Remote fault positioning equipment for power transmission line

Abstract

The invention discloses power transmission line remote fault positioning equipment, which comprises a high-voltage wire, an equipment frame and a monitoring camera, and is characterized in that the bottom of the equipment frame is provided with a crawling mechanism for crawling, and the equipment frame is fixedly connected with a stabilizing mechanism; the stabilizing mechanism comprises a shielding box and a base, an upper cover is detachably connected to the shielding box, a transceiver used for receiving and transmitting signals is fixedly connected to the upper cover, a range finder is fixedly connected to the interior of the shielding box through a plurality of spring rods, and the shielding box is movably connected to the base through a rotating disc; through the equipment, the influence of external electromagnetic interference on the range finder and the transceiver is effectively reduced, the stable operation of the equipment in a complex environment is ensured, the accuracy and reliability of fault positioning are improved, the normal operation of a power transmission line in cold weather is ensured, the line fault caused by ice layer overstocking is avoided, and the stable transmission of electric power is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line fault location, and specifically to a remote fault location device for transmission lines. Background Technique

[0002] With the continuous growth of global energy demand and the accelerating construction of smart grids, high-voltage transmission lines, as the core carriers of power transmission, their operating stability is directly related to social and economic development and people's livelihood security. Existing fault location technologies mainly include three categories: traveling wave method, impedance method, and intelligent algorithms. The traveling wave method realizes location by detecting the transient traveling wave signals generated by faults, with high precision, but is greatly affected by changes in line parameters and signal attenuation; the impedance method calculates the distance based on the impedance relationship between the fault point and the measurement end, with lower cost but vulnerable to interference from transition resistors; intelligent algorithms combine historical data with machine learning models to improve the location ability in complex scenarios, but rely on data accumulation and algorithm optimization.

[0003] In the field of high-voltage transmission line fault detection, currently mainly relying on traveling wave ranging technology, but traditional traveling wave rangefinders are directly fixed inside the detection equipment, lacking effective anti-interference and shock absorption measures. When the equipment moves along the transmission line, the friction vibration between the rollers and the wire and the electromagnetic interference generated by the high-voltage electric field will cause signal distortion of the traveling wave sensor. Especially in long-distance transmission lines, the problems of signal attenuation and noise superposition are prominent, greatly affecting the fault location accuracy, and existing equipment is difficult to meet the accurate location requirements.

[0004] Therefore, a remote fault location device for transmission lines is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a remote fault location device for transmission lines to solve the problem that when the equipment moves along the transmission line, the friction vibration between the rollers and the wire and the electromagnetic interference generated by the high-voltage electric field will cause signal distortion of the traveling wave sensor as mentioned in the above background technique.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a transmission line remote fault location device, comprising a high-voltage wire, a device frame and a monitoring camera, a crawling mechanism for crawling is arranged at the bottom of the device frame, and a stabilizing mechanism is fixedly connected to the device frame; the stabilizing mechanism comprises a shielding box and a base, an upper cover is detachably connected to the shielding box, a transceiver for sending and receiving signals is fixedly connected to the upper cover, a rangefinder is fixedly connected to the inside of the shielding box through a plurality of spring rods, the shielding box is movably connected to the base through a turntable, an electromagnet is fixedly connected to the bottom of the base, and the electromagnet is movably connected to an attraction plate through a plurality of telescopic rods, the turntable at the bottom of the shielding box is movably connected between the attraction plate and the electromagnet, and the other end of the turntable is fixedly connected to the output shaft of the motor inside the device frame, and a magnetorheological fluid is arranged inside the base.

[0007] Preferably: the crawling mechanism includes a telescopic cylinder fixedly connected to the bottom of the equipment frame, a worm gear is fixedly connected to the output shaft of the telescopic cylinder, and the worm gear is meshingly connected to a turbine, the turbine is fixedly connected to triangular plates through two elastic rods, and a rotating groove matching the triangular plates is provided at the bottom of the equipment frame, two pull rods are fixedly connected to the two triangular plates, and two movable rods are rotatably connected to both sides of the equipment frame, and the four movable rods and the four pull rods are movably connected, the four movable rods are rotatably connected to friction wheels through support rods, and the four movable rods are fixedly connected to rotating motors, and the rotating motors are meshingly connected to friction wheels.

[0008] Preferably, the ends of the four friction wheels are rotatably connected to obstacle avoidance wheels for avoiding obstacles, the outer walls of the friction wheels are provided with friction patterns for increasing friction, and the ends of the obstacle avoidance wheels are fixedly connected to rubber pads.

[0009] Preferably: a multi-layer fixed layer of Permalloy material is fixedly connected to the outer side of the shielding box, and a plurality of balls for smaller friction are arranged on the upper and lower sides of the attraction plate, and a guide groove for reducing wind resistance is opened on the outer side of the shielding box.

[0010] Preferably: an ice-breaking mechanism for breaking ice is also provided at the front end of the equipment frame, and the ice-breaking mechanism includes a controller fixed at the front end of the equipment frame, and two moving rods are rotatably connected to the controller, and the other ends of the two moving rods are fixedly connected to a servo motor, and the inside of the servo motor is fixedly connected to a motor, and the output shaft of the motor is connected to two ice-breaking rollers for breaking ice through a gear set transmission, the other end of the servo motor is movably connected to a tightening bracket, and a spring switch is provided between the servo motor and the tightening bracket, the tightening bracket is movably connected to a clamp via a connecting rod, and the inner side of the clamp is provided with an inclined groove for scraping off ice chips.

[0011] Preferably, a support arm is rotatably connected to the other side of the servo motor, a roller for support is rotatably connected to the other end of the support arm, and a clamping pipe for fixation is rotatably connected to the hoop.

[0012] Preferably, an induction mechanism is provided at one end of the equipment frame. The induction mechanism includes an induction hoop. An electric current inductor is arranged inside the induction hoop. The induction hoop is fixedly connected to the equipment frame through a telescopic wire. A buckle for clamping on a high-voltage wire is rotatably connected to the induction hoop. Inclined platforms are respectively arranged on the induction hoop and the buckle. A plurality of moving wheels for obstacle crossing are respectively movably connected inside the two inclined platforms. The moving wheels are fixedly connected inside the inclined platforms through elastic components. An ultrasonic flaw detector is arranged inside the buckle.

[0013] Preferably, the telescopic wire is a copper braided telescopic wire. A conducting wire is movably connected inside the telescopic wire. One end of the conducting wire is fixed to the bottom of the telescopic rod. The other end of the conducting wire penetrates through a plurality of extrusion balls. Chutes matching the plurality of extrusion balls are formed inside the induction hoop and the buckle.

[0014] Preferably, the shielding box includes a housing. Two reinforcing covers are rotatably connected to the housing through a rotating shaft. A torsion spring for resetting is arranged inside the rotating shaft. Two pushing components for pushing out the reinforcing covers are fixedly connected to the bottom of the housing. A push rod is movably connected inside the pushing component. An electromagnetic sheet is further arranged inside the pushing component. A magnetorheological fluid is arranged between the electromagnetic sheet and the push rod.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention adjusts the angle of the shielding box through a motor to meet the ranging requirements. Subsequently, the base is powered on, the magnetorheological fluid hardens to fix the shielding box, the electromagnet attracts the attracting disc to clamp the turntable, strengthening the equipment. At the same time, the electromagnet and the magnetorheological fluid jointly act to form an effect similar to that of a Faraday cage. The permalloy fixed layer on the outside of the shielding box also enhances the shielding performance. These designs effectively reduce the influence of external electromagnetic interference on the rangefinder and transceiver, ensure the stable operation of the equipment in a complex environment, and improve the accuracy and reliability of fault location; 2. The present invention drives the worm to rotate through a telescopic cylinder, and then drives the turbine, so that the triangular plate pushes the movable rod through the pull rod, making the friction wheel approach the high-voltage wire. The motor is rotated to drive the friction wheel to rotate, and the friction force generated by the friction pattern is used to realize the crawling of the equipment. When encountering an obstacle, the obstacle avoidance wheel plays a role. This mechanism enables the equipment to move autonomously on the transmission line, can go to different positions according to requirements for fault detection, inspection, etc., greatly improves the working coverage and detection efficiency of the equipment, and can obtain more comprehensive line information; 3. In the present invention, the ice is first contacted by the hoop. The thin ice layer can be directly scraped off by the inclined groove on the inner side of the hoop; the thick ice layer causes the hoop to get stuck, stretching the elastic sheet switch, triggering the operation of the servo motor, driving the ice-breaking roller to break the ice layer, and the inclined groove of the hoop continuously clears the ice chips. The support arm and the roller maintain the balance of the device, and the clamping pipe further fixes it. This mechanism can automatically adjust the working mode according to the ice layer thickness, timely remove the ice layer, ensure the normal operation of the transmission line in cold weather, avoid line failures caused by ice accumulation, and ensure stable power transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the main structure of the present invention.

[0017] Figure 2 It is a rear view of the main structure of the present invention.

[0018] Figure 3 It is a perspective view of the crawling mechanism of the present invention.

[0019] Figure 4 It is a perspective view of the ice-breaking mechanism of the present invention.

[0020] Figure 5 It is an exploded view of the ice-breaking mechanism of the present invention.

[0021] Figure 6 For the present invention Figure 5 An enlarged view of A in

[0022] Figure 7 It is a perspective view of the stabilizing mechanism of the present invention.

[0023] Figure 8 It is an exploded view of the stabilizing mechanism of the present invention.

[0024] Figure 9 It is a perspective view of the sensing mechanism of the present invention.

[0025] Figure 10 It is an exploded perspective view of the sensing mechanism of the present invention.

[0026] Figure 11 It is a perspective view of the shielding box structure of the present invention.

[0027] Figure 12 It is an exploded view of the internal structure of the shielding box of the present invention.

[0028] In the figure: 1. High-voltage wire; 2. Equipment frame; 3. Monitoring camera; 4. Crawling mechanism; 41. Telescopic cylinder; 42. Worm; 43. Turbine; 44. Triangular plate; 45. Elastic rod; 46. Pull rod; 47. Movable rod; 48. Support rod; 49. Friction wheel; 410. Rotating motor; 411. Obstacle avoidance wheel; 5. Stabilizing mechanism; 51. Shielding box; 5101. Outer shell; 5102. Reinforcing cover; 5103. Rotating shaft; 5104. Pushing component; 5105. Push rod; 5106. Electromagnetic sheet; 52. Upper cover; 53. Transceiver; 54. Rangefinder; 55. Spring rod; 56. Base; 57. Suction disc; 58. Electromagnet; 59. Telescopic rod; 6. Ice-breaking mechanism; 61. Controller; 62. Moving rod; 63. Servo motor; 64. Gear set; 65. Ice-breaking roller; 66. Support arm; 67. Roller; 68. Tightening bracket; 69. Connecting rod; 610. Hoop; 611. Clamping tube; 612. Reed switch; 7. Inductive mechanism; 71. Inductive hoop; 72. Retractable wire; 73. Buckle; 74. Extrusion ball; 75. Conducting wire; 76. Inclined platform; 77. Movable wheel. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] Please refer to Figures 1 to 11 , the present invention provides a technical solution for a remote fault location device for transmission lines: The remote fault location device for transmission lines includes a high-voltage wire 1, a device frame 2, and a monitoring camera 3. A crawling mechanism 4 for crawling is provided at the bottom of the device frame 2, and a stabilizing mechanism 5 is fixedly connected to the device frame 2; the stabilizing mechanism 5 includes a shielding box 51 and a base 56. An upper cover 52 is detachably connected to the shielding box 51, and a transceiver 53 for receiving and transmitting signals is fixedly connected to the upper cover 52. A rangefinder 54 is fixedly connected to the inside of the shielding box 51 through a plurality of spring rods 55. The shielding box 51 is movably connected to the base 56 through a turntable. An electromagnet 58 is fixedly connected to the bottom of the base 56, and the electromagnet 58 is movably connected to a suction disc 57 through a plurality of telescopic rods 59. The turntable at the bottom of the shielding box 51 is movably connected between the suction disc 57 and the electromagnet 58, and the other end of the turntable is fixedly connected to the output shaft of the motor inside the device frame 2. Magnetorheological fluid is provided inside the base 56. A fixed layer made of multilayered permalloy material is fixedly connected to the outside of the shielding box 51, and a plurality of balls for reducing friction are provided on both the upper and lower sides of the suction disc 57. A flow guiding groove for reducing wind resistance is provided on the outside of the shielding box 51.

[0031] When in operation, when it is necessary to perform fault location detection on the transmission line, the motor inside the equipment frame 2 drives the turntable at the bottom of the shielding box 51 to rotate, enabling the shielding box 51 to flexibly adjust its angle. As a result, the rangefinder 54 inside the shielding box 51 can cyclically receive the traveling wave signals on the wire, so as to more accurately measure the fault location of the transmission line. When the equipment needs to enhance its own stability and anti-interference ability during operation (at this time, it means that the rangefinder 54 receives the fault signal sent by the high-voltage wire 1, and at this time the shielding box 51 no longer needs to adjust its angle and only needs to be aligned with the direction from which the signal is sent), the electromagnet 58 is energized at this time. The base 56 is filled with magnetorheological fluid, making the magnetorheological fluid harden (the magnetorheological fluid immerses the turntable at the bottom of the shielding box 51). Since the output shaft of the motor inside the equipment frame 2 passes through the base 56 and is fixedly connected to the turntable at the bottom of the shielding box 51, and the turntable is rotatably connected between the attracting plate 57 and the electromagnet 58, when the magnetorheological fluid hardens, the turntable cannot rotate, (and when the magnetorheological fluid is not hardened, it will not affect the rotation of the turntable), thus making the shielding box 51 unable to rotate randomly, ensuring the stability of the rangefinder 54 during the measurement process and avoiding the shielding box 51 from shifting and rotating in the equipment frame 2 due to factors such as shaking, which would affect the measurement accuracy. At the same time, the electromagnet 58 fixedly connected to the bottom of the base 56 will generate a strong magnetic field after being energized. An attractive force is generated between the electromagnet 58 and the attracting plate 57 movably connected by multiple telescopic rods 59. Under the action of this attractive force, the attracting plate 57 will slide downward along the telescopic rods 59. When the attracting plate 57 slides to a certain extent, it and the electromagnet 58 will tightly clamp the turntable at the bottom of the shielding box 51, further improving the overall stability of the equipment. At the same time, when the electromagnet 58 and the magnetorheological fluid work together, they can build an effect similar to that of a Faraday cage, effectively resisting external electromagnetic interference. (In principle, the Faraday cage achieves electromagnetic shielding based on the principle of electrostatic equilibrium. When the electromagnet 58 is energized, it will generate a strong magnetic field. Under the action of the magnetic field, the internal structure of the magnetorheological fluid will change and then harden, forming a special rigid substance state. At this time, the electromagnet 58, the magnetorheological fluid, and the area wrapped by them together form a structure similar to a closed metal cage. Specifically, when there is an external electromagnetic interference source, such as the electromagnetic waves emitted by a substation and a signal base station, propagating to this area, due to the good electrical conductivity and magnetic permeability of the electromagnet 58 and the hardened magnetorheological fluid, these electromagnetic waves will generate induced currents on their surfaces. According to Lenz's law, the induced currents will generate a magnetic field opposite to the direction of the external interfering electromagnetic waves. The interaction of these two magnetic fields cancels part of the energy of the external electromagnetic waves. At the same time, the induced currents will flow on the surface of this structure similar to a metal cage, just like the current flowing on the surface of a real metal cage), (and because when the electromagnet 58 is energized to generate a magnetic field, during this process, due to electromagnetic induction, the structure similar to the Faraday cage itself will generate induced currents. According to Lenz's law,The magnetic field direction generated by these induced currents will restrict the direction of the original magnetic field generated by the electromagnet 58, limiting the distribution and propagation of the original magnetic field inside the structure. Most of the magnetic field energy is confined to the surface and surroundings of a structure similar to a Faraday cage, reducing the magnetic field intensity leaking into the area where the internal rangefinder 54 is located. And due to the presence of the shielding box 51, it will not affect the rangefinder 54 inside the shielding box 51). The metal cage (here referring to the equivalent structure composed of the electromagnet and magnetorheological fluid) will reflect or absorb these electromagnetic waves, preventing them from propagating outward, thus effectively isolating the external electromagnetic interference to the rangefinder 54. Moreover, the transceiver 53 is arranged outside the shielding box 51. Since the transceiver 53 is not in the main area where the structure similar to the Faraday cage strongly blocks and shields electromagnetic waves, it avoids the interference of the above electromagnetic shielding structure to it. Because the transceiver 53 needs to interact with the outside world for signals, if it is in a completely shielded environment, both the reception and transmission of signals will be hindered. By setting it outside the shielding box, it can not only ensure itself from being interfered by strong external electromagnetic fields by using the anti-interference structure of the whole device, but also communicate with the outside world smoothly, ensuring stable and reliable data transmission during the device fault location process; In addition, a fixed layer made of multiple layers of permalloy is fixedly connected to the outer side of the shielding box 51. Permalloy has an extremely high magnetic permeability and can effectively shield the external magnetic field, providing a more stable working environment for the rangefinder 54 and the transceiver 53. A plurality of ball bearings are arranged on the upper and lower sides of the attracting disc 57, which can reduce the friction force during the sliding process of the attracting disc 57, making the sliding of the attracting disc 57 smoother. The diversion groove opened on the outer side of the shielding box 51 can reduce the acting force of the wind on the device during the operation of the device, reducing the rotation of the shielding box 51 caused by the wind force, so that the device can work more stably in a complex outdoor environment.

[0032] As an embodiment of the present invention, such as Figure 1 、 Figure 2 and Figure 3As shown in the figure, the crawling mechanism 4 includes a telescopic cylinder 41 fixedly connected to the bottom of the equipment frame 2. A worm 42 is fixedly connected to the output shaft of the telescopic cylinder 41, and the worm 42 is meshed with a turbine 43. The turbine 43 is fixedly connected to a triangular plate 44 through two elastic rods 45 respectively. A rotating groove matching the triangular plate 44 is opened at the bottom of the equipment frame 2. Two pull rods 46 are fixedly connected to each of the two triangular plates 44. Two movable rods 47 are rotatably connected to both sides of the equipment frame 2. The four movable rods 47 and the four pull rods 46 are movably connected. The four movable rods 47 are all rotatably connected to a friction wheel 49 through a support rod 48. A rotating motor 410 is fixedly connected to each of the four movable rods 47, and the rotating motor 410 is meshed with the friction wheel 49. The ends of the four friction wheels 49 are all rotatably connected to an obstacle avoidance wheel 411 for obstacle avoidance. Friction lines for increasing friction are opened on the outer wall of the friction wheel 49, and rubber pads are fixedly connected to the ends of the obstacle avoidance wheels 411.

[0033] During operation, when the device needs to move on the high-voltage wire 1, first, the telescopic cylinder 41 fixedly connected to the bottom of the device frame 2 is activated, thereby driving the turbine 43 to rotate. The turbine 43 is fixedly connected to the triangular plate 44 through two elastic rods 45 respectively, and a rotating groove matching the triangular plate 44 is provided at the bottom of the device frame 2. When the turbine 43 rotates, it will drive the triangular plate 44 to rotate in the rotating groove through the elastic rod 45. Here, the elastic rod 45 not only plays a connecting role but also has a certain elasticity, which can play a buffering and fine-tuning role during the operation of the device to ensure more stable connection between various components. When the triangular plate 44 rotates, it will drive the two pull rods 46 fixed on it to move. The other end of the pull rod 46 is movably connected to the movable rod 47. Two movable rods 47 are rotatably connected to both sides of the device frame 2. When the pull rod 46 moves, it will pull the movable rod 47 to rotate around the connection points on both sides of the device frame 2. The movable rod 47 is rotatably connected to the friction wheel 49 through the support rod 48. During the rotation of the movable rod 47, it will drive the friction wheel 49 to approach or move away from the high-voltage wire 1 through the support rod 48. When the friction wheel 49 contacts the high-voltage wire 1, it is necessary to ensure that there is sufficient pressure between them so as to generate enough frictional force to drive the device to move. At this time, the rotating motor 410 installed on the movable rod 47 starts to work. The output shaft of the rotating motor 410 meshes with the friction wheel 49. After the rotating motor 410 is started, its output shaft drives the friction wheel 49 to rotate. The outer wall of the friction wheel 49 is provided with friction lines, which can increase the frictional force between the friction wheel 49 and the high-voltage wire 1. Under the action of the frictional force, the device can crawl along the high-voltage wire 1. During the crawling process of the device, it is inevitable to encounter some obstacles, such as foreign objects on the wire, insulators, etc. At this time, the obstacle avoidance wheel 411 installed at the end of the friction wheel 49 starts to play a role. The obstacle avoidance wheel 411 can rotate flexibly at the end of the friction wheel 49. When encountering an obstacle, the obstacle avoidance wheel 411 will first contact the obstacle and cross the obstacle through its own rotation. The rubber pad fixedly connected to the end of the obstacle avoidance wheel 411 has good elasticity and buffering performance. It can not only play a buffering role during the obstacle avoidance process to avoid violent collision between the obstacle avoidance wheel 411 and the obstacle, protecting the device and the high-voltage wire 1 from damage, but also increase the frictional force between the obstacle avoidance wheel 411 and the obstacle, making the obstacle avoidance process more stable and reliable.

[0034] As an embodiment of the present invention, such as Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 and Figure 6As shown, the front end of the equipment frame 2 is also provided with an ice-breaking mechanism 6 for breaking ice. The ice-breaking mechanism 6 includes a controller 61 fixed at the front end of the equipment frame 2. Two moving rods 62 are rotatably connected to the controller 61. The other ends of the two moving rods 62 are fixedly connected to a servo motor 63. The inside of the servo motor 63 is fixedly connected to a motor, and the output shaft of the motor is connected to two ice-breaking rollers 65 for breaking ice through a gear set 64. The other end of the servo motor 63 is movably connected to a tightening bracket 68, and a spring switch 612 is provided between the servo motor 63 and the tightening bracket 68. A clamping hoop 610 is movably connected to the tightening bracket 68 through a connecting rod 69, and an inclined groove for scraping ice chips is provided on the inner side of the clamping hoop 610. The other side of the servo motor 63 is rotatably connected to a support arm 66, and the other end of the support arm 66 is rotatably connected to a roller 67 for support, and a clamping tube 611 for fixing is rotatably connected to the clamping hoop 610.

[0035] During operation, when ice forms on the outside of the high-voltage wire 1, since the inner side of the clamp 610 is provided with an inclined groove for scraping off ice debris, for a thinner ice layer, the clamp 610 can directly scrape off the ice layer by means of its own inclined groove while the device is moving on the high-voltage wire 1. However, when encountering a thicker ice layer, the clamp 610 will be stuck on the high-voltage wire 1 after contacting the ice layer. As the device continues to approach the ice layer, the clamp 610 cannot move easily. At this time, the spring switch 612 located between the servo motor 63 and the tightening bracket 68 will be stretched. When the spring switch 612 is stretched, a signal will be sent to the servo motor 63, and the motor inside the servo motor 63 will start to run. The output shaft of the motor drives the two ice-breaking rollers through the gear set 64. 65 rotates, so that the ice-breaking roller 65 rotates at a suitable speed and torque to break the thicker ice layer. During the ice-breaking process, the inclined groove on the inner side of the clamp 610 will continue to scrape off the ice chips broken by the ice-breaking roller 65 in time to prevent the accumulation of ice chips from affecting the ice-breaking effect. At the same time, to ensure the stable operation of the ice-breaking mechanism 6, tightening the connection structure of the bracket 68 and the connecting rod 69 can make the clamp 610 fit better on the wire and enhance the connection stability. At the same time, the roller 67 at the other end of the support arm 66 rolls on the wire to support the equipment, so that the equipment can maintain balance during ice breaking and avoid shaking or falling due to unstable center of gravity. The clamping tube 611 on the clamp 610 can be further fixed on the wire to enhance the stability during ice breaking.

[0036] As an embodiment of the present invention, Figure 1 , Figure 2 , Figure 3 , Figure 9 and Figure 10, one end of the equipment frame 2 is provided with an induction mechanism 7. The induction mechanism 7 includes an induction clamp 71, and a current inductor is arranged inside the induction clamp 71. The induction clamp 71 is fixedly connected to the equipment frame 2 through a telescopic wire 72. A buckle 73 for clamping on the high-voltage wire 1 is rotatably connected to the induction clamp 71, and inclined platforms 76 are respectively arranged on the induction clamp 71 and the buckle 73. A plurality of moving wheels 77 for obstacle crossing are respectively movably connected inside the two inclined platforms 76, and the moving wheels 77 are fixedly connected to the inside of the inclined platforms 76 through elastic components. An ultrasonic flaw detector is arranged inside the buckle 73. The telescopic wire 72 is a copper braided telescopic wire. A conducting wire 75 is movably connected inside the telescopic wire 72. One end of the conducting wire 75 is fixed to the bottom of the telescopic rod 59, and the other end of the conducting wire 75 penetrates through a plurality of extrusion balls 74. Chutes matching the plurality of extrusion balls 74 are opened inside the induction clamp 71 and the buckle 73; During operation, when installing the equipment, first install the induction clamp 71 on the high-voltage wire 1. The operator rotates the buckle 73 on the induction clamp 71 and uses the movable wheel 77 connected by an elastic component in the inclined platform 76 of the induction clamp 71 and the buckle 73 to make the movable wheel 77 play a guiding and buffering role. Through the torsion spring inside the induction clamp 71 and the buckle 73, the buckle 73 is smoothly clamped to the high-voltage wire 1. During subsequent movement detection, if an obstacle (such as an insulator) is encountered, the movable wheel 77, under the adaptive adjustment of the elastic component (the elastic component includes components such as springs and elastic steels that automatically recover their deformation after stretching and contracting), helps the induction clamp 71 smoothly cross the obstacle. The telescopic wire 72 uses a copper braided telescopic wire, which has good electrical conductivity and telescopic properties. At the same time, when a fault occurs in the transmission line, the traveling wave propagates in the high-voltage wire 1 at an extremely fast speed. The distance measuring instrument 54, as a key component for traveling wave detection, can quickly capture the traveling wave signal. Once the distance measuring instrument 54 detects the traveling wave signal, it means that a fault may have occurred. At this time, the stabilizing mechanism 5 is triggered to start. After the stabilizing mechanism 5 starts, the electromagnet 58 is energized to generate a strong magnetic field, attracting the attracting disk 57 to move downward along the telescopic rod 59. During the descent of the attracting disk 57, since one end of the wire 75 is fixed to the bottom of the telescopic rod 59, the descent of the attracting disk 57 will pull the wire 75. The wire 75 passes through multiple extrusion balls 74. When the wire 75 is pulled, the extrusion balls 74 slide in the matching chutes inside the induction clamp 71 and the buckle 73. As the attracting disk 57 continues to descend, the wire 75 is gradually tightened, thereby driving the extrusion balls 74 to tightly press the induction clamp 71 and the buckle 73 against the high-voltage wire 1, making the induction clamp 71 completely fit the high-voltage wire 1. An electric current sensor is provided inside the induction clamp 71. After it closely fits the high-voltage wire 1, it can more accurately detect the current change. Because when the induction clamp 71 is not closely attached to the high-voltage wire 1, it may be affected by external electromagnetic interference, affecting the accuracy of current detection. Now, by pulling the wire 75 by the descent of the attracting disk 57, the induction clamp 71 is closely attached to the wire, effectively reducing external interference and improving the accuracy of current detection, providing more reliable data for fault diagnosis. This forms a dual guarantee mechanism for traveling wave detection and current detection. At the same time, the ultrasonic flaw detector provided inside the buckle 73 also starts to work. In the state where the induction clamp 71 is closely attached to the high-voltage wire 1, the ultrasonic flaw detector emits ultrasonic waves into the high-voltage wire 1. When the ultrasonic waves propagate inside the wire, if internal defects such as cracks and porosity are encountered, the ultrasonic waves will reflect and refract at the defect. The ultrasonic flaw detector receives the reflected ultrasonic wave signal and converts it into an electrical signal. These electrical signals are transmitted through the wire 75 to the control system inside the equipment frame 2. The control system analyzes and processes these signals to determine whether there are defects inside the high-voltage wire 1 and information such as the location and size of the defects, and timely discovers potential safety hazards inside the high-voltage wire.Ensuring the stable operation of the transmission line. Due to the good electrical conductivity of the copper braided telescopic wire, and at the same time, the equipment frame 2 and the high-voltage wire 1 form an equipotential body, effectively ensuring the safety of the equipment. (In the environment of high-voltage transmission lines, there are high voltages and strong electric fields. If the potential between the equipment and the wire is different, dangerous situations such as electric shock may occur. After forming an equipotential body, the equipment and the wire are at the same potential, greatly reducing the safety risk.) During the operation of the equipment, the induction clamp 71 can sense the changes in signals such as the electric field and magnetic field of the high-voltage wire 1 in real time.

[0037] As an embodiment of the present invention, such as Figure 7 、 Figure 8 、 Figure 11 and Figure 12 ,the shielding box 51 includes a housing 5101, the housing 5101 is movably connected with two reinforcing covers 5102 through a rotating shaft 5103, and a torsion spring for resetting is arranged inside the rotating shaft 5103. Two pushing components 5104 for pushing out the reinforcing covers 5102 are fixedly connected to the bottom of the housing 5101. A push rod 5105 is movably connected inside the pushing component 5104, and an electromagnetic sheet 5106 is also arranged inside the pushing component 5104. A magnetorheological fluid is arranged between the electromagnetic sheet 5106 and the push rod 5105.

[0038] During operation, when ice-breaking work is carried out, the electromagnetic sheet 5106 is powered on and starts. Since the magnetic poles between the bottom of the push rod 5105 and the electromagnetic sheet 5106 repel each other, the push rod 5105 moves outward from the inside of the pushing component 5104, thereby pushing out the reinforcing cover 5102. The two reinforcing covers 5102 rotate along the rotating shaft 5103 inside the housing 5101 to form a semi-arc-shaped structure, thereby enhancing the signal transmission between the equipment and the ground control personnel during ice-breaking. (The semi-circular reflecting surface can reflect and converge the spherical wave emitted by the feed into a parallel beam, similar to the reflector of a flashlight. This focusing effect makes the electromagnetic wave energy concentrated in a specific direction, significantly improving the antenna energy concentration ability, thereby enhancing the signal strength), so that the equipment operates stably. When ice-breaking is not required or the ice-breaking is completed, the torsion spring inside the rotating shaft 5103 restores the deformation of the reinforcing cover 5102, thereby restoring the shielding effect.

[0039] Working principle: During operation, the installation device needs to install the induction clamp 71 on the high-voltage wire 1, rotate the buckle 73, and use the movable wheel 77 to guide and buffer, and the torsion spring to clamp the wire tightly. When the mobile detector encounters an obstacle, the movable wheel 77 helps it to cross. When a fault occurs in the transmission line, the traveling wave propagates rapidly in the wire 1. After the distance measuring instrument 54 captures the traveling wave signal, it triggers the stabilizing mechanism 5 to start. The electromagnet 58 attracts the attracting disc 57 to descend, pulls the wire 75, so that the extrusion ball 74 pushes the induction clamp 71 and the buckle 73 to closely fit the high-voltage wire 1. After the induction clamp 71 is closely fitted, the internal current sensor thereof can accurately detect the current change, reduce external electromagnetic interference, and form a double guarantee with the traveling wave detection. At the same time, the ultrasonic flaw detector in the buckle 73 starts to detect the internal defects of the wire, and the signal is transmitted through the wire 75 to the control system for analysis. In addition, the copper braided telescopic wire 72 makes the equipment frame 2 and the high-voltage wire 1 form an equipotential body to ensure the safety of the equipment. During operation, the induction clamp 71 can also sense the changes in the electric field and magnetic field of the wire 1 in real time, start the crawling mechanism 4, the telescopic cylinder 41 operates, drives the worm 42 to rotate, makes the worm gear 43 rotate, and then makes the triangular plate 44 pull the movable rod 47 through the pull rod 46, so that the friction wheel 49 approaches and contacts the high-voltage wire 1. Subsequently, the rotating motor 410 drives the friction wheel 49 to rotate, and by virtue of the frictional force generated by the friction pattern, the equipment crawls on the high-voltage wire 1 to the detection area. After the equipment reaches the predetermined position, the stabilizing mechanism 5 starts to work. The motor inside the equipment frame 2 adjusts the angle of the shielding box 51 so that the distance measuring instrument 54 is in a suitable measurement orientation. Then, the base 56 is powered on, and the magnetorheological fluid hardens to fix the shielding box 51. The electromagnet 58 attracts the attracting disc 57 to clamp the turntable to reinforce the equipment. At the same time, the electromagnet and the magnetorheological fluid form an effect similar to that of a Faraday cage, and the permalloy fixing layer outside the shielding box 51 also helps to isolate external electromagnetic interference to ensure the stable operation of the distance measuring instrument 54 and the transceiver 53. While the stabilizing mechanism 5 is working, the monitoring camera 3 starts to collect images of the transmission line to obtain the real-time condition of the line. The distance measuring instrument 54 receives and sends signals through the transceiver 53. If the line freezes during the monitoring process, the clamp 610 first contacts the ice layer. The thinner ice layer is directly scraped off by the inclined groove inside the clamp 610. The thicker ice layer makes the clamp 610 get stuck, stretches the elastic sheet switch 612, triggers the internal motor of the servo motor 63 to operate, and the motor drives the ice-breaking roller 65 to rotate through the gear set 64 to break the ice layer. The inclined groove of the clamp 610 continuously scrapes off the ice chips, and the support arm 66 and the roller 67 keep the equipment balanced, and the clamping tube 611 further fixes to complete the ice-breaking operation; Meanwhile, when the ice-breaking work starts, the controller 61 sends a signal to the electromagnetic sheet 5106, and the electromagnetic sheet 5106 is powered on and starts. (The controller 61 can be optionally Siemens LME22.232C2 or domestic pulse controller TD-30Z to control the start and stop of the electromagnetic sheet 5106, or use other devices with the same function. This design is a common technical means for those skilled in the art and will not be elaborated here), thereby pushing out the reinforcement covers 5102. The two reinforcement covers 5102 rotate along the rotating shaft 5103 inside the housing 5101 to form a semi-arc structure, so as to enhance the signal transmission between the device and the ground control personnel during ice-breaking.

[0040] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transmission line remote fault location device, comprising a high voltage wire (1), a device frame (2) and a monitoring camera (3), characterized in that: A crawling mechanism (4) for crawling is arranged at the bottom of the device frame (2), and a stabilizing mechanism (5) is fixedly connected to the device frame (2); the stabilizing mechanism (5) comprises a shielding box (51) and a base (56); an upper cover (52) is detachably connected to the shielding box (51), a transceiver (53) for receiving and sending signals is fixedly connected to the upper cover (52), a rangefinder (54) is fixedly connected to the inside of the shielding box (51) via a plurality of spring rods (55), the shielding box (51) is movably connected to the base (56) via a turntable, an electromagnet (58) is fixedly connected to the bottom of the base (56), and the electromagnet (58) is movably connected to an attraction disk (57) via a plurality of telescopic rods (59), the turntable at the bottom of the shielding box (51) is movably connected between the attraction disk (57) and the electromagnet (58), and the other end of the turntable is fixedly connected to the output shaft of a motor inside the device frame (2), and a magnetorheological fluid is arranged inside the base (56).

2. The transmission line remote fault location device according to claim 1, characterized in that: The crawling mechanism (4) comprises a telescopic cylinder (41) fixedly connected to the bottom of the equipment frame (2); a worm (42) is fixedly connected to the output shaft of the telescopic cylinder (41); the worm (42) is meshingly connected to a turbine (43); the turbine (43) is fixedly connected to a triangular plate (44) via two elastic rods (45), and a rotating groove matching the triangular plate (44) is provided at the bottom of the equipment frame (2); two pull rods (46) are fixedly connected to the two triangular plates (44); two movable rods (47) are rotatably connected to the two sides of the equipment frame (2); four movable rods (47) and four pull rods (46) are movably connected; the four movable rods (47) are rotatably connected to a friction wheel (49) via a support rod (48); a rotating motor (410) is fixedly connected to the four movable rods (47); and the rotating motor (410) is meshingly connected to the friction wheel (49).

3. The transmission line remote fault location device according to claim 2, characterized in that: The ends of the four friction wheels (49) are rotatably connected to obstacle avoidance wheels (411) for avoiding obstacles, the outer walls of the friction wheels (49) are provided with friction patterns for increasing frictional force, and the ends of the obstacle avoidance wheels (411) are fixedly connected to rubber pads.

4. The transmission line remote fault location device according to claim 1, characterized in that: The outer side of the shielding box (51) is fixedly connected with a multi-layer fixed layer made of Permalloy material, and the upper and lower sides of the attraction plate (57) are both provided with a plurality of balls for smaller friction force, and the outer side of the shielding box (51) is provided with a guide groove for reducing wind resistance.

5. The transmission line remote fault location device according to claim 1, characterized in that: The front end of the device frame (2) is also provided with an ice-breaking mechanism (6) for breaking ice. The ice-breaking mechanism (6) comprises a controller (61) fixed to the front end of the device frame (2). The controller (61) is rotatably connected to two moving rods (62). The other ends of the two moving rods (62) are fixedly connected to a servo motor (63). The interior of the servo motor (63) is fixedly connected to a motor, and the output shaft of the motor is transmission-connected to two ice-breaking rollers (65) for breaking ice via a gear set (64). The other end of the servo motor (63) is movably connected to a tightening bracket (68), and a spring switch (612) is provided between the servo motor (63) and the tightening bracket (68). The tightening bracket (68) is movably connected to a clamp (610) via a connecting rod (69), and an inclined groove for scraping off ice debris is provided on the inner side of the clamp (610).

6. The transmission line remote fault location device according to claim 5, characterized in that: The other side of the servo motor (63) is rotatably connected to a support arm (66), and the other end of the support arm (66) is rotatably connected to a roller (67) for support, and the clamping hoop (610) is rotatably connected to a clamping tube (611) for fixing.

7. The power transmission line remote fault location device according to claim 1, characterized in that: A sensing mechanism (7) is provided at one end of the equipment frame (2), the sensing mechanism (7) comprising a sensing clamp (71), and a current sensor is provided inside the sensing clamp (71), the sensing clamp (71) is fixedly connected to the equipment frame (2) via a telescopic wire (72), a buckle (73) for clamping onto a high-voltage wire (1) is rotatably connected to the sensing clamp (71), and a ramp (76) is provided on the sensing clamp (71) and the buckle (73), respectively, a plurality of movable wheels (77) for traversing obstacles are movably connected inside the two ramps (76), and the movable wheels (77) are fixedly connected to the inside of the ramp (76) via an elastic component, and an ultrasonic flaw detector is provided inside the buckle (73).

8. The transmission line remote fault location device according to claim 7, characterized in that: The telescopic wire (72) is a copper braided telescopic wire, the telescopic wire (72) is movably connected with a wire (75) inside, one end of the wire (75) is fixed to the bottom of the telescopic rod (59), the other end of the wire (75) is penetrated by a plurality of squeezing balls (74), and the induction clamp (71) and the buckle (73) are provided with sliding grooves matching the plurality of squeezing balls (74) inside.

9. The transmission line remote fault location device according to claim 1, characterized in that: The shielding box (51) comprises a shell (5101), the shell (5101) is movably connected to two reinforcement covers (5102) via a rotating shaft (5103), and a torsion spring for resetting is arranged inside the rotating shaft (5103), the bottom of the shell (5101) is fixedly connected to two pushing components (5104) for pushing out the reinforcement covers (5102), the pushing components (5104) are movably connected to the inside of a push rod (5105), and an electromagnetic sheet (5106) is also arranged inside the pushing component (5104), and a magnetorheological fluid is arranged between the electromagnetic sheet (5106) and the push rod (5105).

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