communication oscillator includes PCB substrate, and described PCB substrate is provided with in upper and lower symmetrically arranged microstrip element；
Described each microstrip element includes the primary radiation arm of a few font, and one end of described primary radiation arm has vertically extended the first adjutage, and the other end of described primary radiation arm has vertically extended the second adjutage；Described first adjutage extends to the second adjutage side hexagonal first radiation zone, and described second adjutage extends to the first adjutage side hexagonal second radiation zone；The 3rd adjutage it is provided with between first radiation zone and the second radiation zone；
The both sides up and down of described first radiation zone and the both sides up and down of the second radiation zone are equipped with multiple engraved structure；Each hollow hole includes circular main aperture, extend to main aperture center respectively from top and the low side of circular main aperture T-shaped arm, the first radiation arm extended to side, main aperture center from two free ends of T-shaped arm, the secondary orifices outwards arranged respectively from main aperture both sides, the arcuate socket of arc that outwards arranges from secondary empty free end；
Also including two power feed hole for transmitting electric feed signal being located in PCB substrate, two power feed hole feed with T-shaped arm respectively.
Wherein, the described engraved structure quantity in each edge is 5-8.
Wherein, described first adjutage and the second adjutage all inwards extend obliquely the second next door arm.
Wherein, the free end of described first adjutage and the second adjutage has all extended upward the second radiation arm.
Wherein, the first radiation arm is provided with laciniation away from a side of the first radiation zone.
Wherein, the inner side edge of the second radiation arm is provided with laciniation.
Wherein, PCB substrate position octagon, and two ends are connected with cylinder by fixed arm.
Wherein, described control circuit also includes the heat source temperature detector of detection cable local temperature；Described heat source temperature detector is located at below robot body；
Wherein, described control circuit also includes the electric field intensity detector of detection electric field intensity；Described electric field intensity detector is located at below robot body.Described control circuit also includes the GPS locating module for positioning robot position.
The invention have the benefit that robot is moved ahead by roller by arranging this robot in cable pipeline, it is possible to the situation in pipeline be monitored at any time, in another section linear type pipeline, can check its cable situation without dismantling pipeline.
Accompanying drawing explanation
Fig. 1 is present invention structural representation when working in cable channel；
Fig. 2 is the theory diagram of the control circuit of the present invention；
Fig. 3 is the sectional view of the antenna of the present invention；
Fig. 4 is the top view of the communication oscillator of the present invention；
Fig. 5 is the partial enlarged drawing of this Fig. 4；
Fig. 6 is the return loss test figure of this antenna；
Fig. 7 is the isolation performance test figure of this antenna；
Fig. 8 is directional diagram during this antenna 2.4GHz；
Fig. 9 is directional diagram during this antenna 5.0GHz；
Description of reference numerals in Fig. 1 to Fig. 9:
1-pipeline；2-robot body；21-alarm device；22-camera head；23-electric field intensity detector；24-heat source temperature detector；25-communication antenna；3-drive motor；4-roller；5-armshaft；
A-cylinder；A1-PCB substrate；
B1-primary radiation arm；B21-the first adjutage；B22-the second adjutage；B31-the first radiation zone；B32-the second radiation zone；B4-the 3rd adjutage；B5-the second next door arm；B6-the second radiation arm；
B7-circle main aperture；B71-secondary orifices；B72-arcuate socket；B8-T shape arm；B81-the first radiation arm.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation, is not that the practical range of the present invention is limited thereto.
As shown in Figures 1 to 9, the high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, include robot body 2, robot body 2 both sides are equipped with L-shaped armshaft 5, the free end shaft of described armshaft 5 is connected to the roller 4 for making robot body 2 move ahead in cable pipeline 1 or retreat, roller 4 and cable pipeline 1 inwall against；Also include the drive motor 3 rotated for driving rolls 4；Including a control circuit in described robot body 2, described control circuit includes power module, and described power module is for powering to drive motor 3 and control circuit；Described control circuit also includes central processing unit, alarm device 21, gathers the camera head 22 of cable video information and the communicator for passing the information on away, and described communicator, alarm device 21, camera head 22 are connected with central processing unit signal respectively；Described camera head 22 is located at below robot body 2；Described communicator includes communication chip and the communication antenna 25 of signal connection with it, and described communication antenna 25 is located at robot body 2 end face；By arranging this robot in cable pipeline 1, robot is moved ahead by roller 4, it is possible to the situation in pipeline 1 be monitored at any time, can check its cable situation without dismantling pipeline 1 in another section linear type pipeline 1.Drive motor 3 driving rolls 4 rotates so that robot body 2 walks about forward or backward, and drive motor 3 is set to private and takes motor, it is possible to achieve precise positioning.Video data being gone out by communication device transfers in camera head 22 monitor in real time pipeline 1, present configuration is simple, reasonable in design, it is possible to the problem tearing pipeline 1 after being prevented effectively from local damage open.
The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, described antenna includes cylinder a, is provided with multiple antenna stack in described cylinder a, and each antenna stack includes a communication oscillator.The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, described communication oscillator includes PCB substrate A1, described PCB substrate A1 and is provided with in upper and lower symmetrically arranged microstrip element；Described each microstrip element includes the primary radiation arm b1 of a few font, and one end of described primary radiation arm b1 has vertically extended the first adjutage b21, and the other end of described primary radiation arm b1 has vertically extended the second adjutage b22；Described first adjutage b21 extends to the second adjutage b22 side hexagonal first radiation zone b31, and described second adjutage b22 extends to the first adjutage b21 side hexagonal second radiation zone b32；It is provided with the 3rd adjutage b4 between first radiation zone b31 and the second radiation zone b32；The both sides up and down of described first radiation zone b31 and the both sides up and down of the second radiation zone b32 are equipped with multiple engraved structure；Each hollow hole includes circular main aperture b7, extend to main aperture center respectively from top and the low side of circular main aperture b7 T-shaped arm B8, the first radiation arm b81 extended to side, main aperture center from two free ends of T-shaped arm B8, the secondary orifices b71 outwards arranged respectively from main aperture both sides, the arcuate socket b72 of arc that outwards arranges from secondary empty free end；Also including two power feed hole for transmitting electric feed signal being located on PCB substrate A1, two power feed hole feed with T-shaped arm B8 respectively.
By substantial amounts of microstrip circuit structural design, and under substantial amounts of l-G simulation test and parameter adjustment, finally determine above-mentioned antenna structure；This antenna after feeding coupling by multiple antenna stacks simultaneously, and it shows excellent electric performance at 2.4GHz and 5.0GHz, specifically such as Fig. 6, on average reaches 9.65dBi near this frequency range under bandwidth；And other electric properties also have comparatively excellent result, its return loss is superior to-15dB in the return loss of 2.4-2.48GHz frequency range and 5.15-5.875GHz frequency range；Such as Fig. 7, isolation is better than-20dB at the isolation loss of 2.4-2.48GHz and 5.15-5.875GHz frequency range.Prove that this antenna itself possesses good performance；It addition, its directivity of this antenna, as shown in Figure 8 and Figure 9, under two frequency, it is omni-directional antenna.Therefore, it can so that can stablize and efficiently and accurately when robot transmits signal in pipeline 1 more.
The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, the described engraved structure quantity in each edge is 5-8.The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, described first adjutage b21 and the second adjutage b22 all inwards extends obliquely the second next door arm b5.The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, the free end of described first adjutage b21 and the second adjutage b22 has all extended upward the second radiation arm b6.The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, the first radiation arm b81 is provided with laciniation away from a side of the first radiation zone b31.The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, the inner side edge of the second radiation arm b6 is provided with laciniation.The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, PCB substrate A1 position octagon, and two ends are connected with cylinder a by fixed arm.Being found by test of many times, if meeting above-mentioned specification, the performance of antenna will optimize more, and especially in return loss, its return loss is superior to-17dB in the return loss of 2.4-2.48GHz frequency range and 5.15-5.875GHz frequency range.
The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, described control circuit also includes the heat source temperature detector 24 of detection cable local temperature；Described heat source temperature detector 24 is located at below robot body 2；Heat source temperature detector 24 can detect heat source temperature, finds in time to have short circuit or the excessive place of local current, prevents trouble before it happens.
The high tension cable measuring robots of a kind of detectable heat source temperature described in the present embodiment, described control circuit also includes the electric field intensity detector 23 of detection electric field intensity；Described electric field intensity detector 23 is located at below robot body 2.Ibid, it is possible to detect the place of local strong electromagnetic or electric field, prevent trouble before it happens.Described control circuit also includes the GPS locating module for positioning robot position；The position of robot can be accurately positioned out, facilitate and find robot when robot fault.
The above is only a preferred embodiment of the present invention, therefore all equivalences done according to the structure described in present patent application scope, feature and principle change or modify, and are included in the protection domain of present patent application.
Claims (9)
1. the high tension cable measuring robots of a detectable heat source temperature, it is characterized in that: ' include robot body (2), robot body (2) both sides are equipped with L-shaped armshaft (5), the free end shaft of described armshaft (5) is connected to the roller (4) for making robot body (2) move ahead in cable pipeline (1) or retreat, roller (4) and cable pipeline (1) inwall against；Also include the drive motor (3) rotated for driving rolls (4)；Including a control circuit in described robot body (2), described control circuit includes power module, and described power module is for powering to drive motor (3) and control circuit；Described control circuit also includes central processing unit, alarm device (21), gathers the camera head (22) of cable video information and the communicator for passing the information on away, and described communicator, alarm device (21), camera head (22) are connected with central processing unit signal respectively；Robot body (2) lower section is located at by described camera head (22)；Described communicator includes communication chip and the communication antenna (25) of signal connection with it, and described communication antenna (25) is located at robot body (2) end face；
Described control circuit also includes the heat source temperature detector (24) of detection cable local temperature；Described heat source temperature detector (24) is located at robot body (2) lower section.
2. the high tension cable measuring robots of a kind of detectable heat source temperature according to claim 1, it is characterised in that: described antenna includes cylinder (a), is provided with multiple antenna stack in described cylinder (a), and each antenna stack includes a communication oscillator.
3. the high tension cable measuring robots of a kind of detectable heat source temperature according to claim 2, it is characterised in that: described communication oscillator includes PCB substrate (A1), and described PCB substrate (A1) is provided with in upper and lower symmetrically arranged microstrip element；
Described each microstrip element includes the primary radiation arm (b1) of a few font, and one end of described primary radiation arm (b1) has vertically extended the first adjutage (b21), and the other end of described primary radiation arm (b1) has vertically extended the second adjutage (b22)；Described first adjutage (b21) is extended to the second adjutage (b22) side hexagonal first radiation zone (b31), and described second adjutage (b22) is extended to the first adjutage (b21) side hexagonal second radiation zone (b32)；The 3rd adjutage (b4) it is provided with between first radiation zone (b31) and the second radiation zone (b32)；
The both sides up and down of described first radiation zone (b31) and the both sides up and down of the second radiation zone (b32) are equipped with multiple engraved structure；Each hollow hole includes circular main aperture (b7), extend to main aperture center respectively from top and the low side of circular main aperture (b7) T-shaped arm (B8), the first radiation arm (b81) extended to side, main aperture center from two free ends of T-shaped arm (B8), the secondary orifices (b71) outwards arranged respectively from main aperture both sides, the arcuate socket (b72) of arc that outwards arranges from secondary empty free end；
Also including two power feed hole for transmitting electric feed signal being located in PCB substrate (A1), two power feed hole feed with T-shaped arm (B8) respectively.
4. the high tension cable measuring robots of a kind of detectable heat source temperature according to claim 3, it is characterised in that: the described engraved structure quantity in each edge is 5-8.
5. the high tension cable measuring robots of a kind of detectable heat source temperature according to claim 3, it is characterised in that: described first adjutage (b21) and the second adjutage (b22) all inwards extend obliquely the second next door arm (b5).
6. the high tension cable measuring robots of a kind of detectable heat source temperature according to claim 3, it is characterised in that: the free end of described first adjutage (b21) and the second adjutage (b22) has all extended upward the second radiation arm (b6).
7. the high tension cable measuring robots of a kind of detectable heat source temperature according to claim 3, it is characterised in that: the first radiation arm (b81) is provided with laciniation away from a side of the first radiation zone (b31).
8. the high tension cable measuring robots of a kind of detectable heat source temperature according to claim 6, it is characterised in that: the inner side edge of the second radiation arm (b6) is provided with laciniation.
9. the high tension cable measuring robots of a kind of detectable heat source temperature according to claim 3, it is characterised in that: PCB substrate (A1) position octagon, and two ends are connected with cylinder (a) by fixed arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610117513.XA CN105736898A (en) | 2016-03-02 | 2016-03-02 | High-voltage cable detecting robot capable of detecting heat source temperature |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610117513.XA CN105736898A (en) | 2016-03-02 | 2016-03-02 | High-voltage cable detecting robot capable of detecting heat source temperature |
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| Publication Number | Publication Date |
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| CN105736898A true CN105736898A (en) | 2016-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610117513.XA Pending CN105736898A (en) | 2016-03-02 | 2016-03-02 | High-voltage cable detecting robot capable of detecting heat source temperature |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018036093A1 (en) * | 2016-08-25 | 2018-03-01 | 凌企芳 | Smart unmanned aerial vehicle utilized in power line inspection |
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| CN202352825U (en) * | 2011-10-19 | 2012-07-25 | 佛山市健博通电讯实业有限公司 | Print format type dual-frequency broadband vibrator plate |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN105067961A (en) * | 2015-09-18 | 2015-11-18 | 江健良 | High-voltage power station cable detection device |
| CN105292470A (en) * | 2015-11-26 | 2016-02-03 | 李万 | Unmanned aerial vehicle for power line detection |
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2016
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Patent Citations (7)
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|---|---|---|---|---|
| US20030089267A1 (en) * | 2001-10-17 | 2003-05-15 | William Marsh Rice University | Autonomous robotic crawler for in-pipe inspection |
| CN2556639Y (en) * | 2002-07-24 | 2003-06-18 | 东营柯林瑞尔科技有限责任公司 | Intelligent robot for pipeline detection |
| CN101576600A (en) * | 2009-05-15 | 2009-11-11 | 重庆大学 | Self-walking underground cable failure detection intelligent instrument |
| CN202352825U (en) * | 2011-10-19 | 2012-07-25 | 佛山市健博通电讯实业有限公司 | Print format type dual-frequency broadband vibrator plate |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN105067961A (en) * | 2015-09-18 | 2015-11-18 | 江健良 | High-voltage power station cable detection device |
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| WO2018036093A1 (en) * | 2016-08-25 | 2018-03-01 | 凌企芳 | Smart unmanned aerial vehicle utilized in power line inspection |
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Application publication date: 20160706 Application publication date: 20160706 |