Transmission line remote fault location equipment

Abstract

The present invention discloses a remote fault location device for a power transmission line, comprising a high-voltage wire, a device frame and a monitoring camera. A crawling mechanism for crawling is provided 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 interior of the shielding box via a plurality of spring rods, and the shielding box is movably connected to the base via a turntable; the above-mentioned device effectively reduces the influence of external electromagnetic interference on the rangefinder and the transceiver, ensures the stable operation of the device in a complex environment, improves the accuracy and reliability of fault location, and at the same time ensures the normal operation of the transmission line in cold weather, avoids line failures due to ice accumulation, and ensures stable power transmission.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line fault location, and in particular to a transmission line remote fault location device. Background Art

[0002] With the continued growth of global energy demand and the accelerated advancement of smart grid construction, the operational stability of high-voltage transmission lines, as the core carrier of power transmission, is directly related to social and economic development and people's livelihood security. Existing fault location technologies mainly include traveling wave method, impedance method and intelligent algorithm. The traveling wave method achieves positioning by detecting the transient traveling wave signal generated by the fault. It has high accuracy 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. It is low-cost but easily affected by transition resistance interference. The intelligent algorithm combines historical data with machine learning models to improve positioning capabilities in complex scenarios, but it relies on data accumulation and algorithm optimization.

[0003] In the field of high-voltage transmission line fault detection, the main technology currently relies on traveling wave ranging. However, traditional traveling wave rangefinders are directly fixed inside the detection equipment and lack effective anti-interference and vibration reduction measures. When the equipment moves along the transmission line, the friction vibration between the rollers and the wires, and the electromagnetic interference generated by the high-voltage electric field, will cause the traveling wave sensor signal to be distorted. Especially in long-distance transmission lines, the problems of signal attenuation and noise superposition are prominent, which greatly affects the fault location accuracy. Existing equipment is difficult to meet the needs of precise positioning.

[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 a transmission line to solve the problem raised in the above background technology that when the device moves along the transmission line, the friction vibration between the roller and the wire and the electromagnetic interference generated by the high-voltage electric field will cause distortion of the traveling wave sensor signal.

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

[0007] Preferably: the crawling mechanism includes a telescopic cylinder fixedly connected to the bottom of the equipment frame, a worm fixedly connected to the output shaft of the telescopic cylinder, and the worm meshingly connected to a turbine, the turbine is fixedly connected to a triangular plate through two elastic rods, and a rotating groove matching the triangular plate 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 the friction wheel through the support rod, and the four movable rods are fixedly connected to the rotating motor, and the rotating motor is meshingly connected to the friction wheel.

[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 grooves 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 is fixedly connected to the outer side of the shielding box, and a plurality of balls for smaller friction are provided on the upper and lower sides of the attraction plate. A guide groove for reducing wind resistance is opened on the outer side of the shielding box.

[0010] Preferably: the front end of the equipment frame is also provided with an ice-breaking mechanism for breaking ice, 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 interior 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. 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, and 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, the other side of the servo motor is rotatably connected to a support arm, and the other end of the support arm is rotatably connected to a roller for support, and the clamping hoop is rotatably connected to a clamping tube for fixation.

[0012] Preferably: an induction mechanism is provided at one end of the equipment frame, the induction mechanism includes an induction clamp, and a current sensor is provided inside the induction clamp, the induction clamp is fixedly connected to the equipment frame through a telescopic line, the induction clamp is rotatably connected to a buckle for clamping on a high-voltage wire, and the induction clamp and the buckle are respectively provided with inclined platforms, the interiors of the two inclined platforms are respectively movably connected with a plurality of movable wheels for traversing obstacles, and the movable wheels are fixedly connected to the interior of the inclined platform through an elastic component, and an ultrasonic flaw detector is provided inside the buckle.

[0013] Preferably, the telescopic wire is a copper braided telescopic wire, the interior of the telescopic wire is movably connected with a wire, one end of the wire is fixed to the bottom of the telescopic rod, the other end of the wire is penetrated by a plurality of squeezing balls, and the interior of the induction clamp and the buckle are provided with sliding grooves matching the plurality of squeezing balls.

[0014] Preferably: the shielding box includes an outer shell, the outer shell is movably connected to two reinforcement covers through a rotating shaft, and a torsion spring for resetting is arranged inside the rotating shaft, the bottom of the outer shell is fixedly connected to two pushing components for pushing out the reinforcement covers, the pushing components are movably connected to a push rod inside, and an electromagnetic sheet is also arranged inside the pushing component, and magnetorheological fluid is arranged between the electromagnetic sheet and the push rod.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention uses a motor to adjust the angle of the shielding box to meet the distance measurement requirements. Subsequently, the base is energized, the magnetorheological fluid hardens and fixes the shielding box, and the electromagnet attracts the attraction disk to clamp the turntable, reinforcing the equipment. At the same time, the electromagnet and magnetorheological fluid work together to form an effect similar to a Faraday cage. The Permalloy fixed layer on the outside of the shielding box also enhances the shielding performance. These designs effectively reduce the impact of external electromagnetic interference on the rangefinder and transceiver, ensuring the stable operation of the equipment in complex environments and improving the accuracy and reliability of fault location.

[0017] 2. The present invention uses a telescopic cylinder to drive the worm, which in turn drives the turbine. The triangular plate pushes the movable rod through the pull rod, allowing the friction wheel to approach the high-voltage power line. The rotating motor drives the friction wheel to rotate. The friction generated by the friction pattern enables the equipment to crawl. When encountering obstacles, the obstacle avoidance wheels come into play. This mechanism enables the equipment to move autonomously on the power transmission line, and can be carried out at different locations for fault detection and inspection as needed. This greatly improves the equipment's working coverage and detection efficiency, and can obtain more comprehensive line information.

[0018] 3. The present invention first contacts the ice layer through the clamp, and the thin ice layer can be directly scraped off by the inner inclined groove of the clamp; the thick ice layer causes the clamp to get stuck, stretching the spring switch, triggering the servo motor to run, driving the ice-breaking roller to break the ice layer, and the clamping groove continuously clears ice chips. The support arm and roller maintain the balance of the equipment, and the clamping tube is further fixed. This mechanism can automatically adjust the working mode according to the thickness of the ice layer, clear the ice layer in time, 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

[0019] Figure 1 It is a schematic diagram of the main structure of the present invention.

[0020] Figure 2 It is the rear view of the main structure of the present invention.

[0021] Figure 3 It is a three-dimensional diagram of the crawling mechanism of the present invention.

[0022] Figure 4 It is a three-dimensional diagram of the ice-breaking mechanism of the present invention.

[0023] Figure 5 This is a disassembled diagram of the ice-breaking mechanism of the present invention.

[0024] Figure 6 For the present invention Figure 5 Magnified view of A in .

[0025] Figure 7 It is a three-dimensional diagram of the stabilizing mechanism of the present invention.

[0026] Figure 8 This is a disassembled diagram of the stabilizing mechanism of the present invention.

[0027] Figure 9 It is a three-dimensional diagram of the sensing mechanism of the present invention.

[0028] Figure 10 It is an exploded three-dimensional diagram of the sensing mechanism of the present invention.

[0029] Figure 11 It is a three-dimensional diagram of the shielding box structure of the present invention.

[0030] Figure 12 This is a disassembled diagram of the internal structure of the shielding box of the present invention.

[0031] In the picture:

[0032] 1. High-voltage wires; 2. Equipment frame; 3. Monitoring cameras;

[0033] 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;

[0034] 5. Stabilizing mechanism; 51. Shielding box; 5101. Housing; 5102. Reinforcement cover; 5103. Rotating shaft; 5104. Pushing assembly; 5105. Push rod; 5106. Electromagnetic sheet; 52. Upper cover; 53. Transceiver; 54. Rangefinder; 55. Spring rod; 56. Base; 57. Suction plate; 58. Electromagnet; 59. Telescopic rod;

[0035] 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. Clamp; 611. Clamp tube; 612. Shrapnel switch;

[0036] 7. Sensing mechanism; 71. Sensing clamp; 72. Telescopic wire; 73. Buckle; 74. Squeeze ball; 75. Wire; 76. Inclined platform; 77. Movable wheel. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] See also Figures 1 to 11 , the present invention provides a technical solution for a remote fault location device for a transmission line:

[0039] The remote fault location device for transmission lines includes a high-voltage wire 1, an equipment frame 2 and a monitoring camera 3. A crawling mechanism 4 for crawling is provided at the bottom of the equipment frame 2, and a stabilizing mechanism 5 is fixedly connected to the equipment frame 2; the stabilizing mechanism 5 includes a shielding box 51 and a base 56. The shielding box 51 is detachably connected to a top cover 52, and a transceiver 53 for receiving and sending signals is fixedly connected to the top cover 52. The interior of the shielding box 51 is fixedly connected to a rangefinder 54 through multiple spring rods 55. The shielding box 51 is movably connected to the base 56 through a turntable, and the bottom of the base 56 is fixedly connected to the top cover 52. The top of the shielding box 51 is fixedly connected to an electromagnet 58, and the electromagnet 58 is movably connected to the attraction plate 57 through a plurality of telescopic rods 59. The turntable at the bottom of the shielding box 51 is movably connected between the attraction plate 57 and the electromagnet 58, and the other end of the turntable is fixedly connected to the output shaft of the motor inside the equipment frame 2. Magnetorheological fluid is provided inside the base 56, and a multi-layer fixed layer of permalloy material is fixedly connected to the outside of the shielding box 51, and a plurality of balls for smaller friction are provided on the upper and lower sides of the attraction plate 57. A guide groove for reducing wind resistance is provided on the outside of the shielding box 51.

[0040] During 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, so that the shielding box 51 can flexibly adjust its angle, thereby enabling the rangefinder 54 inside the shielding box 51 to cyclically receive the traveling wave signal on the wire, so as to more accurately measure the fault position of the transmission line. When the equipment needs to enhance its own stability and anti-interference ability during operation (this means that the rangefinder 54 receives the fault signal sent by the high-voltage wire 1, and the shielding box 51 no longer needs to adjust the angle and only needs to align with the direction from which the signal is sent), the electromagnet 58 is energized, and the base 56 is filled with magnetorheological fluid, which makes the magnetorheological fluid harden (the magnetorheological fluid immerses the turntable at the bottom of the shielding box 51). 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 attraction plate 57 and the electromagnet 58. When the magnetorheological fluid hardens, the turntable cannot rotate (and when the magnetorheological fluid does not harden, it will not affect the rotation of the turntable), so that the shielding box 51 can no longer rotate at will, thereby ensuring the stability of the rangefinder 54 during the measurement process, and avoiding the shielding box 51 from offsetting and rotating in the equipment frame 2 due to factors such as shaking, thereby affecting the measurement accuracy. At the same time, the electromagnet 58 fixedly connected to the bottom of the base 56 will generate strong magnetism after being energized, and an attraction force will be generated between the electromagnet 58 and the attraction plate 57 movably connected by multiple telescopic rods 59. The attraction plate 57 is attracted by this attraction force. When the magnet 58 is used, it will slide downward along the telescopic rod 59. When the attraction 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 device. At the same time, when the electromagnet 58 and the magnetorheological fluid work together, they can build an effect similar to a Faraday cage, effectively resisting external electromagnetic interference. (In principle, the Faraday cage is based on the principle of electrostatic balance to achieve electromagnetic shielding. When the electromagnet 58 is energized, a strong magnetic field is generated. Under the action of the magnetic field, the internal structure of the magnetorheological fluid will change and then harden, forming a special material state with a certain rigidity. At this time, the electromagnet 58, the magnetorheological fluid and the area wrapped by them together constitute a closed metal cage. The structure of the cage, specifically, when there is an external electromagnetic interference source, such as electromagnetic waves emitted by a substation and a signal base station, propagates to the area, because the electromagnet 58 and the hardened magnetorheological fluid have good electrical conductivity and magnetic permeability, these electromagnetic waves will generate induced currents on their surfaces. According to Lenz's law, the induced current will generate a magnetic field in the opposite direction to the external interfering electromagnetic wave. The two magnetic fields interact with each other, thereby offsetting part of the energy of the external electromagnetic wave. At the same time, the induced current will flow on the surface of this metal cage-like structure, just like the current flows on the surface of a real metal cage. (And because the electromagnet 58 generates a magnetic field when it is energized, in this process, due to electromagnetic induction, the Faraday cage-like structure itself will generate an induced current. According to Lenz's law,The direction of the magnetic field generated by these induced currents will restrict the direction of the original magnetic field generated by the electromagnet 58, so that the distribution and propagation of the original magnetic field inside the structure are restricted. Most of the magnetic field energy is confined to the surface and surroundings of the Faraday cage-like structure, reducing the magnetic field strength leaking to the area where the internal rangefinder 54 is located. In addition, 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 refers to the equivalent structure composed of the electromagnet and the magnetorheological fluid) will reflect or absorb these electromagnetic waves, preventing them from propagating outward, thereby effectively isolating the rangefinder 54 from external electromagnetic fields. Interference, and the transceiver 53 is arranged outside the shielding box 51. Since the transceiver 53 is not in the main area of ​​the Faraday cage structure that strongly blocks and shields electromagnetic waves, the interference caused by the above-mentioned electromagnetic shielding structure is avoided. Because the transceiver 53 needs to interact with the outside world for signals, if it is in a completely shielded environment, the reception and transmission of signals will be hindered. By arranging it outside the shielding box, the anti-interference structure of the entire device can be used to protect itself from strong external electromagnetic interference, and it can also communicate with the outside world smoothly, ensuring stable and reliable data transmission during the equipment fault location process.

[0041] In addition, the outer side of the shielding box 51 is also fixedly connected with a multi-layer fixed layer of Permalloy material. Permalloy has 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. The multiple ball bearings arranged on the upper and lower sides of the attraction plate 57 can reduce the friction during the sliding process of the attraction plate 57, making the sliding of the attraction plate 57 smoother. The guide groove opened on the outside of the shielding box 51 can reduce the force of the wind on the equipment during the operation of the equipment, reduce the rotation of the shielding box 51 caused by wind, and enable the equipment to work more stably in a complex outdoor environment.

[0042] As an embodiment of the present invention, Figure 1 、 Figure 2 and Figure 3As shown, the crawling mechanism 4 includes a telescopic cylinder 41 fixedly connected to the bottom of the equipment frame 2, a worm 42 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, and the bottom of the equipment frame 2 is provided with a rotating groove matching the triangular plate 44, two pull rods 46 are fixedly connected to the two triangular plates 44, and two movable rods 47 are rotatably connected on both sides of the equipment frame 2, and the four movable rods 47 and the four pull rods 46 are movably connected, the four movable rods 47 are rotatably connected to the friction wheel 49 through the support rod 48, and the four movable rods 47 are fixedly connected to the rotating motor 410, and the rotating motor 410 is meshed with the friction wheel 49, the ends of the four friction wheels 49 are rotatably connected to obstacle avoidance wheels 411 for avoiding obstacles, the outer wall of the friction wheel 49 is provided with friction grooves for increasing friction, and the ends of the obstacle avoidance wheels 411 are fixedly connected with rubber pads.

[0043] 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 started, thereby driving the turbine 43 to rotate. The turbine 43 is fixedly connected to the triangular plate 44 through two elastic rods 45, and a rotation groove matching the triangular plate 44 is provided at the bottom of the device frame 2. When the turbine 43 rotates, the triangular plate 44 is driven to rotate in the rotation groove through the elastic rod 45. The elastic rod 45 here not only plays a connecting role, but also has a certain elasticity, which can play a role of buffering and fine-tuning during the operation of the equipment to ensure the connection between various components. More stable, when the triangular plate 44 rotates, it will drive the two pull rods 46 fixed thereon to move, and the other end of the pull rod 46 is movably connected to the movable rod 47. Both sides of the equipment frame 2 are rotatably connected to two movable rods 47. When the pull rod 46 moves, it will pull the movable rod 47 to rotate around the connection points on both sides of the equipment 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, the friction wheel 49 will be driven by the support rod 48 to approach or move away from the high-voltage wire 1. When the friction wheel 49 contacts the high-voltage wire 1, it is necessary to ensure that there is enough space between them. The pressure of the device is generated so that enough friction can be generated to drive the device to move. At this time, the rotating motor 410 installed on the movable rod 47 starts to work, and the output shaft of the rotating motor 410 is engaged 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 grooves, which can increase the friction between the friction wheel 49 and the high-voltage wire 1. Under the action of friction, 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 device installed The obstacle avoidance wheel 411 at the end of the friction wheel 49 begins 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 in the obstacle avoidance process, avoid violent collisions between the obstacle avoidance wheel 411 and the obstacle, and protect the equipment and high-voltage wires 1 from damage, but also increase the friction between the obstacle avoidance wheel 411 and the obstacle, making the obstacle avoidance process more stable and reliable.

[0044] As an embodiment of the present invention, 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 to 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 the 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 clamp 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 clamp 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 clamp 610.

[0045] 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 chips, for thinner ice layers, the clamp 610 can directly scrape off the ice layer by relying on its own inclined groove while the device moves on the high-voltage wire 1. However, when encountering thicker ice layers, 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 an appropriate speed and torque to break the thicker ice layer. During the ice-breaking process, the inclined groove on the inside 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 when breaking ice and avoid shaking or falling due to unstable center of gravity. The clamping tube 611 on the clamp 610 can be further fixed to the wire to enhance the stability during ice breaking.

[0046] As an embodiment of the present invention, Figure 1 、 Figure 2 、 Figure 3 、 Figure 9 and Figure 10, an induction mechanism 7 is provided at one end of the equipment frame 2, the induction mechanism 7 includes an induction clamp 71, and a current sensor is provided inside the induction clamp 71, the induction clamp 71 is fixedly connected to the equipment frame 2 through a telescopic line 72, and a buckle 73 for clamping on the high-voltage wire 1 is rotatably connected to the induction clamp 71, and an inclined platform 76 is provided on the induction clamp 71 and the buckle 73 respectively, and a plurality of movable wheels 77 for overcoming obstacles are movably connected to the inside of the two inclined platforms 76, and the movable wheels 77 are fixedly connected to the inside of the inclined platforms 76 through elastic components, an ultrasonic flaw detector is provided inside the buckle 73, the telescopic line 72 is a copper braided telescopic line, and a wire 75 is movably connected to the inside of the telescopic line 72, and one end of the wire 75 is fixed to the bottom of the telescopic rod 59, and the other end of the wire 75 is penetrated by a plurality of squeezing balls 74, and the interior of the induction clamp 71 and the buckle 73 is provided with a slide groove matching the plurality of squeezing balls 74;

[0047] During operation, when installing the equipment, the induction clamp 71 must first be installed 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 the elastic component in the inclined platform 76 on the induction clamp 71 and the buckle 73 to allow the movable wheel 77 to play a guiding and buffering role. The buckle 73 is smoothly clamped to the high-voltage wire 1 through the torsion spring inside the induction clamp 71 and the buckle 73. During the subsequent mobile detection process, if an obstacle (such as an insulator) is encountered, the movable wheel 77 helps the induction clamp 71 to smoothly cross the obstacle under the adaptive adjustment of the elastic component (the elastic component includes a spring and an elastic component that automatically restores its deformation after expansion). The telescopic wire 72 adopts a copper braided telescopic wire with good conductivity and elasticity. The invention relates to a device for the detection of traveling waves, wherein the traveling wave propagates at an extremely fast speed in the high-voltage wire 1. The rangefinder 54, as a key component of traveling wave detection, can quickly capture the traveling wave signal. Once the rangefinder 54 detects the traveling wave signal, it means that a fault may have occurred. At this time, the stabilizing mechanism 5 will be triggered to start. After the stabilizing mechanism 5 is started, the electromagnet 58 is energized to generate a strong magnetism, which attracts the attraction plate 57 to move downward along the telescopic rod 59. In the process of the attraction plate 57 descending, since one end of the wire 75 is fixed to the bottom of the telescopic rod 59, the descent of the attraction plate 57 will pull the wire 75. The wire 75 passes through multiple squeezing balls 74. When the wire 75 is pulled, the squeezing balls 74 slide in the matching sliding grooves inside the induction clamp 71 and the buckle 73. The wire 75 is gradually tightened as the attraction plate 57 continues to descend, thereby driving the squeezing ball 74 to press the induction clamp 71 and the buckle 73 tightly against the high-voltage wire 1, so that the induction clamp 71 is completely fitted to the high-voltage wire 1. A current sensor is provided inside the induction clamp 71. After it is tightly fitted to the high-voltage wire 1, it can detect current changes more accurately. Because when the induction clamp 71 is not tightly fitted 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 descending the attraction plate 57, the induction clamp 71 is tightly fitted to the wire, which effectively reduces external interference, improves the accuracy of current detection, and provides more reliable data for fault diagnosis. This forms a traveling wave detection and current detection method. At the same time, the ultrasonic flaw detector set inside the buckle 73 also starts working. When the induction clamp 71 is tightly attached to the high-voltage wire 1, the ultrasonic flaw detector emits ultrasonic waves into the high-voltage wire 1. When the ultrasonic wave propagates inside the wire, if it encounters internal defects such as cracks or looseness, the ultrasonic wave will be reflected or refracted at the defect. The ultrasonic flaw detector receives the reflected ultrasonic signal and converts it into an electrical signal. These electrical signals are transmitted to the control system in the equipment frame 2 through the wire 75. The control system analyzes and processes these signals to determine whether there are defects inside the high-voltage wire 1 and the location, size and other information of the defects, so as to timely discover potential safety hazards inside the high-voltage wire.Guaranteeing stable operation of the transmission line: Due to the excellent conductivity of the copper braided expansion cable, the device frame 2 and the high-voltage wire 1 form an equipotential body, effectively ensuring the safety of the equipment. (High-voltage transmission lines are subject to high voltage and strong electric fields. If the potential between the equipment and the wire is different, dangerous situations such as electric shock may occur. After the equipotential body is formed, the equipment and the wire are at the same potential, greatly reducing safety risks.) During equipment operation, the induction clamp 71 can sense the changes in the electric field, magnetic field, and other signals of the high-voltage wire 1 in real time.

[0048] As an embodiment of the present invention, Figure 7 、 Figure 8 、 Figure 11 and Figure 12 The shielding box 51 includes a shell 5101, which is movably connected to two reinforcement covers 5102 through a rotating shaft 5103, and a torsion spring for resetting is provided 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, and the pushing component 5104 is movably connected to a push rod 5105 inside, and an electromagnetic sheet 5106 is also provided inside the pushing component 5104, and magnetorheological fluid is provided between the electromagnetic sheet 5106 and the push rod 5105.

[0049] During operation, when breaking ice, the electromagnetic sheet 5106 is energized and started. Due to the mutual repulsion between the magnetic poles between the bottom of the push rod 5105 and the electromagnetic sheet 5106, the push rod 5105 moves outward from the inside of the pushing assembly 5104, thereby pushing out the reinforcement cover 5102. The two reinforcement covers 5102 rotate along the rotating shaft 5103 inside the shell 5101 to form a semi-arc structure, thereby enhancing the signal transmission between the equipment and the ground control personnel during ice breaking. (The semi-arc reflecting surface can reflect the spherical waves emitted by the feed source and converge them into parallel beams, similar to the reflector of a flashlight. This focusing effect concentrates the electromagnetic wave energy in a specific direction, significantly improving the antenna's energy concentration ability, thereby enhancing signal strength), so that the equipment can operate stably. When ice breaking is no longer needed or when ice breaking is completed, the deformation of the reinforcement cover 5102 is restored by the torsion spring inside the rotating shaft 5103, thereby restoring the shielding effect.

[0050] Working principle: When working, the installation equipment needs to install the induction clamp 71 on the high-voltage wire 1, rotate the buckle 73, use the movable wheel 77 to guide the buffer and the torsion spring to clamp the wire. When the mobile detection encounters an obstacle, the movable wheel 77 helps it to cross. When the transmission line fails, the traveling wave propagates rapidly in the wire 1. After the rangefinder 54 captures the traveling wave signal, it triggers the stabilization mechanism 5 to start, the electromagnet 58 attracts the attraction disk 57 to drop, and pulls the wire 75, so that the squeezing ball 74 pushes the induction clamp 71 and the buckle 73 to fit tightly against the high-voltage wire 1. After the induction clamp 71 fits tightly, its internal current sensor can accurately detect the current change and reduce external electromagnetic interference. Interference, forming a double guarantee with traveling wave detection. At the same time, the ultrasonic flaw detector in the buckle 73 is started to detect internal defects in the wires, and the signal is transmitted to the control system for analysis through the wire 75. 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 electric field and magnetic field changes of the wire 1 in real time, start the crawling mechanism 4, and the telescopic cylinder 41 operates to drive the worm 42 to rotate, so that the worm gear 43 rotates, and then the triangle plate 44 pulls the movable rod 47 through the pull rod 46, so that the friction wheel 49 approaches the high-voltage wire 1 and contacts it. Then, the motor 410 drives the friction wheel 49 rotates, and with the friction generated by the friction pattern, the device crawls on the high-voltage wire 1 and goes to the detection area. After the device reaches the predetermined position, the stabilizing mechanism 5 starts to work, and the motor inside the device frame 2 adjusts the angle of the shielding box 51 so that the rangefinder 54 is in a suitable measuring position. Then, the base 56 is energized, the magnetorheological fluid hardens and fixes the shielding box 51, and the electromagnet 58 attracts the attraction disk 57 to clamp the turntable to strengthen the device. At the same time, the electromagnet and the magnetorheological fluid form an effect similar to a Faraday cage. The Permalloy fixed layer on the outside of the shielding box 51 also helps to isolate external electromagnetic interference, ensuring that the rangefinder 54 and the transceiver 53 work stably. While mechanism 5 is working, monitoring camera 3 starts to capture images of the transmission line to obtain the real-time status of the line. Rangefinder 54 receives and sends signals through transceiver 53. If the line is frozen during monitoring, clamp 610 contacts the ice layer first. Thinner ice layers are directly scraped off by the inner inclined groove of clamp 610. Thicker ice layers cause clamp 610 to get stuck, stretching spring switch 612, triggering the internal motor of servo motor 63 to operate. The motor drives ice-breaking roller 65 to rotate and break the ice layer through gear set 64. The inclined groove of clamp 610 continuously scrapes off ice chips. Support arm 66 and roller 67 keep the equipment balanced. Clamp 611 is further fixed to complete the ice-breaking operation.

[0051] At the same time, when the icebreaking work begins, the controller 61 sends a signal to the electromagnetic plate 5106, and the electromagnetic plate 5106 is powered on and started (the controller 61 can be selected from Siemens LME22.232C2 or the domestic pulse controller TD-30Z to control the start and stop of the electromagnetic plate 5106, or other devices with the same function can be used. This design is a common technical means used by those skilled in the art and will not be elaborated on here), thereby pushing out the reinforcement cover 5102. The two reinforcement covers 5102 rotate along the rotating shaft 5103 inside the shell 5101 to form a semi-arc structure, thereby enhancing the signal transmission between the equipment and the ground control personnel during icebreaking.

[0052] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A remote fault location device for a power transmission line, 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 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) 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 transmitting 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 the attraction disk (57) and the electromagnet (58) 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 the motor inside the device frame (2), and magnetorheological fluid is provided inside the base (56).

2. The transmission line remote fault location device according to claim 1, characterized in that: The crawling mechanism (4) includes a telescopic cylinder (41) fixedly connected to the bottom of the equipment frame (2), a worm (42) fixedly connected to the output shaft of the telescopic cylinder (41), and the worm (42) is meshedly connected to a turbine (43), and the turbine (43) is fixedly connected to a triangular plate (44) through two elastic rods (45), and a rotating groove matching the triangular plate (44) is provided at the bottom of the equipment frame (2), two triangular plates (44) are fixedly connected to two pull rods (46), and two sides of the equipment frame (2) are rotatably connected to two movable rods (47), and four movable rods (47) and four pull rods (46) are movably connected, and the four movable rods (47) are rotatably connected to a friction wheel (49) through a support rod (48), and the four movable rods (47) are fixedly connected to a rotating motor (410), and the rotating motor (410) is meshedly 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. Friction grooves for increasing frictional force are provided on the outer walls of the friction wheels (49), 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, and the upper and lower sides of the attraction plate (57) are both provided with a plurality of friction balls, 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 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 to 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 interior 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).

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: One end of the equipment frame (2) is provided with a sensing mechanism (7), the sensing mechanism (7) includes 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 line (72), a buckle (73) for clamping on the 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, and a plurality of movable wheels (77) for crossing 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 remote fault location device for power transmission lines according to claim 7, characterized in that: The telescopic wire (72) is a copper braided telescopic wire, and the interior of the telescopic wire (72) is movably connected to a wire (75), and one end of the wire (75) is fixed to the bottom of the telescopic rod (59), and the other end of the wire (75) is penetrated by a plurality of squeezing balls (74), and the interior of the induction clamp (71) and the buckle (73) is provided with a slide groove matching the plurality of squeezing balls (74).

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) being movably connected to two reinforcement covers (5102) via a rotating shaft (5103), and a torsion spring for resetting is provided 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 a push rod (5105), and an electromagnetic sheet (5106) is further provided inside the pushing component (5104), and a magnetorheological fluid is provided between the electromagnetic sheet (5106) and the push rod (5105).

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