CN113466610B - Cable tunnel obstacle removing device and cable tunnel obstacle removing method - Google Patents
Cable tunnel obstacle removing device and cable tunnel obstacle removing method Download PDFInfo
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- CN113466610B CN113466610B CN202110580062.4A CN202110580062A CN113466610B CN 113466610 B CN113466610 B CN 113466610B CN 202110580062 A CN202110580062 A CN 202110580062A CN 113466610 B CN113466610 B CN 113466610B
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 230000008439 repair process Effects 0.000 claims abstract description 31
- 230000004888 barrier function Effects 0.000 claims abstract description 17
- 238000004868 gas analysis Methods 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 14
- 210000000078 claw Anatomy 0.000 claims abstract description 10
- 238000009413 insulation Methods 0.000 claims description 50
- 238000007599 discharging Methods 0.000 claims description 43
- 239000000463 material Substances 0.000 claims description 33
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 26
- 230000006378 damage Effects 0.000 claims description 20
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 13
- 239000001301 oxygen Substances 0.000 claims description 13
- 229910052760 oxygen Inorganic materials 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 8
- 238000005286 illumination Methods 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 5
- 238000009529 body temperature measurement Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 238000004457 water analysis Methods 0.000 claims description 4
- 239000003292 glue Substances 0.000 claims description 3
- 238000002372 labelling Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
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- 230000002265 prevention Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/083—Locating faults in cables, transmission lines, or networks according to type of conductors in cables, e.g. underground
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0003—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiant heat transfer of samples, e.g. emittance meter
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1263—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation
- G01R31/1272—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation of cable, line or wire insulation, e.g. using partial discharge measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention relates to a cable tunnel barrier removing device and a cable tunnel barrier removing method, belonging to the technical field of cable tunnel barrier removing devices; the device comprises a body, wherein a travelling mechanism, a path drawing system, a cable clamping mechanism, an image acquisition mechanism, a communication system, a control system, a lighting system, a gas analysis system and a fault detection system are arranged on the body; the obstacle removing device is matched with a remote control operation device, and is in wireless connection with the remote control operation device and the background server through a communication system; the cable clamping mechanism comprises a telescopic clamping arm and a clamping claw, wherein the clamping claw is connected with a clamping wheel through a connecting piece, and the clamping wheel rotates through a driving motor; the rear end of the body is provided with an additional installation part, the additional installation part is provided with an emergency repair system, the emergency repair system comprises a constant-temperature storage box, a discharge pipe, a discharge head, a pump and a repair device, one end of the discharge pipe is connected with the discharge head, and the other end of the discharge pipe is connected with the constant-temperature storage box through the pump; the problem of lack the pilot unit who is applicable to the cable gallery at present is solved.
Description
Technical Field
The invention belongs to the technical field of cable tunnel barrier removing devices, and particularly relates to a cable tunnel barrier removing device and a cable tunnel barrier removing method.
Background
Different from a cable tunnel, the environment in the cable tunnel is cramped, the cables are distributed in a large amount, and personnel are difficult to enter the cable tunnel. And the cable insulation is damaged or is punctured and other faults, if the faults can not be found and repaired in time, larger accidents are often caused.
In the prior art, the Chinese patent CN 209007531U is hung on a robot track close to a cable to move, and meanwhile, a monitoring component is driven by a plurality of telescopic mechanical arms, so that the cable can be observed in an approaching and multi-angle mode. However, the above solution is only applicable to cable tunnels and is not applicable to cable tunnels where it is not suitable to lay tracks. Meanwhile, a plurality of extending mechanical arms are easily wound and blocked by cables and are not suitable for narrow environments of cable tunnels.
Simultaneously, current intelligence inspection vehicle can't accurate mark to the damaged position of cable in the gallery, especially, cable gallery inside has many cables usually, even the intelligence inspection vehicle has carried out the GPS mark to the fault location, later stage staff also need to investigate one by one just can discover.
Simultaneously, current intelligence inspection car or pipeline inspection car can't be difficult to in time effectual repair to the cable fault point for the trouble still exists.
Common faults or risks in the cable tunnel include cable insulation damage, heating, cable connector falling, overhigh humidity and water accumulation.
Disclosure of Invention
In order to overcome the difficulties, the invention provides a cable tunnel barrier removing device and a cable tunnel barrier removing method, which can flexibly move forwards in a cable tunnel, find a cable fault point in time, carry out effective identification, rapidly and emergently repair the damaged point, and facilitate the subsequent maintenance of an operator; the problem of lack the pilot unit who is applicable to the cable gallery at present is solved.
In order to achieve the above object, the present invention is achieved by the following technical solutions.
A cable tunnel obstacle removing device and a cable tunnel obstacle removing method comprise a body, wherein the body is provided with a travelling mechanism, a path drawing system, a cable clamping mechanism, an image acquisition mechanism, a communication system, a control system, an illumination system, a gas analysis system and a fault detection system; the rear end of the body is connected with an installing part, and an emergency repair system is arranged on the installing part;
the obstacle removing device is matched with a remote control operation device, and is in wireless connection with the remote control operation device and the background server through a communication system;
the rear end of the body is provided with an additional part, driven wheels are arranged on two sides of the additional part, and an emergency repair system is arranged on the additional part;
the front part of the body is conical, and the upper part of the body is provided with an opening; the walking mechanism is a plurality of groups of walking wheels arranged on two sides of the body, a steering mechanism capable of steering 90 degrees is arranged on the walking wheels, and the highest point of the walking wheels is higher than the top of the body, so that the obstacle removing device is not prone to overturning when walking in a cable tunnel;
the car coupler is detachably connected with the body through a car coupler at the front end of the car coupler, driven wheels are arranged on two sides of the mounting part, the highest point of each driven wheel is higher than the top of the mounting part, telescopic bearing rods are symmetrically and rotatably connected to two sides of the body and can rotate in the horizontal direction, a bearing sliding block is arranged at one end, away from the body, of each telescopic bearing rod, sliding grooves in the walking direction are symmetrically arranged on two sides of the front end of the mounting part, a notch is formed in the front end of each sliding groove, and the bearing sliding blocks are in sliding connection in the sliding grooves;
the remote control operation device is provided with a display screen, the display screen can display a path map and a mark point, an operator can mark the type of a fault at the mark point on the display screen and simultaneously intercept a picture shot by the image acquisition mechanism; the path map, the marking points and the intercepted pictures are transmitted and stored in a background server;
the body is provided with an image acquisition mechanism containing cabin, the image acquisition mechanism is arranged in the image acquisition mechanism containing cabin and comprises a first support arm, a second support arm, an auxiliary support arm and an image acquisition device, the lower end of the first support arm is hinged to a bottom plate of the image acquisition mechanism containing cabin, the lower end of the second support arm is hinged to the upper end of the first support arm through a rotating shaft, the upper end of the second support arm is hinged to the image acquisition device through a rotating shaft, a certain angle exists between the first support arm and the bottom plate of the image acquisition mechanism containing cabin, the upper end of the auxiliary support arm is hinged to the first support arm, the hinged position is close to the rotating shaft of the first support arm and the rotating shaft of the second support arm, the lower end of the auxiliary support arm is connected to a guide rail on the bottom plate of the image acquisition mechanism containing cabin in a sliding mode, the image acquisition device comprises a holder and a camera, the holder is of a plate-shaped structure, and one end of the holder is hinged to the upper end of the second support arm through a rotating shaft; the camera is arranged on the upper end surface of the holder;
the cable clamping mechanism comprises a first clamping arm, a second clamping arm and a clamping claw, wherein two ends of the second clamping arm are respectively hinged with the first clamping arm and the clamping claw, the first clamping arm is of a telescopic structure, the clamping claw comprises a connecting piece and a clamping wheel, the connecting piece comprises an upper connecting piece and a lower connecting piece, the upper connecting piece and the lower connecting piece are hinged with each other at the joint, a downward clamping wheel support is arranged on the upper connecting piece, an upward clamping wheel support is arranged on the lower connecting piece, the clamping wheel and a driving motor are arranged on the clamping wheel support, an output shaft of the driving motor is connected with the clamping wheel, all clamping wheel axes are parallel, a cable clamping mechanism accommodating cabin is further arranged inside the body, the cable clamping mechanism is arranged in the cable clamping mechanism accommodating cabin, a horizontal rotating seat is arranged on a bottom plate of the cable clamping mechanism accommodating cabin, the lower end of the first clamping arm is rotatably connected with the horizontal rotating seat, the upper end of the first clamping arm is rotatably connected with the lower end of the second clamping arm through a first joint, the upper end of the second clamping arm is hinged with the connecting piece through a second joint, and a rotating shaft of the second clamping arm is coaxial with the second clamping arm;
the emergency repairing system comprises a constant-temperature storage box, a discharge pipe, a discharge head, a pump and a repairing device, wherein one end of the discharge pipe is connected with the discharge head, the other end of the discharge pipe is connected with the constant-temperature storage box through the pump, the repairing device comprises a discharge device, an adaptor and an operating arm, the discharge device and the adaptor are arranged above the operating arm, the discharge device is arranged above the adaptor, the discharge device is arranged on the operating arm through a telescopic structure, a containing cavity is formed between the discharge device and the adaptor in a sealing fit mode, and the diameter of the containing cavity is larger than the outer diameter of a cable to be repaired; the lower end of the operating arm is fixed on the loading part, the discharging device and the adaptor are connected to the loading part through the operating arm, the insulating repair material is heated and stored in the constant-temperature storage box, a discharging hole is formed in the discharging device, an outlet of the discharging hole is formed in the accommodating cavity, a discharging head is inserted into an inlet of the discharging hole, and a pressure sensor is arranged at the inner top of the discharging device;
the path drawing system comprises a laser radar, a positioning device and a path map drawing module, the gas analysis system comprises a micro-water analysis module, an oxygen analysis module and a methane analysis module, and the fault detection system comprises an infrared temperature measurement module and a discharge detection module;
the lighting system comprises a plurality of lighting lamps, wherein the lighting lamps comprise front lamps positioned in the front of the body, rear lamps positioned in the rear of the body and the rear of the installing part, auxiliary camera lamps positioned beside the camera on the holder, and auxiliary operation lamps positioned on the top end of the clamping mechanism.
Further, the insulation repairing material has a marking color; the insulation repairing material is liquefied insulation glue and can be solidified at room temperature.
Further, the identification color is a color different from the color of the cable sheath.
Furthermore, a pressure sensor is arranged at the top in the discharging device, and when the pressure sensor monitors that the accommodating cavity is filled with the insulation repairing material, the pump stops adding the insulation repairing material.
Furthermore, the obstacle removing device also comprises a power system and a power system, wherein the power system comprises a power battery, and the power battery is connected with the travelling wheels; the power supply system is used for supplying power to the whole device.
Further, the cable clamping mechanism comprises a driving motor, the driving motor is connected with the clamping wheel, and the driving motor can drive the clamping wheel to rotate; the cable clamping mechanism further comprises a motor for driving the clamping arm and the clamping jaw.
Furthermore, the control system receives an instruction from the remote control operation device transmitted by the communication system, controls each system to execute the instruction, analyzes the acquired data and uploads the data to the remote control operation device through the communication system.
The method for carrying out cable tunnel obstacle clearance by using the cable tunnel obstacle clearance device comprises the following steps:
1) An additional part with an emergency repair system is arranged behind the body, and the body is connected with the additional part;
2) Adding an insulation repairing material into the constant-temperature storage box, opening the constant-temperature storage box, heating to a set temperature and keeping the constant temperature; mounting a brand-new discharging head and a brand-new discharging pipe;
3) Operating the cable tunnel barrier removing device to enter the cable tunnel;
4) Operating the cable tunnel obstacle removing device to open a path drawing system, an image acquisition mechanism, an illumination system, a gas analysis system and a fault detection system;
5) When an obstacle is observed on the ground of the front tunnel and the travelling wheel cannot pass by, operating the travelling wheel to rotate by 90 degrees leftwards or rightwards, enabling the cable tunnel obstacle removing device to move transversely to avoid the obstacle, and then rotating to continue to move forwards;
6) When an obstacle is observed on the front tunnel ground and the travelling wheels cannot cross or avoid the obstacle, operating the cable clamping mechanism to enable the clamping wheels to be matched with each other to clamp a thicker cable, cable bundle or bracket on the tunnel, controlling a first clamping arm of the cable clamping mechanism to contract to enable the cable tunnel obstacle removing device to be separated from the tunnel ground, suspending on the cable, cable bundle or bracket, controlling a driving motor to rotate to drive the clamping wheels to rotate, clamping the cable, cable bundle or bracket by using the clamping wheels to roll forwards, and returning to the tunnel ground after crossing the obstacle;
7) When an insulation damage point of the cable is detected, operating the cable tunnel barrier removing device to send alarm information to the remote control operation device, wherein the alarm information comprises the temperature of the damage point, the discharge intensity, the micro water, the oxygen and the methane content; the path drawing system sets a marking point to mark the position; the labeling information comprises the content of micro water, oxygen and methane detected by a gas analysis system;
8) After receiving the insulation damage alarm information, an operator operates the clamping mechanism to move the clamping wheel to the position near the cable damage point, the clamping wheel fixer fixes the clamping wheel, and the clamping wheel clamps the cable, so that the shaking of the cable is reduced in the subsequent operation; then the discharging device and the adaptor are operated to cover the cable damage point, a pump switch is turned on, the insulation repair material enters the accommodating cavity through the discharging pipe and the discharging head, when the accommodating cavity is filled with the insulation repair material, the pressure sensor gives an alarm, and the pump automatically stops running; the insulation repairing material is gradually cooled and solidified in the accommodating cavity to form an insulation repairing layer with a mark color; an operator operates the discharging device and the adaptor to open and retract; an operator operates the clamping wheel to open and retract;
9) And the operator controls the cable clamping mechanism to retract into the cable clamping mechanism accommodating cabin to finish the emergency insulation repair.
Compared with the prior art, the invention has the following beneficial effects:
(1) The cable tunnel obstacle removing device provided by the invention is different from a cable tunnel with a wide and flat bottom, the cable tunnel is narrow, some tunnel cables are arranged in a mess, and a large-size overhauling unmanned vehicle cannot pass through the cable tunnel. The cable tunnel barrier removing device is small in transverse area, can walk in a cable tunnel, can be hung on a thick cable or a cable bundle or a bracket to slide, and is fully suitable for various complex conditions of the cable tunnel. The arrangement of the additional installation part can integrate various additional functions, and the movable connection between the additional installation part and the body can also make the turning at the corner of the tunnel easier. When the cable clamping mechanism on the body is suspended to pass through an obstacle, the telescopic bearing rods on the left side and the right side can bear the weight of the installation part, so that the installation part and the body are integrally suspended.
(2) The cable tunnel obstacle removing device provided by the invention can mark fault points in time, so that the subsequent treatment by workers is convenient. Firstly, when a path and a map are drawn, marking can be carried out at a fault point, so that an operator can know the fault position; and secondly, the cable breakage point is wrapped and repaired by using the insulation repairing material with the identification color, so that follow-up operators can find out which point of which cable is broken.
(3) The cable tunnel obstacle removing device provided by the invention can immediately carry out temporary wrapping and repairing when a cable damage point is found, and prevent a larger accident caused by electric leakage. The cable clamping mechanism clamps the cable, and the cable clamping mechanism and the emergency repair system are matched to operate so that the insulation repair work is more stable and faster.
(4) According to the cable tunnel obstacle removing device, the gas analysis system can provide safety early warning for operators to enter the tunnel subsequently. The micro-water analysis module can judge the humidity near the fault point, and avoids the condition that the operating personnel is injured by electric shock caused by the discharge of a cable damage point in air due to overhigh humidity; the oxygen analysis module and the methane analysis module analyze the oxygen amount and the methane amount at the damaged point, and the operation personnel entering the tunnel are prevented from being exposed in the harmful environment.
Drawings
The invention is described in further detail below with reference to the accompanying drawings:
FIG. 1 is a side view of the body of the present invention;
FIG. 2 is an oblique view of the body of the present invention;
FIG. 3 is a schematic view of the structure of the body and the attachment portion of the present invention;
FIG. 4 is a schematic structural diagram of an image capturing mechanism according to the present invention;
FIG. 5 is a schematic view of the cable clamping mechanism of the present invention;
FIG. 6 is a schematic view of the emergency repair mechanism of the present invention;
the device comprises a body 1, an additional part 2, a traveling mechanism 3, a cable clamping mechanism 4, an image acquisition mechanism 5, a gangue prevention device connecting plate 6, an opening 11, a telescopic bearing rod 12, a bearing slide block 13, a chute 14, a traveling wheel 31, a first clamping arm 41, a second clamping arm 42, a connecting piece 43, a clamping wheel 44, a first supporting arm 51, a second supporting arm 52, an auxiliary supporting arm 53, a cradle head 54, a camera 55, a constant-temperature storage box 61, a discharge pipe 62, a discharge head 63, a discharge device 64, a receiver 65 and an operating arm 66.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail with reference to the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The technical solution of the present invention is described in detail below with reference to the embodiments and the drawings, but the scope of protection is not limited thereto.
As shown in fig. 1-2, the invention provides a cable tunnel obstacle removing device, which comprises a body, wherein a traveling mechanism 3, a path drawing system, a cable clamping mechanism 4, an image acquisition mechanism 5, a communication system, a control system, an illumination system, a gas analysis system and a fault detection system are arranged on the body; the obstacle removing device is matched with a remote control operation device, and the obstacle removing device is in wireless connection with the remote control operation device and the background server through a communication system.
The front end of the body is of a conical structure, the rear end of the body is of a cubic structure, and an opening 11 is formed in the top of the rear end.
The rear end of body 1 is provided with installs portion additional, install portion 2 additional and be the cube structure, install portion 2 both sides additional and be provided with both sides from the driving wheel, the highest point from the driving wheel is higher than the height at install portion 2 top additional. The front end of the additional installation part 2 is provided with a car coupler which is horizontally arranged, and the additional installation part 2 is connected with the body 1 at the front end through the car coupler.
The bilateral symmetry of body 1 rotates and is connected with flexible bearing bar 12, flexible bearing bar 12 can rotate at the horizontal direction, and the one end that the body was kept away from to flexible bearing bar 12 is provided with bearing slider 13, the front end bilateral symmetry of portion 2 of installing additional is provided with the spout 14 of walking direction, the front end of spout 14 is provided with the notch, and bearing slider 13 follows the notch is placed inside spout 14, bearing slider 13 is in spout 14 sliding connection. When the body 1 is turning at a large angle, the bearing sliding block 13 can slide in the sliding groove 14, so that the bending angle between the body 1 and the additional installation part 2 is adjusted, and the turning of the whole device is facilitated.
The body 1 and the additional installation part 2 are made of light materials so as to be convenient for suspension.
The remote control operation device is provided with a display screen, the display screen can display a path map and marking points, an operator can mark the type of a fault at the marking points on the display screen, and meanwhile, pictures shot by the image acquisition mechanism are intercepted; and transmitting and storing the path map, the marking points and the intercepted pictures in a background server.
The body 1 is provided with an image acquisition mechanism containing cabin for the image acquisition mechanism is arranged on the body 1, and the image acquisition mechanism can be stored when the image acquisition is not carried out or the cable hangs down and is easily wound on the support arm.
The image acquisition mechanism comprises a first support arm 51, a second support arm 52, an auxiliary support arm 53 and an image collector, wherein the lower end of the first support arm 51 is hinged on a bottom plate of the accommodating cabin of the image acquisition mechanism, the lower end of the second support arm 52 is hinged with the upper end of the first support arm 51 through a rotating shaft, and the upper end of the second support arm 52 is hinged with the image collector through a rotating shaft. The first support arm and the bottom plate of the accommodating cabin of the image acquisition mechanism form a certain angle, the upper end of the auxiliary support arm 53 is hinged with the first support arm 51, the hinged part is close to a rotating shaft of the first support arm and the second support arm, the lower end of the auxiliary support arm 53 is slidably connected on a guide rail on the bottom plate of the accommodating cabin of the image acquisition mechanism, and the angle of the first support arm 51 can be adjusted by controlling the sliding position of the lower end of the auxiliary support arm, so that the height of the upper end of the second support arm 52 can be adjusted. The image collector comprises a holder 54 and a camera 55, the holder 54 is of a plate-shaped structure, and one end of the holder is hinged to the upper end of the second support arm 52 through a rotating shaft; the camera 55 is disposed on the upper end surface of the pan/tilt head 54.
The cable gripping mechanism 4 comprises a first gripping arm 41, a second gripping arm 42 and a gripping claw. The clamping jaw comprises a connecting piece 43 and a clamping wheel 44, the connecting piece 43 comprises an upper connecting piece and a lower connecting piece, the upper connecting piece and the lower connecting piece are hinged at the joint, and the upper connecting piece and the lower connecting piece can be opened and tightened through a hinged structure. A connecting cross rod is arranged at the end part of the upper connecting piece, two downward clamping wheel brackets are arranged at the two ends of the connecting cross rod, and two upper clamping wheels are rotatably connected to the clamping wheel brackets; the end part of the lower connecting piece is provided with an upward clamping wheel support, and a lower clamping wheel is rotatably connected to the clamping wheel support. The axis of the lower clamping wheel is positioned below the midpoint lines of the two upper clamping wheels. The middle of the clamping wheels 44 is a concave arc structure which is more suitable for the shape of a cable, and the arc structures of the two upper clamping wheels and the arc structure of one lower clamping wheel form a channel for accommodating the cable, a cable bundle or a bracket; the clamping wheel 44 is fixedly connected with the clamping wheel bracket by a clamping wheel holder. The cable clamping mechanism 4 comprises a driving motor, the driving motor is connected with the clamping wheel, and the driving motor can drive the clamping wheel to rotate. The cable gripping mechanism 4 further comprises a motor driving the gripping arms and the gripping claws.
The cable clamping mechanism accommodating cabin is further arranged inside the body 1, the cable clamping mechanism 4 is arranged in the cable clamping mechanism accommodating cabin, and the cable clamping mechanism can be accommodated when the cable is not clamped or hung in the hanging mode or when the cable is hung down and easily winds the clamping arm.
The bottom plate of the cable clamping mechanism accommodating cabin is provided with a horizontal rotating seat, the lower end of the first clamping arm 41 is rotatably connected with the horizontal rotating seat, the upper end of the first clamping arm 41 is rotatably connected with the lower end of the second clamping arm 42 through a first joint, and the upper end of the second clamping arm 42 is hinged with the connecting piece 43 through a second joint. The rotating shaft of the first joint is horizontally arranged, and the rotating shaft of the second joint is coaxial with the first clamping arm. The first clamping arm is of a telescopic structure.
When the cable pit ground has an obstacle which cannot be crossed, an operator operates the cable clamping mechanism 4 to enable the clamping wheels 44 to clamp a thick cable, a cable bundle or a support on the pit, the cable clamping mechanism 4 is contracted to enable the cable pit obstacle removing device to be separated from the pit ground and hung on the cable, the cable bundle or the support, the cable bundle or the support is clamped by the arc-shaped structures of the clamping wheels 44 to roll forwards, and the cable, the cable bundle or the support is placed on the ground after crossing the obstacle. In the process, the image capturing mechanism can be operated to continuously adjust the first support arm 51 and the second support arm 52, so that the mobile lighting device provides auxiliary lighting for the operation.
When the clamping wheel 44 above the body clamps a thicker cable, cable bundle or bracket on the tunnel to suspend the body, the mounting part 2 is suspended, and the left and right telescopic load-bearing rods 12 are matched with the coupler to bear the weight of the mounting part 4, so that the coupler is not broken by the weight of the mounting part 4, and the mounting part 4 is prevented from shaking left and right.
The path drawing system comprises a laser radar, a positioning device and a path map drawing module.
The gas analysis system comprises a micro-water analysis module, an oxygen analysis module and a methane analysis module. The tunnel is closed all the year round, and the problems of water accumulation, insufficient oxygen, over-standard methane and the like easily occur. The high level of micro-water in the air in the tunnel will result in excessive humidity, short circuit at the fault point and possible injury to the operators. Insufficient oxygen and excessive methane will expose the workers subsequently entering the tunnel to a hazardous environment. Therefore, the gas analysis is carried out on the tunnel, so that the safety of operators can be effectively guaranteed, and the short circuit risk is reduced.
The fault detection system comprises an infrared temperature measurement module and a discharge detection module. The infrared temperature measurement module measures whether the temperature of the cable or the cable joint is normal or not, whether an abnormal heating point exists or not, and the discharge detection module measures whether the temperature of the cable or the cable joint has a discharge phenomenon or not. And the operator can further judge whether the fault or the hidden trouble point exists.
The obstacle deflector also comprises an emergency repair system 6 arranged on the retrofit part 2. The emergency repair system 6 comprises a constant-temperature storage tank 61, a discharge pipe 62, a discharge head 63, a pump and a repair device. The repairing device comprises a discharging device 64, a receiver 65 and an operating arm 66, wherein the discharging device 64 and the receiver 65 are arranged above the operating arm 66, the discharging device 64 is arranged above the receiver 65, the discharging device is arranged on the operating arm through a telescopic structure, and the discharging device can be vertically telescopic on the operating arm. The discharging device 64 and the adaptor 65 are in sealing fit to form an accommodating cavity, the diameter inside the accommodating cavity is larger than the outer diameter of the cable to be repaired, closed ends are arranged at two ends of the accommodating cavity, a closed hole is formed in each closed end, a rubber layer is arranged at the inner end of each closed hole, the inner diameter of each rubber layer is slightly smaller than the outer diameter of the cable to be repaired, when the discharging device 64 and the adaptor 65 are in sealing fit, each closed hole is closed, the rubber layers are in close contact with the cable to be repaired, and the repairing materials inside cannot leak out; the lower end of the operating arm 66 is fixed to the loading section 2, and the discharging unit 64 and the receiving unit 65 are connected to the loading section 2 by the operating arm 66.
One end of the discharge pipe 62 is connected with the discharge head 63, the other end of the discharge pipe is connected with the constant temperature storage tank 61 through a pump, and the constant temperature storage tank 61 is internally heated and stored with an insulation repair material. A discharge hole is formed in the discharging device 64, an outlet of the discharge hole is formed in the accommodating cavity, and a discharge head 63 is inserted into an inlet of the discharge hole; when the cable repair device is started, liquid insulating repair materials flow into the accommodating cavity from the constant-temperature storage box 61 through the discharge pipe 62 and the discharge head 63, wrap a cable section to be repaired, and solidify after cooling to form an outer insulation layer.
The inner walls of the discharging device 64 and the adapter 65 are provided with isolation layers, and the isolation layers prevent the cooled and solidified insulation repairing material from adhering to the inner sides of the discharging device 64 and the adapter 65.
The top of the discharger 64 is provided with a pressure sensor, and when the pressure sensor detects that the accommodating cavity is filled with the insulation repairing material, the pump stops adding the insulation repairing material.
The insulation repairing material is liquefied insulation glue and can be solidified at room temperature. The insulation repairing material has a marking color which is a color different from the color of the cable sheath, such as white, so that a subsequent operator can conveniently identify and observe which part of the cable is subjected to temporary insulation repairing, and the subsequent treatment, such as re-wiring or repairing, is facilitated.
The discharge head 63 and the discharge pipe 62 are disposable products with low cost and are not reused. After the emergency repair is completed, the insulation repair material remained in the discharge head and the discharge pipe is cooled and solidified to block the discharge head and the discharge pipe, and the discharge head and the discharge pipe cannot be completely removed even if being washed in time, so that the next use is influenced, and therefore, the disposable discharge head 63 and the discharge pipe 62 have the advantages of low cost and good discharge effect.
The lighting system comprises a plurality of lighting lamps, wherein the lighting lamps comprise front lamps positioned in the front of the body, rear lamps positioned in the rear of the body and the rear of the installing part, auxiliary camera lamps positioned beside the camera on the holder, and auxiliary operation lamps positioned on the top end of the clamping mechanism.
The control system receives the instruction from the remote control operation device transmitted by the communication system, controls each system to execute the instruction, analyzes the acquired data and uploads the data to the remote control operation device through the communication system.
The obstacle removing device further comprises a power system and a power system, the power system comprises a battery, the power system comprises a power motor, the power battery is connected with the driving wheel, and power is provided for the driving wheel through the power battery.
The method for removing the cable tunnel barrier by using the cable tunnel barrier removing device comprises the following steps:
1) An additional installation part 2 with an emergency repair system 6 is installed behind a body 1, so that the body 1 is connected with a coupler of the additional installation part 2, and a bearing slide block 13 at one end of a telescopic bearing rod 12 is placed into a chute 14 through a notch;
2) Adding an insulation repairing material into the constant-temperature storage box 61, opening the constant-temperature storage box 61, heating to a set temperature and keeping the temperature constant; installing a brand new discharge head 63 and a brand new discharge pipe 62;
3) Operating the cable tunnel barrier removing device to enter the cable tunnel;
4) Operating the cable tunnel obstacle removing device to open a path drawing system, an image acquisition mechanism 5, an illumination system, a gas analysis system and a fault detection system;
5) When an obstacle is observed on the ground of the front tunnel and the travelling wheel cannot pass by, operating the travelling wheel 31 to rotate by 90 degrees leftwards or rightwards, enabling the cable tunnel obstacle removing device to move transversely to avoid the obstacle, and then rotating to continue to move forwards;
6) When an obstacle is observed on the front tunnel ground and the travelling wheels cannot cross or avoid the obstacle, operating the cable clamping mechanism 4 to enable the clamping wheels 44 to be matched with each other to clamp a thicker cable, cable bundle or bracket on the tunnel, controlling a first clamping arm of the cable clamping mechanism 4 to contract to enable the cable tunnel obstacle removing device to be separated from the tunnel ground and suspended on the cable, cable bundle or bracket, controlling the driving motor to rotate to drive the clamping wheels 44 to rotate, clamping the cable, cable bundle or bracket by using the clamping wheels 44 to roll forwards, and returning to the tunnel ground after the obstacle is crossed;
7) When an insulation damage point of the cable is detected, operating the cable tunnel barrier removing device to send alarm information to the remote control operation device, wherein the alarm information comprises the temperature of the damage point, the discharge intensity, the micro water, the oxygen and the methane content; the path drawing system sets a marking point to mark the position; the labeling information comprises the content of micro water, oxygen and methane detected by a gas analysis system;
8) After receiving the insulation damage alarm information, an operator operates the clamping mechanism 4, moves the clamping wheel 44 to the position near the cable damage point, fixes the clamping wheel 44 by the clamping wheel fixer, and clamps the cable by the clamping wheel 44, so that the shaking of the cable is reduced in the subsequent operation; then, the discharging device 64 and the adapter 65 are operated to cover the cable damage point, a pump switch is turned on, the insulation repairing material enters the containing cavity through the discharging pipe 62 and the discharging head 63, when the insulation repairing material is filled in the containing cavity, the pressure sensor gives an alarm, and the pump automatically stops running; the insulation repairing material is gradually cooled and solidified in the accommodating cavity to form an insulation repairing layer with a mark color; the operator operates the discharging device 64 and the adaptor 65 to open and retract; the operator operates the gripping wheel 44 to expand and retract;
9) And the operator controls the cable clamping mechanism 4 to contract into the cable clamping mechanism accommodating cabin to complete the emergency insulation repair.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a cable tunnel pilot unit which characterized in that: the device comprises a body, wherein a travelling mechanism, a path drawing system, a cable clamping mechanism, an image acquisition mechanism, a communication system, a control system, an illumination system, a gas analysis system and a fault detection system are arranged on the body; the rear end of the body is connected with an installing part, and an emergency repair system is arranged on the installing part;
the obstacle removing device is matched with a remote control operation device, and is in wireless connection with the remote control operation device and the background server through a communication system;
the rear end of the body is provided with an additional part, driven wheels are arranged on two sides of the additional part, and an emergency repair system is arranged on the additional part;
the front part of the body is conical, and the upper part of the body is provided with an opening; the walking mechanism is a plurality of groups of walking wheels arranged on two sides of the body, a steering mechanism capable of steering 90 degrees is arranged on the walking wheels, and the highest point of the walking wheels is higher than the top of the body, so that the obstacle removing device is not prone to overturning when walking in a cable tunnel;
the car coupler is detachably connected with the body through a car coupler at the front end of the car coupler, driven wheels are arranged on two sides of the mounting part, the highest point of each driven wheel is higher than the top of the mounting part, telescopic bearing rods are symmetrically and rotatably connected to two sides of the body and can rotate in the horizontal direction, a bearing sliding block is arranged at one end, away from the body, of each telescopic bearing rod, sliding grooves in the walking direction are symmetrically arranged on two sides of the front end of the mounting part, a notch is formed in the front end of each sliding groove, and the bearing sliding blocks are in sliding connection in the sliding grooves;
the remote control operation device is provided with a display screen, the display screen can display a path map and a mark point, an operator can mark the type of a fault at the mark point on the display screen and simultaneously intercept a picture shot by the image acquisition mechanism; transmitting the path map, the annotation points and the intercepted pictures and storing the path map, the annotation points and the intercepted pictures in a background server;
the body is provided with an image acquisition mechanism containing cabin, the image acquisition mechanism is arranged in the image acquisition mechanism containing cabin and comprises a first support arm, a second support arm, an auxiliary support arm and an image acquisition device, the lower end of the first support arm is hinged to a bottom plate of the image acquisition mechanism containing cabin, the lower end of the second support arm is hinged to the upper end of the first support arm through a rotating shaft, the upper end of the second support arm is hinged to the image acquisition device through a rotating shaft, a certain angle exists between the first support arm and the bottom plate of the image acquisition mechanism containing cabin, the upper end of the auxiliary support arm is hinged to the first support arm, the hinged position is close to the rotating shaft of the first support arm and the rotating shaft of the second support arm, the lower end of the auxiliary support arm is connected to a guide rail on the bottom plate of the image acquisition mechanism containing cabin in a sliding mode, the image acquisition device comprises a holder and a camera, the holder is of a plate-shaped structure, and one end of the holder is hinged to the upper end of the second support arm through a rotating shaft; the camera is arranged on the upper end surface of the holder;
the cable clamping mechanism comprises a first clamping arm, a second clamping arm and a clamping claw, wherein two ends of the second clamping arm are respectively hinged with the first clamping arm and the clamping claw, the first clamping arm is of a telescopic structure, the clamping claw comprises a connecting piece and a clamping wheel, the connecting piece comprises an upper connecting piece and a lower connecting piece, the upper connecting piece and the lower connecting piece are hinged with each other at the joint, a downward clamping wheel support is arranged on the upper connecting piece, an upward clamping wheel support is arranged on the lower connecting piece, the clamping wheel and a driving motor are arranged on the clamping wheel support, an output shaft of the driving motor is connected with the clamping wheel, all clamping wheel axes are parallel, a cable clamping mechanism accommodating cabin is further arranged inside the body, the cable clamping mechanism is arranged in the cable clamping mechanism accommodating cabin, a horizontal rotating seat is arranged on a bottom plate of the cable clamping mechanism accommodating cabin, the lower end of the first clamping arm is rotatably connected with the horizontal rotating seat, the upper end of the first clamping arm is rotatably connected with the lower end of the second clamping arm through a first joint, the upper end of the second clamping arm is hinged with the connecting piece through a second joint, and a rotating shaft of the second clamping arm is coaxial with the second clamping arm;
the emergency repairing system comprises a constant-temperature storage box, a discharge pipe, a discharge head, a pump and a repairing device, wherein one end of the discharge pipe is connected with the discharge head, the other end of the discharge pipe is connected with the constant-temperature storage box through the pump, the repairing device comprises a discharge device, an adapter and an operating arm, the discharge device and the adapter are arranged above the operating arm, the discharge device is arranged above the adapter, the discharge device is arranged on the operating arm through a telescopic structure, a containing cavity is formed by sealing and matching the discharge device and the adapter, and the diameter of the containing cavity is larger than the outer diameter of a cable to be repaired; the lower end of the operating arm is fixed on the loading part, the discharging device and the adaptor are connected to the loading part through the operating arm, the insulating repair material is heated and stored in the constant-temperature storage box, a discharging hole is formed in the discharging device, an outlet of the discharging hole is formed in the accommodating cavity, a discharging head is inserted into an inlet of the discharging hole, and a pressure sensor is arranged at the inner top of the discharging device;
the path drawing system comprises a laser radar, a positioning device and a path map drawing module, the gas analysis system comprises a micro-water analysis module, an oxygen analysis module and a methane analysis module, and the fault detection system comprises an infrared temperature measurement module and a discharge detection module;
the lighting system comprises a plurality of lighting lamps, wherein the lighting lamps comprise front lamps positioned in the front of the body, rear lamps positioned in the rear of the body and the rear of the installing part, auxiliary camera lamps positioned beside the camera on the holder, and auxiliary operation lamps positioned on the top end of the clamping mechanism.
2. A cable pit obstacle deflector according to claim 1, characterized in that: the insulation repairing material has a marking color; the insulation repairing material is liquefied insulation glue and can be solidified at room temperature.
3. A cable pit obstacle deflector according to claim 2, characterized in that: the identification color is a color different from the color of the cable sheath.
4. A cable pit obstacle deflector according to claim 1, characterized in that: and a pressure sensor is arranged at the inner top of the discharging device, and when the pressure sensor monitors that the accommodating cavity is filled with the insulation repairing material, the pump stops adding the insulation repairing material.
5. A cable pit obstacle deflector according to claim 1, characterized in that: the obstacle removing device further comprises a power system and a power system, wherein the power system comprises a power battery, and the power battery is connected with the traveling wheels; the power supply system is used for supplying power to the whole device.
6. A cable pit obstacle deflector according to claim 1, characterized in that: the cable clamping mechanism comprises a driving motor, the driving motor is connected with the clamping wheel, and the driving motor can drive the clamping wheel to rotate; the cable clamping mechanism further comprises a motor for driving the clamping arm and the clamping jaw.
7. A cable pit obstacle deflector according to claim 1, characterized in that: the control system receives the instruction from the remote control operation device transmitted by the communication system, controls each system to execute the instruction, analyzes the acquired data and uploads the data to the remote control operation device through the communication system.
8. The method for removing the obstacles in the cable tunnel by using the obstacle removing device in the cable tunnel as claimed in any one of claims 1 to 7 is characterized by comprising the following steps:
1) An additional installation part with an emergency repair system is installed behind the body, and the body is connected with the additional installation part;
2) Adding an insulation repairing material into the constant-temperature storage box, opening the constant-temperature storage box, heating to a set temperature and keeping the constant temperature; mounting a brand new discharging head and a brand new discharging pipe;
3) Operating the cable tunnel barrier removing device to enter the cable tunnel;
4) Operating a cable tunnel obstacle removing device to open a path drawing system, an image acquisition mechanism, an illumination system, a gas analysis system and a fault detection system;
5) When an obstacle is observed on the ground of the front tunnel and the travelling wheel cannot pass by, operating the travelling wheel to rotate by 90 degrees leftwards or rightwards, enabling the cable tunnel obstacle removing device to move transversely to avoid the obstacle, and then rotating to continue to move forwards;
6) When an obstacle is observed on the front underground tunnel ground and the travelling wheels cannot cross or avoid the obstacle, operating the cable clamping mechanism to enable the clamping wheels to be matched with each other to clamp a thicker cable, cable bundle or bracket on the underground tunnel, controlling a first clamping arm of the cable clamping mechanism to contract to enable the cable underground tunnel obstacle removing device to be separated from the underground tunnel ground and hung on the cable, cable bundle or bracket, controlling a driving motor to rotate to drive the clamping wheels to rotate, clamping the cable, cable bundle or bracket by using the clamping wheels to roll forwards, and returning to the underground tunnel ground after crossing the obstacle;
7) When an insulation damage point of the cable is detected, operating the cable tunnel barrier removing device to send alarm information to the remote control operation device, wherein the alarm information comprises damage point temperature, discharge intensity, micro water, oxygen and methane content; the path drawing system sets a marking point to mark the position of an insulation damage point of the cable; the labeling information comprises the content of micro water, oxygen and methane detected by a gas analysis system;
8) After receiving the insulation damage alarm information, operating personnel operate the clamping mechanism to move the clamping wheel to the position near an insulation damage point of the cable, fixing the clamping wheel by the clamping wheel fixing device, and clamping the cable by the clamping wheel, so that the shaking of the cable is reduced in subsequent operation; then the discharging device and the adaptor are operated to cover the cable damage point, a pump switch is turned on, the insulation repair material enters the accommodating cavity through the discharging pipe and the discharging head, when the accommodating cavity is filled with the insulation repair material, the pressure sensor gives an alarm, and the pump automatically stops running; the insulation repairing material is gradually cooled and solidified in the accommodating cavity to form an insulation repairing layer with a mark color; an operator operates the discharging device and the adaptor to open and retract; an operator operates the clamping wheel to open and retract;
9) And the operator controls the cable clamping mechanism to retract into the cable clamping mechanism accommodating cabin to finish the emergency insulation repair.
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| CN202110580062.4A CN113466610B (en) | 2021-05-26 | 2021-05-26 | Cable tunnel obstacle removing device and cable tunnel obstacle removing method |
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| CN113937660B (en) * | 2021-10-25 | 2022-08-26 | 南京鑫科信智能科技有限公司 | Detection and maintenance device for engineering machinery |
| CN114295931B (en) * | 2021-11-19 | 2023-07-14 | 广东电力通信科技有限公司 | Novel real-time measurement of electric power thing networking distribution network data device |
| CN116026416B (en) * | 2023-02-24 | 2023-08-15 | 国网江西省电力有限公司电力科学研究院 | Diversified cable joint monitoring devices |
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