CN113866567A - Cable fault early warning quick positioning system - Google Patents
Cable fault early warning quick positioning system Download PDFInfo
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- CN113866567A CN113866567A CN202111253054.5A CN202111253054A CN113866567A CN 113866567 A CN113866567 A CN 113866567A CN 202111253054 A CN202111253054 A CN 202111253054A CN 113866567 A CN113866567 A CN 113866567A
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- 238000001514 detection method Methods 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims description 27
- 238000012544 monitoring process Methods 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000013024 troubleshooting Methods 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
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Abstract
The invention relates to the technical field of cable fault detection, in particular to a cable fault early warning quick positioning system which comprises a movable support component, an anti-falling component, an equipment controller module and a mechanical arm component, wherein the two ends of the equipment controller module are rotatably connected with the movable support component, and one end face of the movable support component is fixedly provided with the anti-falling component. Thereby reducing the workload of the overhaul workers and improving the overhaul efficiency.
Description
Technical Field
The invention relates to the technical field of cable fault detection, in particular to a cable fault early warning and quick positioning system.
Background
Along with the continuous deepening of the reform of the electric power enterprises in China in recent years, the power supply range is continuously expanded, the laying mileage of high-voltage cables in the power grid is continuously increased, in order to ensure that the national power grid can stably operate, a large number of maintenance personnel fight at the same line, most of high-voltage transmission cables are erected at high altitude at present, during maintenance and troubleshooting, workers are required to climb above the iron frame for operation, sometimes even need to shuttle among the iron frames along a cable for inspection, and the overhauling work cannot have a good rest in the midway, the requirement on the physical strength of the workers is extremely high, and the attention of the workers working aloft must be highly concentrated, so that the physical strength consumption of the workers is accelerated, therefore, the high-altitude operation becomes more dangerous, and accidents can happen carelessly, so that troubleshooting robots capable of replacing workers for operation are actively researched and developed in various countries;
at present, troubleshooting robots which are put into use at home and abroad are mainly divided into two types according to moving modes, wherein one type is single-line moving, and the other type is double-line moving, and the two troubleshooting robots have the following problems when in use: a. sundries such as kite lines, plastic bags and the like may exist on the high-voltage cable under the influence of wind power, when a troubleshooting machine passes through, the sundries are easy to wind into a moving wheel of the equipment, so that the equipment is in failure, and the personnel is undoubtedly more difficult to handle after the equipment breaks down on the cable lines; b. the existing troubleshooting robot is usually installed on a cable line for patrol by manpower, after one or a group of cable lines are patrolled, the troubleshooting robot needs to be installed on the other cable line or a group of cable lines for patrol by manpower, and the patrol inspection equipment has certain weight and is positioned above the high altitude, so that the position adjustment at each time needs to be installed by multiple persons in a matched manner, complicated operation steps are performed in the process, the difficulty of overhaul work is increased, and meanwhile, the potential safety hazard is large.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a cable fault early warning and quick positioning system.
The technical scheme adopted by the invention for solving the technical problems is as follows: a cable fault early warning quick positioning system comprises a movable supporting component, an anti-falling component, an equipment controller module and a mechanical arm component, wherein the movable supporting component is rotatably connected to two ends of the equipment controller module;
the equipment controller module comprises an equipment control box for controlling equipment movement and form conversion, a horizontal movement component, a rotation component A, a rotation component B, an electric cylinder for adjusting the length of the equipment and a monitoring camera for monitoring a cable and the running condition of the equipment, wherein the rotation component A is fixedly installed on one side surface of the equipment control box;
the movable supporting component comprises a mounting plate, a power distribution bin, a movable wheel, a movable motor, a fault detection module for sensing the condition of a cable, a power supply module and a connecting component for connecting an equipment control box, wherein the power distribution bin is fixedly mounted on one end face of the mounting plate, the movable wheel is mounted on one side of the top of the mounting plate through a shaft sleeve in a matched mode, a groove is formed in the lower portion of the movable wheel and one end face of the mounting plate, an anti-falling component is fixedly mounted in the groove, the movable motor coaxial with the movable wheel is arranged on the other side of the top of the mounting plate, the movable motor is fixedly mounted on one end face of the power distribution bin, the fault detection module and the power supply module are arranged below the movable motor, the fault detection module and the power supply module are fixed on one end face of the power distribution bin through bolts, the connecting component is arranged below the power supply module, and one end of the connecting component is fixedly welded on the power distribution bin, the power supply module is electrically connected with the mobile motor, the fault detection module and the anti-falling assembly, and the fault detection module is connected with the operating handle through a wireless signal;
the equipment control box for controlling equipment movement and form conversion is internally provided with an electric power module and a central control system, wherein the central control system for controlling equipment operation is electrically connected with a mobile motor, a monitoring camera, a mechanical arm assembly, an electric cylinder, a horizontal movement assembly, a rotating assembly A and a rotating assembly B, the central control system is connected with an operating handle through a wireless signal, and the electric power module is electrically connected with the monitoring camera, the mechanical arm assembly, the electric cylinder, the horizontal movement assembly, the rotating assembly A and the rotating assembly B.
Further, the anti-drop subassembly includes the linear movement module A of fixed mounting in the recess, and there is servo motor C linear movement module A's bottom through bolt fixed mounting, and the cooperation is installed the fixed connection piece on linear movement module A's the lead screw, and there is a wheelset mounting panel fixed connection piece's one end through bolt fixed mounting, and a terminal surface of wheelset mounting panel is provided with fixed wheelset, and fixed wheelset and removal wheel are the cooperation mechanism.
Further, the connecting assembly comprises an arc-shaped connecting plate A arranged in the left movable supporting assembly and an arc-shaped connecting plate B arranged in the right movable supporting assembly, one end of the arc-shaped connecting plate A is rotatably matched in the rotating assembly A, and one end of the arc-shaped connecting plate B is rotatably matched in the rotating assembly B.
Further, the arm subassembly is installed the arm on the arm mount pad including the cooperation, and the end of arm rotates and is connected with the adapter, and the one end of adapter articulates there is the clearance subassembly.
Further, the clearance sacrifice subassembly has the V-shaped board including articulating the hinge in adapter one end, and the lower terminal surface welding of hinge has two clearance sacrifice sword mounting grooves, and has the clearance sacrifice sword through bolt fixed mounting in the clearance sacrifice sword mounting groove, has seted up a plurality of rectangular holes on the both sides wall of V-shaped board, and has the wheel that rolls through axle sleeve normal running fit in the rectangular hole, and the both sides wall underrun bolt of V-shaped board is fixed with the fixed plate.
Further, the horizontal migration subassembly includes the L shape connecting plate through slide rail sliding fit at equipment control box up end, and a terminal surface of L shape connecting plate has linear movement module B through bolt fixed mounting, and motor base is installed to linear movement module B's bottom.
Further, the rotating assembly A comprises a rotating seat A fixedly welded on one end face of the equipment control box, the rotating seat A and the arc-shaped connecting plate A are matched, and a servo motor A is fixedly mounted on the lower end face of the rotating seat A.
Further, the rotating assembly B comprises a rotating seat B which is installed on the linear moving module B in a matched mode, the rotating seat B and the arc-shaped connecting plate B are matched, and a servo motor B is fixedly installed on the lower end face of the rotating seat B.
Further, circumference is provided with many anti-skidding lines on the contact surface of removal and cable conductor, and the anti-skidding line that sets up can effectively avoid removing the wheel and skid and influence the detection operation when winter and plum rain season.
The invention has the beneficial effects that:
the invention provides a cable fault early warning quick positioning system, wherein an equipment controller module is connected with a remote controller of an operator through an electric signal to control a plurality of servo motors to realize the obstacle crossing action of equipment on a high-voltage cable;
according to the cable fault early warning quick positioning system, in the operation process of equipment, the obstacle clearing assembly in the mechanical arm assembly is pressed to the other cable parallel to the detection line, the weight of the equipment can be shared to enable the equipment to operate stably, meanwhile, the tool bit arranged in the obstacle clearing assembly can be used for clearing away impurities on the cable where the obstacle clearing assembly is located, and therefore cable faults caused by the impurities are avoided;
according to the cable fault early warning quick positioning system, the mechanical arm assembly and the mobile support assembly work in a matched mode, when the equipment encounters an obstacle which is difficult to process on a cable line, cross-line transfer can be conducted according to the situation, or obstacle clearing work can be completed through the cooperation of the independent mobile support assembly and the mechanical arm assembly, and therefore the applicability of the equipment is better.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a perspective view of the mobile support assembly of the present invention; (ii) a
FIG. 3 is a perspective view of a device controller module of the present invention;
FIG. 4 is a perspective view of the barrier clearing assembly of the present invention;
FIG. 5 is a schematic view of the working state of the present invention;
FIG. 6 is a schematic diagram of the operation of the present invention during a line change;
fig. 7 is a circuit connection diagram of the present invention.
In the figure: 1. moving the support assembly; 2. an anti-drop assembly; 3. a device controller module; 4. a mechanical arm assembly; 11. mounting a plate; 12. a power distribution bin; 13. a moving wheel; 14. a moving motor; 15. a fault detection module; 16. a power supply module; 17. a connecting assembly; 171. an arc-shaped connecting plate A; 172. an arc-shaped connecting plate B; 21. fixing a wheel set; 22. a wheel set mounting plate; 23. fixing a connecting block; 24. a linear moving module A; 25. a servo motor C; 31. an equipment control box; 32. a horizontal movement assembly; 33. rotating the assembly A; 34. a rotating assembly B; 35. monitoring a camera; 36. an electric cylinder; 321. an L-shaped connecting plate; 322. a linear moving module B; 323. a motor base; 331. a rotating seat A; 332. a servo motor A; 341. a rotating seat B; 342. a servo motor B; 41. a mechanical arm; 42. an adapter; 43. an obstacle clearing assembly; 431. a V-shaped plate; 432. a hinge joint; 433. a rolling wheel; 434. removing obstacles; 435. and (7) fixing the plate.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-6, the cable fault early warning quick positioning system comprises a movable support assembly 1, an anti-drop assembly 2, an equipment controller module 3 and a mechanical arm assembly 4, wherein the movable support assembly 1 is rotatably connected to two ends of the equipment controller module 3, the anti-drop assembly 2 is fixedly mounted on one end surface of the movable support assembly 1, a mechanical arm mounting seat is arranged on one end surface of the equipment controller module 3, and the mechanical arm assembly 4 is mounted on the mechanical arm mounting seat in a matching manner;
the movable supporting assembly 1 comprises a mounting plate 11, a power distribution bin 12, a movable wheel 13, a movable motor 14, a fault detection module 15 and a power supply module 16 for sensing the condition of a cable and a connecting assembly 17 for connecting an equipment control box 31, wherein one end face of the mounting plate 11 is fixedly provided with the power distribution bin 12, one side of the top of the mounting plate 11 is provided with the movable wheel 13 through shaft sleeve matching, a groove is formed in the lower part of the movable wheel 13 and one end face of the mounting plate 11, an anti-drop assembly 2 is fixedly arranged in the groove, a plurality of anti-slip lines are circumferentially arranged on the contact surface of the movable wheel 13 and the cable, the movable motor 14 coaxial with the movable wheel 13 is arranged at the other side position of the top of the mounting plate 11, the movable motor 14 is fixedly arranged on one end face of the power distribution bin 12, the fault detection module 15 and the power supply module 16 are arranged below the movable motor 14, and the fault detection module 15 and the power supply module 16 are fixed on one end face of the power distribution bin 12 through bolts, the below of power module 16 is provided with coupling assembling 17, and the fixed welding of one end of coupling assembling 17 is on distribution bin 12, power module 16 and mobile motor 14, fault detection module 15 and anti-drop subassembly 2 electric connection, fault detection module 15 passes through radio signal and is connected with operating handle, anti-drop subassembly 2 includes linear movement module A24 of fixed mounting in the recess, there is servo motor C25 in the bottom of linear movement module A24 through bolt fixed mounting, the cooperation is installed on the lead screw of linear movement module A24 and is fixed connecting block 23, the one end of fixed connecting block 23 passes through bolt fixed mounting has wheelset mounting plate 22, a terminal surface of wheelset mounting plate 22 is provided with fixed wheelset 21, and fixed wheelset 21 and mobile wheel 13 are the mating mechanism, power module 16 provides the electric energy for whole mobile support component 1, in operation, will move wheel 13 and place on the cable run, the servo motor C25 drives the linear moving module A24, so that the fixed wheel set 21 mounted on the wheel set mounting plate 22 moves towards the moving wheel 13, the fixed wheel set 21 and the moving wheel 13 are matched to clamp a cable, the whole equipment is supported and cannot fall off, the moving wheel 13 is driven by the moving motor 14 to drive the equipment to move on the cable, the fault detection module 15 detects the condition of the cable through a built-in induction detection device, and then detection data are sent to the operating handle through wireless signals.
The equipment controller module 3 comprises an equipment control box 31 for controlling equipment movement and form conversion, a horizontal movement component 32, a rotating component A33, a rotating component B34, an electric cylinder 36 for adjusting equipment length, and a monitoring camera 35 for monitoring cable and equipment running conditions, wherein a rotating component A33 is fixedly installed on one side surface of the equipment control box 31, the electric cylinder 36 is arranged inside the equipment control box 31, the output end of the electric cylinder 36 is fixedly connected with one end surface of the horizontal movement component 32, the upper end surface of the equipment control box 31 is in sliding fit with the horizontal movement component 32 through a sliding rail, a rotating component B34 is installed on one side surface of the horizontal movement component 32 in a matching manner, the monitoring camera 35 is fixedly installed on the upper end surface of the horizontal movement component 32, the horizontal movement component 32 comprises an L-shaped connecting plate 321 which is in sliding fit with the upper end surface of the equipment control box 31 through a sliding rail, one end face of the L-shaped connecting plate 321 is fixedly provided with a linear moving module B322 through bolts, the bottom of the linear moving module B322 is provided with a motor base 323, an equipment control box 31 for controlling equipment movement and form conversion is internally provided with a power module and a central control system, wherein the central control system for controlling equipment operation is electrically connected with the moving motor 14, the monitoring camera 35, the mechanical arm assembly 4, the electric cylinder 36, the horizontal moving assembly 32, the rotating assembly A33 and the rotating assembly B34 and is connected with an operating handle through wireless signals, the power module is electrically connected with the monitoring camera 35, the mechanical arm assembly 4, the electric cylinder 36, the horizontal moving assembly 32, the rotating assembly A33 and the rotating assembly B34, when in work, an operator observes the equipment operation condition through observing a monitoring image transmitted back by the central control system in the handle, and through the central control system arranged in the equipment control box 31, the movement of the rotating component A33, the rotating component B34, the electric cylinder 36, the motor base 323 and the mechanical arm component 4 is controlled, thereby realizing the conversion among a plurality of working states of the equipment, during the wire changing operation, the electric cylinder 36 drives the L-shaped connecting plate 321 to move on a slide rail arranged on the upper end surface of the equipment control box 31, thereby adjusting the distance between the moving support components 1 at the left side and the right side according to the distance of the cable, when the moving support components 1 at the left side and the right side are at the same height, the rotating component B34 is positioned at the middle position of the linear moving module B322, during the wire changing operation, the anti-dropping component 2 on the right side moving support component 1 is taken as the reference, the cable is moved downwards and released, the linear moving module B322 drives the rotating component B34 to move upwards and downwards by controlling the motor base 323, thereby generating the height difference between the moving support components 1 at the left side and the right side, and the right moving wheel 13 is moved away from the wire to perform the wire-changing operation.
The connecting assembly 17 comprises an arc-shaped connecting plate A171 arranged in the left movable supporting assembly 1 and an arc-shaped connecting plate B172 arranged in the right movable supporting assembly 1, one end of the arc-shaped connecting plate A171 is rotatably matched in the rotating assembly A33, and one end of the arc-shaped connecting plate B172 is rotatably matched in the rotating assembly B34;
the rotating assembly A33 comprises a rotating seat A331 fixedly welded on one end face of the equipment control box 31, the rotating seat A331 and the arc-shaped connecting plate A171 are matched mechanisms, and a servo motor A332 is fixedly installed on the lower end face of the rotating seat A331;
the rotating assembly B34 comprises a rotating seat B341 which is installed on the linear moving module B322 in a matching mode, the rotating seat B341 and the arc-shaped connecting plate B172 are matched mechanisms, a servo motor B342 is fixedly installed on the lower end face of the rotating seat B341, when the moving wheel 13 on the right side is moved away from the cable, the servo motor A332 is driven to enable the equipment controller module 3 and the moving support assembly 1 on the right side to rotate around the rotating seat A331, the servo motor B342 is driven to enable the moving support assembly 1 on the right side to rotate to be parallel to the moving support assembly 1 on the left side, the height is adjusted by a motor base 323, the distance is adjusted by an electric cylinder 36, the moving support assembly 1 on the right side is lapped to a target cable for cable replacement, the anti-falling assembly 2 arranged on the moving wheel 13 on the right side moves upwards to clamp the target cable, the anti-falling assembly 2 on the moving support assembly 1 on the left side loosens the original cable, and then the height is adjusted by the motor base 323, The electric cylinder 36 adjusts the distance, so that the left moving wheel 13 is separated from the original cable, then the servo motor B342 is driven to enable the equipment controller module 3 and the left moving support component 1 to rotate around the rotating seat B341, meanwhile, the height of the driving motor base 323 is adjusted, the servo motor A332 is driven to enable the left moving support component 1 to rotate to a position parallel to the right moving support component 1, then the driving motor base 323 and the electric cylinder 36 return to the initial state, the anti-falling component 2 on the left moving support component 1 moves upwards to clamp the target cable, the cable changing operation is completed, and similarly, the cable changing operation can be carried out by taking the moving support component 1 on the right side as the reference.
The mechanical arm component 4 comprises a mechanical arm 41 which is installed on a mechanical arm installation seat in a matching mode, the tail end of the mechanical arm 41 is rotatably connected with an adapter 42, one end of the adapter 42 is hinged with a barrier removing component 43, the barrier removing component 43 comprises a hinge head 432 hinged to one end of the adapter 42, a V-shaped plate 431 is welded to the lower end face of the hinge head 432, two barrier removing knife installation grooves are formed in one end of the V-shaped plate 431, barrier removing knives 434 are fixedly installed in the barrier removing knife installation grooves through bolts, a plurality of rectangular holes are formed in two side walls of the V-shaped plate 431, rolling wheels 433 are rotatably matched in the rectangular holes through shaft sleeves, fixing plates 435 are fixed to the bottom faces of the two side walls of the V-shaped plate 431 through bolts, the mechanical arm component 4 is installed on one end face of the equipment control box 31, when the moving wheels 13 on the left side and the right side are located on the same cable, the whole equipment is subjected to torsion force around the direction of the cable under the action of gravity, therefore, the equipment has a tendency of deflection, in this case, the mechanical arm 41 moves, the obstacle clearing component 43 arranged at the most front end of the mechanical arm 41 is in lap joint with an adjacent cable, the mechanical arm rotates to apply pressure to the obstacle clearing component 43 and simultaneously provides counterforce opposite to the torsion direction borne by the equipment for the equipment, so that the equipment is kept in a stable working state, when the equipment runs, rolling wheels 433 arranged on two side walls of the V-shaped plate 431 tightly roll against the cable, an obstacle clearing knife 434 arranged at the front end of the V-shaped plate 431 clears sundries on the fallen cable, and in addition, when meeting sundries which are difficult to clear, or places which are not suitable for wire changing operation, the position of the equipment controller module 3 can also be adjusted by taking the movable support component 1 at one end as a support point to match with the mechanical arm component 4 to complete obstacle clearing operation.
The working principle is as follows:
the principle of motion detection: the power supply module 16 provides electric energy for the whole movable support assembly 1, when the movable support assembly works, the movable wheel 13 is placed on a cable line, the servo motor C25 drives the linear movable module A24 to enable the fixed wheel set 21 mounted on the wheel set mounting plate 22 to move towards the movable wheel 13, finally the fixed wheel set 21 and the movable wheel 13 are matched to clamp the cable, the whole equipment is supported to be prevented from falling off, the movable wheel 13 drives the equipment to move and detect on the cable under the driving of the movable motor 14, and then detection data are sent to a far-end system through the fault detection module 15;
the line changing principle of the equipment is as follows: when the device works, an operator observes the running condition of the device by observing a monitoring image transmitted back by a central control system in a handle, the central control system arranged in a device control box 31 is used for controlling the movement of the rotating assembly A33, the rotating assembly B34, the electric cylinder 36, the motor base 323 and the mechanical arm assembly 4, thereby realizing the conversion among a plurality of working states of the device, when the wire is changed, the electric cylinder 36 drives the L-shaped connecting plate 321 to move on a slide rail arranged on the upper end surface of the device control box 31, thereby adjusting the distance between the movable supporting assemblies 1 at the left side and the right side according to the distance of the wire, when the movable supporting assemblies 1 at the left side and the right side are at the same height, the rotating assembly B34 is positioned at the middle position of the linear movable module B322, when the wire is changed, the anti-falling assembly 2 on the right side movable supporting assembly 1 moves downwards to loosen the wire based on the movable supporting assembly 1 at the left side, the linear moving module B322 drives the rotating component B34 to move up and down by controlling the motor base 323, so that the moving supporting components 1 on the left side and the right side generate height difference, the moving wheel 13 on the right side is moved away from the cable to perform cable replacement operation, after the moving wheel 13 on the right side is moved away from the cable, the servo motor A332 is driven to enable the equipment controller module 3 and the moving supporting component 1 on the right side to rotate around the rotating seat A331, the servo motor B342 is driven to enable the moving supporting component 1 on the right side to rotate to be parallel to the moving supporting component 1 on the left side, the height is adjusted by the motor base 323, the distance is adjusted by the electric cylinder 36, the moving supporting component 1 on the right side is lapped to a target cable for cable replacement, the moving component 2 on the moving wheel 13 on the right side moves up to clamp the target cable, the anti-falling component 2 on the moving supporting component 1 on the left side loosens the original cable, and the height is adjusted by the motor base 323, The electric cylinder 36 adjusts the distance, so that the left moving wheel 13 is separated from the original cable, then the servo motor B342 is driven to enable the equipment controller module 3 and the left moving support component 1 to rotate around the rotating seat B341, meanwhile, the height of the driving motor base 323 is adjusted, the servo motor A332 is driven to enable the left moving support component 1 to rotate to a position parallel to the right moving support component 1, then the driving motor base 323 and the electric cylinder 36 return to the initial state, the anti-falling component 2 on the left moving support component 1 moves upwards to clamp the target cable, the cable changing operation is completed, and similarly, the cable changing operation can be carried out by taking the moving support component 1 on the right side as the reference.
Obstacle clearing principle: when the moving wheels 13 on the left side and the right side are positioned on the same cable, the whole equipment is subjected to torsion force in the direction around the cable under the action of gravity, so that the equipment has a tendency of deflection, in this case, the robot arm 41 is moved, so that the obstacle clearing assembly 43 mounted at the foremost end of the robot arm 41 is overlapped on the adjacent wire, the mechanical arm rotates to apply pressure to the obstacle clearing component 43 by taking the obstacle clearing component 43 as a fulcrum, and simultaneously provides counterforce opposite to the torsion direction borne by the equipment for the equipment, so that the equipment is kept in a stable working state, when the device is operated, the rolling wheels 433 arranged on the two side walls of the V-shaped plate 431 roll tightly against the cable, the obstacle clearing knife 434 arranged at the front end of the V-shaped plate 431 clears the sundries on the cable, and in addition, when meeting the sundries which are difficult to clear, or the place where the line changing operation is not suitable can also adjust the position of the equipment controller module 3 by taking the movable support component 1 at one end as a support point so as to complete obstacle clearing operation by matching with the mechanical arm component 4.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a quick positioning system of cable fault early warning, includes removal supporting component (1), anti-drop subassembly (2), equipment controller module (3) and robotic arm subassembly (4), its characterized in that: the anti-falling device is characterized in that two ends of the device controller module (3) are rotatably connected with a movable supporting assembly (1), one end face of the movable supporting assembly (1) is fixedly provided with an anti-falling assembly (2), one end face of the device controller module (3) is provided with a mechanical arm mounting seat, and a mechanical arm assembly (4) is arranged on the mechanical arm mounting seat in a matched mode;
the equipment controller module (3) comprises an equipment control box (31) for controlling the movement and the form conversion of the equipment, a horizontal moving component (32), a rotating component A (33), a rotating component B (34), an electric cylinder (36) for adjusting the length of the equipment, and a monitoring camera (35) for monitoring the running conditions of cables and the equipment, wherein a rotating component A (33) is fixedly arranged on one side surface of the equipment control box (31), an electric cylinder (36) is arranged in the equipment control box (31), the output end of the electric cylinder (36) is fixedly connected with one end face of the horizontal moving component (32), the upper end face of the equipment control box (31) is in sliding fit with the horizontal moving component (32) through a sliding rail, a rotating component B (34) is installed on one side face of the horizontal moving component (32) in a matched mode, and a monitoring camera (35) is fixedly installed on the upper end face of the horizontal moving component (32);
the movable supporting assembly (1) comprises a mounting plate (11), a power distribution bin (12), a movable wheel (13), a movable motor (14), a fault detection module (15) for sensing the condition of a cable, a power supply module (16) and a connecting assembly (17) for connecting an equipment control box (31), wherein the power distribution bin (12) is fixedly mounted on one end face of the mounting plate (11), the movable wheel (13) is mounted on one side of the top of the mounting plate (11) in a matched mode through a shaft sleeve, a groove is formed in one end face of the mounting plate (11) below the movable wheel (13), an anti-falling assembly (2) is fixedly mounted in the groove, the movable motor (14) coaxial with the movable wheel (13) is arranged on the other side of the top of the mounting plate (11), the movable motor (14) is fixedly mounted on one end face of the power distribution bin (12), the fault detection module (15) and the power supply module (16) are arranged below the movable motor (14), the fault detection module (15) and the power supply module (16) are fixed on one end face of the power distribution bin (12) through bolts, the connecting assembly (17) is arranged below the power supply module (16), one end of the connecting assembly (17) is fixedly welded on the power distribution bin (12), the power supply module (16) is electrically connected with the mobile motor (14), the fault detection module (15) and the anti-falling assembly (2), and the fault detection module (15) is connected with the operating handle through wireless signals;
the equipment control box (31) for controlling equipment movement and form conversion is internally provided with an electric module and a central control system, wherein the central control system for controlling equipment operation is electrically connected with a mobile motor (14), a monitoring camera (35), a mechanical arm assembly (4), an electric cylinder (36), a horizontal moving assembly (32), a rotating assembly A (33) and a rotating assembly B (34), the central control system is connected with an operating handle through a wireless signal, and the electric module is electrically connected with the monitoring camera (35), the mechanical arm assembly (4), the electric cylinder (36), the horizontal moving assembly (32), the rotating assembly A (33) and the rotating assembly B (34).
2. The cable fault early warning quick positioning system according to claim 1, wherein the anti-drop assembly (2) comprises a linear moving module A (24) fixedly installed in the groove, a servo motor C (25) is fixedly installed at the bottom end of the linear moving module A (24) through a bolt, a fixed connecting block (23) is installed on a lead screw of the linear moving module A (24) in a matched manner, a wheel set installing plate (22) is fixedly installed at one end of the fixed connecting block (23) through a bolt, a fixed wheel set (21) is arranged on one end face of the wheel set installing plate (22), and the fixed wheel set (21) and the moving wheel (13) are matched mechanisms.
3. The cable fault early warning quick positioning system according to claim 1, wherein the connecting assembly (17) comprises an arc-shaped connecting plate A (171) arranged in the left movable supporting assembly (1) and an arc-shaped connecting plate B (172) arranged in the right movable supporting assembly (1), one end of the arc-shaped connecting plate A (171) is rotatably matched in the rotating assembly A (33), and one end of the arc-shaped connecting plate B (172) is rotatably matched in the rotating assembly B (34).
4. The cable fault early warning quick positioning system according to claim 1, wherein the mechanical arm assembly (4) comprises a mechanical arm (41) which is installed on a mechanical arm mounting seat in a matching mode, an adapter (42) is rotatably connected to the tail end of the mechanical arm (41), and one end of the adapter (42) is hinged to a barrier clearing assembly (43).
5. The cable fault early warning quick positioning system according to claim 4, wherein the obstacle clearing component (43) comprises a hinge joint (432) hinged to one end of the adapter (42), a V-shaped plate (431) is welded to the lower end face of the hinge joint (432), two obstacle clearing knife mounting grooves are formed in one end of the V-shaped plate (431), an obstacle clearing knife (434) is fixedly mounted in each obstacle clearing knife mounting groove through bolts, a plurality of rectangular holes are formed in two side walls of the V-shaped plate (431), rolling wheels (433) are rotatably matched in the rectangular holes through shaft sleeves, and fixing plates (435) are fixed to the bottom faces of the two side walls of the V-shaped plate (431) through bolts.
6. The cable fault early warning quick positioning system according to claim 1, wherein the horizontal moving assembly (32) comprises an L-shaped connecting plate (321) which is in sliding fit with the upper end surface of the equipment control box (31) through a sliding rail, one end surface of the L-shaped connecting plate (321) is fixedly provided with a linear moving module B (322) through a bolt, and the bottom of the linear moving module B (322) is provided with a motor base (323).
7. The cable fault early warning quick positioning system according to claim 6, wherein the rotating assembly A (33) comprises a rotating seat A (331) fixedly welded on one end face of the equipment control box (31), the rotating seat A (331) and the arc-shaped connecting plate A (171) are matched mechanisms, and a servo motor A (332) is fixedly installed on the lower end face of the rotating seat A (331).
8. The cable fault early warning quick positioning system according to claim 6, wherein the rotating assembly B (34) comprises a rotating seat B (341) which is installed on the linear moving module B (322) in a matching manner, the rotating seat B (341) and the arc-shaped connecting plate B (172) are matching mechanisms, and a servo motor B (342) is fixedly installed on the lower end face of the rotating seat B (341).
9. The cable fault early warning quick positioning system according to claim 1, wherein a plurality of anti-slip lines are circumferentially arranged on a contact surface of the moving wheel (13) and the cable.
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| CN202111253054.5A CN113866567B (en) | 2021-10-27 | 2021-10-27 | Cable fault early warning quick positioning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111253054.5A CN113866567B (en) | 2021-10-27 | 2021-10-27 | Cable fault early warning quick positioning system |
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| CN113866567B CN113866567B (en) | 2024-01-26 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115861251A (en) * | 2022-12-14 | 2023-03-28 | 杭州惠嘉信息科技有限公司 | Power line fault detection positioning method and positioning device thereof |
| CN116593825A (en) * | 2023-06-06 | 2023-08-15 | 东禾电气有限公司 | Cable fault early warning and positioning device |
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| KR101642982B1 (en) * | 2016-01-04 | 2016-07-27 | (주)우진이엔지 | Distribution plate for supporting extra high voltage distribution line |
| CN111965494A (en) * | 2020-09-10 | 2020-11-20 | 杭州锐石电子科技有限公司 | Automatic stride across mobile cable fault monitoring device of obstacle |
| CN112350214A (en) * | 2020-10-28 | 2021-02-09 | 国网河北省电力有限公司沧州供电分公司 | High-altitude line inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101642982B1 (en) * | 2016-01-04 | 2016-07-27 | (주)우진이엔지 | Distribution plate for supporting extra high voltage distribution line |
| CN111965494A (en) * | 2020-09-10 | 2020-11-20 | 杭州锐石电子科技有限公司 | Automatic stride across mobile cable fault monitoring device of obstacle |
| CN112350214A (en) * | 2020-10-28 | 2021-02-09 | 国网河北省电力有限公司沧州供电分公司 | High-altitude line inspection robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115861251A (en) * | 2022-12-14 | 2023-03-28 | 杭州惠嘉信息科技有限公司 | Power line fault detection positioning method and positioning device thereof |
| CN116593825A (en) * | 2023-06-06 | 2023-08-15 | 东禾电气有限公司 | Cable fault early warning and positioning device |
| CN116593825B (en) * | 2023-06-06 | 2024-03-15 | 东禾电气有限公司 | Cable fault early warning and positioning device |
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| CN113866567B (en) | 2024-01-26 |
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