Power transmission and transformation project cable and optical cable automatic pay-off device and use method

Abstract

The invention discloses a power transmission and transformation project cable and optical cable automatic pay-off device and a use method, and relates to the technical field of power grid engineering. Comprising a bearing unit, and the bearing unit comprises a robot body, tracks arranged on the two sides of the robot body, an external assembly arranged on the robot body and a cable clamp on the robot body; and the control unit comprises a handheld remote controller and a built-in wireless communication module arranged in the handheld remote controller, and is matched with the bearing unit for use. The device shows strong anti-electromagnetic interference capability in a main network transformer substation, especially an extension station, can stably work in a complex electromagnetic environment, and ensures smooth proceeding of a power transmission and transformation project. The device is small in size, can freely enter and exit from a narrow cable trench, and is flexible and convenient to use and environment-friendly due to the charging type design. The cable pay-off device is provided with an operation structure for pulling external physical force, cable and optical cable pay-off work can be effectively carried out, the camera shooting function is achieved, and an operator can check the situation in a cable trench through a remote controller.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid engineering, and in particular to an automatic cable pay-out device for power transmission and transformation engineering and a use method thereof. Background Art

[0002] For example, in a main grid substation, when a large electrical device suddenly starts up or fails, the strong electromagnetic field generated instantly may cause the control system of the wire laying equipment or robot to become temporarily unstable, thus affecting the wire laying speed and positioning accuracy. Moreover, with the continuous development of the power system, the electromagnetic environment in the future may be more complex, and the existing anti-electromagnetic interference technology may be difficult to adapt to.

[0003] In terms of adapting to the cable trench environment, although the small size allows equipment and robots to move freely in and out of the cable trench, it also brings some problems. On the one hand, the small size means limited carrying capacity. For heavier cables, multiple operations are required to complete the laying task, which will reduce work efficiency. On the other hand, the environment in the cable trench is complex, with accumulated water, silt, and debris. Equipment and robots are prone to walking difficulties or damage in such an environment. The camera function is easily affected by factors such as light and dust, resulting in a decrease in image quality. At the same time, positioning accuracy may also be limited due to signal interference. Summary of the invention

[0004] In view of the above problems existing in the existing automatic cable pay-off device for power transmission and transformation projects, the present invention is proposed.

[0005] Therefore, the present invention provides an automatic cable pay-out device for power transmission and transformation engineering, the purpose of which is to solve the problems of anti-electromagnetic interference and low working efficiency in the prior art.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic cable and optical cable pay-out device for power transmission and transformation projects, comprising a carrying unit, including a robot body, tracks arranged on both sides of the robot body, peripheral components arranged on the robot body, and cable clamps on the robot body; a control unit, including a handheld remote control, a built-in wireless communication module arranged in the handheld remote control, and used in conjunction with the carrying unit.

[0007] As a preferred solution of the automatic cable pay-out device for power transmission and transformation projects described in the present invention, the peripheral components include a video monitoring pan-tilt arranged on the robot body, a gas detector arranged on the robot body, a cable clamp arranged on the robot body, and a positioner arranged inside the robot body.

[0008] As a preferred solution of the automatic cable pay-out device for power transmission and transformation projects described in the present invention, the cable clamp includes a U-shaped seat, the U-shaped seat is fixedly connected to the upper part of the robot body, a fixing plate is arranged on the U-shaped seat, a clamping plate is arranged on the inner side of the fixing plate, and bolts are arranged on the fixing plate near both sides.

[0009] As a preferred solution of the automatic cable laying device for power transmission and transformation projects described in the present invention, the upper inner wall of the fixing plate and the upper surface of the clamping plate are both provided with semicircular grooves to form a circular hole structure, and the bolts penetrate the fixing plate and the clamping plate and are threadedly connected.

[0010] As a preferred solution of the automatic cable pay-off device for power transmission and transformation projects described in the present invention, the handheld remote control includes a remote control handle and a liquid crystal display screen, and the remote control handle and the liquid crystal display screen are both arranged on the front of the handheld remote control.

[0011] As a preferred solution of the automatic cable laying device for power transmission and transformation projects described in the present invention, the remote control handle controls the rotation angle of the video monitoring pan-tilt camera, the real-time video image of the LCD screen and the coordinate position of the robot body.

[0012] The beneficial effects of this device: It has strong anti-electromagnetic interference capabilities in the main grid substation, especially in the expansion station, and can work stably in complex electromagnetic environments to ensure the smooth progress of power transmission and transformation projects. It is small in size and can move freely in and out of narrow cable trenches. The rechargeable design makes it flexible, convenient and environmentally friendly. It has an operating structure that pulls external physical forces, which can effectively carry out cable and optical cable laying work.

[0013] Another object of the present invention is to provide a fuel tank plug grabbing device, the purpose of which is to simplify the operation process and improve work efficiency.

[0014] In order to solve the above technical problems, the present invention provides the following technical solutions: in the wire-laying stage, a handheld remote control is used to control the movement of the robot body to start the wire-laying operation; in the monitoring stage, the remote control interacts with the carrying unit through the wireless communication module to establish a connection and perform stable data transmission; in the emergency handling stage, the robot body is retrieved according to the position information provided by the locator.

[0015] As a preferred scheme of the method for automatic laying out of cables and optical cables for power transmission and transformation projects described in the present invention, the laying-out stage includes fixing the cables on the cable clamp of the robot body, using a handheld remote control to control the robot body to lay out the cables along a predetermined route, and rotating the viewing angle of the video camera to monitor the road 360°.

[0016] As a preferred solution of the method for automatic laying out of cables and optical cables in power transmission and transformation projects described in the present invention, the monitoring stage includes transmitting the images captured by the video monitoring pan-tilt head to the handheld remote control display screen in real time through the wireless communication module, monitoring the real-time coordinate position of the robot body to ensure the accuracy of the laying-out path, and monitoring the readings of the gas detection device.

[0017] As a preferred scheme of the method for using the automatic laying of cables and optical cables in power transmission and transformation projects described in the present invention, the emergency treatment stage includes: the gas detector issues a toxic gas alarm, the laying operation is immediately stopped, the robot is found based on the locator, and safety measures are taken.

[0018] The beneficial effects of the invention are as follows: it also has a camera function, and the operator can use the remote control to view the situation in the cable trench, find problems in time, and improve construction safety and efficiency; the positioning function can help find the robot's position in the power-off state, which is convenient for troubleshooting and maintenance. In addition, its toxic gas detection and alarm function can protect the lives of construction workers and reduce safety risks during the construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 The figure is a schematic diagram of the overall structure of the automatic cable pay-off device for power transmission and transformation engineering of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the bearing unit in the automatic cable and optical cable pay-off device for power transmission and transformation engineering of the present invention.

[0022] Figure 3 The present invention is a schematic diagram of the structure of a cable clamp in an automatic cable pay-off device for power transmission and transformation projects.

[0023] Figure 4 It is a cross-sectional view of a straight cable clamp in the automatic cable and optical cable pay-off device for power transmission and transformation engineering of the present invention.

[0024] Figure 5 The present invention is a schematic diagram of a control unit in an automatic cable pay-off device for power transmission and transformation projects. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is mutually exclusive with other embodiments, either individually or selectively.

[0028] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0029] Example 1, reference Figure 1 - Figure 5 , which is the first embodiment of the present invention, provides an automatic cable laying device for power transmission and transformation engineering, including tracks 102 arranged on both sides of a robot body 101, a video monitoring platform 103a, a gas detector 103b and a positioner 103c arranged on the robot body 101, the video monitoring platform 103a provides real-time video monitoring to help operators observe the laying path and the surrounding environment and perform obstacle avoidance operations. The road conditions can be observed at night, and the real-time video images are transmitted to the display screen of the handheld remote control 201 through the wireless communication module 202.

[0030] Furthermore, the locator 103c provides accurate absolute position information for the robot through the combined positioning of GNSS and INS, maintains continuous positioning capability, uses the high-precision MAX2769BETI / V+T receiving module and high-performance IMU, and integrates the positioning algorithm and Kalman filter algorithm for data fusion processing.

[0031] Furthermore, the gas detector 103b uses an electrochemical sensor to detect harmful gases, such as carbon monoxide, hydrogen sulfide, etc. The electrodes inside the sensor react chemically with the gas to be tested to generate an electrical signal proportional to the gas concentration. For combustible gases, such as methane, a catalytic combustion sensor is used. The combustible gas burns under the action of the catalyst, and the heat generated causes the resistance value of the sensor to change. The gas concentration is determined by measuring the change in resistance value. A microcontroller is used to collect and process the electrical signal output by the sensor and convert it into a gas concentration value. A gas concentration threshold is set. When the detected gas concentration exceeds the threshold, the sound and light alarm device is immediately triggered to remind the operator to take corresponding safety measures.

[0032] Furthermore, the wireless communication module 202 adopts Wi-Fi communication technology to realize data transmission between the line-laying robot body 101 and the remote control. Wi-Fi communication has the advantages of fast transmission speed and long transmission distance, and is suitable for remote monitoring and large data transmission. A high-performance wireless communication module 202 is selected, which has stable signal transmission capability and strong anti-interference ability. The module supports multiple communication protocols, such as TCP / IP, UDP, etc., to meet the data transmission requirements of different applications. The wireless communication module 202 is configured with parameters, including network name, password, communication frequency, transmission power, etc., to ensure that the module can correctly establish a connection with the host computer or remote control and perform stable data transmission.

[0033] The handheld remote control 201 serves as an interactive interface between the operator and the robot body 101, and is used to send control instructions and receive feedback information, operate the robot body 101 to move in various directions, adjust the viewing angle of the video monitoring gimbal, and display real-time video images and the coordinate position of the robot.

[0034] Furthermore, the positioning device provides accurate position information. Combined with the data transmitted by the wireless communication module 202, the operator can accurately control the robot body 101 to lay out the line along the predetermined path through the handheld remote control 201. The gas detector 103b monitors the environmental gas in real time. Once harmful gas is detected, the operator is immediately notified through the wireless communication module 202 to ensure the safety of the operation. The video monitoring pan-tilt 103a provides real-time video streaming. The operator can monitor the laying environment and the status of the robot body 101 through the display screen of the handheld remote control 201, and avoid obstacles and make adjustments in time. The wireless communication module 202 ensures that the operator can remotely operate the robot body 101 through the handheld remote control 201, including moving, adjusting the height of the fixture and the video pan-tilt viewing angle, etc.

[0035] Among them, in case of emergency, such as harmful gas leakage or robot failure, the locator 103c can help quickly locate the robot, and the operator can quickly take emergency measures. The data collected by the robot during operation, such as position information, gas concentration, etc., can be transmitted back to the control center through the wireless communication module 202 for recording, analysis, and optimization of the operation process.

[0036] Embodiment 2, refer to Figure 3 - Figure 4 , which is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is that the cable clamp 104 is the core structure of the device for clamping the cable. The cable clamp 104 includes a U-shaped seat 104a. The U-shaped seat 104a presents a "U" shape, and its bottom is fixedly connected to the upper surface of the robot body 101. The U-shaped seat 104a is fixedly connected with a fixing plate 104b. The fixing plate 104b presents an inverted "concave" shape, and its inner wall is movably connected with a clamping plate 104c. The two sides of the clamping plate 104c are embedded in the two inner walls of the fixing plate 104b and can slide up and down. The bolt 104d passes through the fixing plate 104b and the clamping plate 104c and is threadedly connected. The upper inner wall of the fixing plate 104b and the upper surface of the clamping plate 104c are both provided with semi-circular grooves to form a circular hole structure. The circular hole structure can accommodate the cable, and the diameter of the circular hole structure is adjusted by rotating the bolt 104d to ensure that the cable can be tightly fixed without being too tight to cause cable damage.

[0037] Furthermore, a cable or optical cable with a diameter of more than 7 mm is placed between the fixing plate 104b and the clamping plate 104c. The diameter of the circular hole structure is adjusted by adjusting the nut to fix and release the cable or optical cable. Both the clamping plate 104c and the fixing plate 104b are made of nylon material. The nylon material has the characteristics of oxidation resistance and high strength, and has a good effect on fixing cables or optical cables that move for a long time or are subject to certain friction. The bolt 104d and the U-shaped seat 104a are made of steel with galvanized anti-rust for long-term outdoor use.

[0038] During use, ensure that the cable clamp 104 can achieve the minimum force required to fix the cable for use. If the clamping force is less than this value, the cable may come out of the clamp under the action of external force, thus affecting the normal laying and use safety of the cable. Different cable clamps 104 with different inner diameters and materials have different minimum clamping force requirements, which need to be adjusted according to the on-site situation. Although sufficient clamping force is required to fix the cable, the clamping force should not be too large, otherwise it may cause damage to the cable, such as indentation, deformation, or even damage to the internal core wire. The setting of the maximum clamping force should comprehensively consider factors such as the material, diameter, and pressure that the cable can withstand.

[0039] The remaining structures are the same as those in Embodiment 1.

[0040] Embodiment 3, refer to Figure 1 - Figure 5 , which is the third embodiment of the present invention, and this embodiment is different from the second embodiment in that: it provides a method for using automatic cable laying in power transmission and transformation engineering, including a laying phase, using a handheld remote control 201 to control the movement of a robot body 101 to start laying operation; fixing the cable on a cable clamp 104 of the robot body 101, using a handheld remote control 201 to control the robot body 101 to advance along a predetermined route to lay the cable, and rotating the viewing angle of a video camera to monitor the road 360°;

[0041] In the monitoring stage, the remote control interacts with the carrier unit 100 through the wireless communication module 202, establishes a connection and performs stable data transmission, transmits the images captured by the video monitoring PTZ to the display screen of the handheld remote control 201 in real time through the wireless communication module 202, monitors the real-time coordinate position of the robot body 101, ensures the accuracy of the wire laying path, and monitors the reading of the gas detection device;

[0042] In the emergency handling stage, the robot body 101 is retrieved according to the position information provided by the locator 103c. The gas detector 103b issues a poisonous gas alarm, the wire laying operation is stopped immediately, and the robot is found according to the locator 103c, and safety measures are taken.

[0043] The remaining structure is the same as that of Example 2.

[0044] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0045] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0046] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic cable pay-off device for power transmission and transformation projects, characterized in that: including, a carrying unit (100), including a robot main body (101), crawlers (102) arranged on both sides of the robot main body (101), peripheral components (103) arranged on the robot main body (101), and a cable clamp (104) on the robot main body (101); a control unit (200), including a hand-held remote control (201), a built-in wireless communication module (202) arranged in the hand-held remote control (201), and being used in cooperation with the carrying unit (100).

2. The automatic cable pay-off device for power transmission and transformation engineering according to claim 1 is characterized by: The peripheral components (103) include a video monitoring pan-tilt (103a) arranged on the robot main body (101), a gas detector (103b) arranged on the robot main body (101), a cable clamp (104) arranged on the robot main body (101), and a locator (103c) arranged inside the robot main body (101).

3. The automatic cable pay-off device for power transmission and transformation engineering according to claim 2 is characterized by: The cable clamp (104) includes a U-shaped seat (104a), the U-shaped seat (104a) is fixedly connected to the upper part of the robot main body (101), a fixing plate (104b) arranged on the U-shaped seat (104a), a clamping plate (104c) arranged on the inner side of the fixing plate (104b), and bolts (104d) arranged at positions close to both sides on the fixing plate (104b).

4. The automatic cable pay-off device for power transmission and transformation engineering according to claim 3 is characterized by: Semicircular grooves (104e) are formed on the inner wall of the upper side of the fixing plate (104b) and the upper surface of the clamping plate (104c) to form a circular hole structure, and the bolts (104d) penetrate through the fixing plate (104b) and the clamping plate (104c) and are threadedly connected.

5. The automatic cable pay-off device for power transmission and transformation engineering according to claim 4 is characterized by: The hand-held remote control (201) includes a remote control handle (201a) and a liquid crystal display screen (201b), and both the remote control handle (201a) and the liquid crystal display screen (201b) are arranged on the front surface of the hand-held remote control (201).

6. The automatic cable pay-off device for power transmission and transformation engineering according to claim 5 is characterized by: The remote control handle (201a) controls the rotation angle of the camera of the video monitoring pan-tilt (103a), and the liquid crystal display screen (201b) displays the real-time video image and the coordinate position of the robot main body (101).

7. A method for automatically laying out cables and optical cables in power transmission and transformation projects, characterized in that: including the power transmission and transformation project cable and optical cable automatic cable laying device according to any one of claims 1 to 6; and the using steps are as follows: During the cable laying stage, use the hand-held remote control (201) to control the movement of the robot main body (101) to start the cable laying operation; During the monitoring stage, the remote control interacts with the carrying unit (100) through the wireless communication module (202) to establish a connection and perform stable data transmission; During the emergency treatment stage, find back the robot main body (101) according to the position information provided by the locator (103c).

8. The method for automatically laying out cables and optical cables for power transmission and transformation projects according to claim 7 is characterized by: The cable laying stage includes fixing the cable on the cable clamp (104) of the robot main body (101), using the hand-held remote control (201) to control the robot main body (101) to move forward along a predetermined route for cable laying, and rotating the viewing angle of the video camera to monitor the 360° road.

9. The method for automatically laying out cables and optical cables for power transmission and transformation projects according to claim 7 is characterized by: The monitoring stage includes transmitting the images captured by the video monitoring pan-tilt platform to the display screen of the handheld remote control (201) in real time through the wireless communication module (202), monitoring the real-time coordinate position of the robot body (101) to ensure the accuracy of the wire laying path, and monitoring the reading of the gas detection device.

10. The method for automatically laying out cables and optical cables for power transmission and transformation projects according to claim 7, characterized in that: The emergency handling stage includes: the gas detector (103b) issues a poisonous gas alarm, the wire laying operation is immediately stopped, the robot is found according to the locator (103c), and safety measures are taken.

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