Symmetrical adjustable compression type cable inspection driving device and self-adaptive compression method

Abstract

The application provides a symmetrical adjustable pressing type cable inspection driving device and a self-adaptive pressing method, which comprises a driving mechanism, a pressing mechanism and a control center; the driving device comprises an integrated outer frame, a symmetrically hinged wheel driving shell, the driving mechanism and the pressing mechanism. The driving mechanism is composed of a driven wheel, a silica gel wheel and a brushless motor, the middle part of the driven wheel is provided with a U-shaped groove, the opening diameter of the groove is larger than the diameter of the cable, and a baffle is arranged on the outer side to enhance the guiding stability; the silica gel wheel is directly sleeved on the flange plate of the brushless motor. The pressing mechanism adopts symmetrically distributed electric push rods and supporting rods, and realizes opening and closing angle adjustment in combination with damping hinges; the supporting rods are provided with angle adjustment bearings inside, so that the pressing force is uniformly distributed. The device cooperates with the symmetrically distributed driving mechanism and the pressing mechanism, and realizes stable pressing and omnidirectional detection of cables with different diameters through the self-adaptive control logic of the push rod extension and retraction, so that the structure is simplified and the inspection stability is improved.

Description

A symmetrical adjustable clamping cable inspection drive device and an adaptive clamping method Technical Field

[0001] This invention relates to the field of cable inspection device technology, and more particularly to a symmetrical adjustable clamping cable inspection drive device and an adaptive clamping method. Background Technology

[0002] With the rapid construction of power transmission channels, high-voltage transmission lines are mostly distributed in complex natural environments, enduring long-term mechanical tension and temperature changes, which can easily lead to cable wear, strand loss, and other hidden dangers. Therefore, efficient inspection methods are urgently needed to ensure power transmission safety. Traditional manual inspection relies on visual judgment, which suffers from problems such as large workload, low efficiency, and insufficient accuracy. While existing inspection robots can achieve automated inspection, their mechanical structures generally have the following defects: redundant and complex mechanisms result in large size and excessive weight, making it difficult to adapt to the load-bearing limitations of high-altitude cables; insufficient symmetry in the traveling mechanism leads to uneven distribution of clamping force, easily causing travel deviation or slippage; the clamping device lacks dynamic adjustment capabilities, failing to adapt to cables of different diameters or cope with cable deformation, resulting in poor inspection stability. Furthermore, existing devices often employ asymmetrical drive layouts, causing a shift in the center of gravity, exacerbating vibration and energy consumption problems during travel.

[0003] Therefore, there is an urgent need to develop a drive device with a simplified structure, symmetrical adjustability and adaptive clamping function to solve the core problems of insufficient complexity and adaptability in the existing technology, and to meet the urgent need for efficient and accurate inspection of high-voltage cables. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a symmetrical adjustable clamping cable inspection drive device and an adaptive clamping method. The device utilizes a symmetrically distributed drive mechanism and clamping mechanism working in concert, combined with adaptive control logic for push rod extension and retraction, to achieve stable clamping and omnidirectional flaw detection of cables of different diameters, simplifying the structure and improving inspection stability.

[0005] To achieve the above objectives, the present invention provides a symmetrical adjustable clamping cable inspection drive device, comprising: a drive mechanism, a clamping mechanism, and a control center;

[0006] The drive mechanism includes a driven wheel, a silicone wheel, a brushless motor, and a support rod. The driven wheel has a groove in the middle, the opening radius of which is larger than the cable diameter, and a retaining edge on the outside. It is fixed to the drive housing by the driven wheel shaft and bearings to guide and constrain the cable. The silicone wheel is directly connected to the output shaft of the brushless motor through a flange and is at the same horizontal line as the groove of the driven wheel.

[0007] The clamping mechanism includes an electric push rod, a support rod, a hinge, and a damping hinge; the electric push rod is symmetrically fixed between the integrated frame and the wheel drive housing by screws, and the support rod connects the wheel drive housing and the integrated frame by hinges to realize the symmetrical opening and closing and clamping of the wheel drive housing;

[0008] The control center includes a remote controller, a signal receiver, a brushless motor drive board, a clamping force sensor, and a signal conversion chip, used to receive remote control commands and control the speed of the brushless motor and the extension and retraction of the electric push rod; the wheel drive housing is connected to the integrated frame through a damping hinge, and the drive mechanism and the clamping mechanism are symmetrically distributed with the cable as the axis, and the clamping force of the silicone wheel and the driven wheel on the cable is adjusted by the extension and retraction of the electric push rod.

[0009] Furthermore, a bearing is installed between the support rod and the hinge to adjust the contact angle between the drive device and the cable.

[0010] Furthermore, the control center integrates an electromagnetic composite detection device, which is located inside the detection coil housing, for detecting surface cracks and internal strand breakage defects in the cable.

[0011] Furthermore, the opening angle range between the wheel drive housing and the integrated frame is 30° to 150°.

[0012] Furthermore, the electric push rods are arranged in two symmetrical groups, and the extension and retraction stroke of each group of push rods is independently controllable.

[0013] The present invention also provides an adaptive clamping method for a symmetrical adjustable clamping cable inspection drive device, comprising the following steps:

[0014] Initial position determined: the electric push rod is in the initial retracted state, and the clamping mechanism maintains a safe distance from the cable;

[0015] Contact and pre-compression: When the clamping component contacts the cable, the electric push rod slowly extends to apply a pre-compression force;

[0016] Adaptive adjustment: Based on real-time clamping distance information, the extension speed and length of the electric push rod are adjusted to keep the clamping force stable within the preset range;

[0017] Clamping force maintenance: Once the clamping force reaches the target value and stabilizes, the electric push rod stops extending, maintaining the current clamping state;

[0018] Release and reset: The electric actuator retracts to its initial position, completely disengaging from the cable.

[0019] Furthermore, the preset clamping force range is adaptively adjusted according to the cable diameter.

[0020] Furthermore, the adaptive adjustment is based on feedback data from the clamping force sensor and uses a PID algorithm to control the extension and retraction speed of the electric push rod.

[0021] The present invention also provides a symmetrical adjustable clamping cable inspection device, including the aforementioned symmetrical adjustable clamping cable inspection drive device.

[0022] By adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0023] 1. The present invention provides a symmetrical adjustable clamping cable inspection drive device with a simplified and symmetrical structure, which improves stability and adaptability. Through the symmetrical distribution design of silicone wheels and driven wheels, combined with the linkage clamping mechanism of electric push rod and damping hinge, the mechanical structure is greatly simplified and the weight of the device is reduced. At the same time, the cable axis is symmetrically clamped, which effectively avoids travel deviation or slippage and enhances balance and adaptability in complex cable environments.

[0024] 2. The present invention provides a symmetrical adjustable clamping cable inspection drive device with adaptive clamping control, which is compatible with multiple sizes of cables. It adopts an adaptive clamping method based on push rod extension and retraction. Through pre-clamping force adjustment, dynamic feedback control and clamping force holding logic, it accurately adapts to cables with different wire diameters and hardness, ensuring that the clamping force is stable within the preset range, and significantly improving the versatility and reliability of the inspection device.

[0025] 3. The present invention provides a symmetrical adjustable clamping cable inspection drive device, which is highly efficient in omnidirectional flaw detection and precise positioning. It integrates an electromagnetic composite detection device and a drive mechanism to work together. Combined with the active drive of symmetrically distributed silicone wheels and the guide design of driven wheels, it can realize omnidirectional non-destructive detection of defects such as cable surface wear and broken strands. It also provides quantitative basis for line maintenance through high-precision positioning technology.

[0026] Based on the above reasons, this invention can be widely promoted in the field of cable inspection device technology. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 is a right view of the unfolded state of a symmetrical adjustable clamping cable inspection drive device according to the present invention.

[0029] Figure 2 is a top view of the unfolded state of a symmetrical adjustable clamping cable inspection drive device according to the present invention.

[0030] Figure 3 is a side view of the clamping drive mechanism of a symmetrical adjustable clamping cable inspection drive device according to the present invention.

[0031] Figure 4 is a front view of the closed state of a symmetrical adjustable clamping cable inspection drive device according to the present invention.

[0032] Figure 5 is a side view of the driven wheel of a symmetrical adjustable clamping cable inspection drive device according to the present invention.

[0033] Figure 6 is a top view of the closed state of a symmetrical adjustable compression cable inspection drive device according to the present invention.

[0034] In the diagram: 1. Detection coil housing; 2. Electromagnetic composite detection device; 3. Integrated frame; 4. Electric push rod; 5. Wheel drive housing; 6. Driven wheel; 7. Driven wheel axle; 8. Damping hinge; 9. Silicone wheel; 10. Brushless motor; 11. Hinge; 12. Support rod. Detailed Implementation

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0038] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0039] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0040] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0041] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0042] As shown in Figures 1 to 6, the present invention provides a symmetrical adjustable clamping cable inspection drive device, comprising: a drive mechanism, a clamping mechanism, and a control center;

[0043] The drive mechanism includes a driven wheel 6, a silicone wheel 9, a brushless motor 10, and a support rod 12. The driven wheel 6 has a groove in the middle, the opening radius of which is larger than the cable diameter, and a retaining edge on the outside. It is fixed to the drive housing 5 by the driven wheel shaft 7 and bearings, and is used to guide and constrain the cable. The silicone wheel 9 is directly connected to the output shaft of the brushless motor 10 through a flange, and is at the same horizontal line as the groove of the driven wheel 6.

[0044] The clamping mechanism includes an electric push rod 4, a support rod 12, a hinge 11, and a damping hinge 8. The electric push rod 4 is symmetrically fixed between the integrated outer frame 3 and the wheel drive housing 5 by screws. The support rod 12 connects the wheel drive housing 5 and the integrated outer frame 3 through the hinge 11, so as to realize the symmetrical opening and closing and clamping of the wheel drive housing 5.

[0045] The control center includes a remote controller, a signal receiver, a brushless motor 10 drive board, a clamping force sensor, and a signal conversion chip, used to receive remote control commands and control the speed of the brushless motor 10 and the extension and retraction of the electric push rod 4; the wheel drive housing 5 is connected to the integrated frame 3 through a damping hinge 8, and the drive mechanism and the clamping mechanism are symmetrically distributed with the cable as the axis, and the clamping force of the silicone wheel 9 and the driven wheel 6 on the cable is adjusted by the extension and retraction of the electric push rod 4;

[0046] The drive mechanism and the clamping mechanism are symmetrically distributed with the cable as the axis. The wheel drive housing 5 is connected to the integrated frame 3 through the damping hinge 8. The opening and closing angle range is 30° to 150°, which realizes the balance of the device and adaptive clamping, avoids the problem of uneven load, and improves the stability of travel. The opening and closing angle range of the wheel drive housing 5 and the integrated frame 3 facilitates manual assistance in loading and unloading, and reduces the complexity of operation.

[0047] The simplified design of the silicone wheel 9 being directly connected to the output shaft of the brushless motor 10 via a flange reduces transmission loss and improves drive efficiency. At the same time, the guide of the groove of the driven wheel 6 and the constraint of the retaining edge ensure that the inspection device travels accurately along the cable direction.

[0048] The control center integrates remote speed control and clamping force feedback functions, enabling remote operation and adaptive clamping, reducing the difficulty of manual intervention.

[0049] Furthermore, the signal receiver is used for the forward and reverse rotation signals output from the external remote controller. The signal conversion chip converts the received PWM signal into the DIR signal of the three-phase brushless motor 10, and then outputs it to the brushless motor 10 through the driver board. The brushless motor 10 changes the direction and speed of the instrument accordingly, thereby completing the process of remote speed control of the drive mechanism.

[0050] Furthermore, a bearing is installed between the support rod 12 and the damping hinge 8 to adjust the contact angle between the drive device and the cable, so that the drive device can finely adjust the contact angle with the cable during the clamping process, improve the adaptability to different curved or inclined cables, and avoid the problem of uneven distribution of clamping force caused by uneven cable surface.

[0051] Furthermore, the control center integrates an electromagnetic composite detection device 2, which is installed inside the detection coil housing 1 to simultaneously detect surface cracks and internal strand breakage defects in the cable, thereby achieving omnidirectional flaw detection.

[0052] Furthermore, the electric push rods 4 are arranged in two symmetrical groups, and the extension and retraction stroke of each group of push rods is independently controllable, so as to realize the dynamic balance adjustment of the clamping force and avoid cable damage caused by unilateral overpressure.

[0053] The present invention also provides an adaptive clamping method for a symmetrical adjustable clamping cable inspection drive device, comprising the following steps:

[0054] Initial position determined: Electric push rod 4 is in the initial retracted state, and the clamping mechanism maintains a safe distance from the cable;

[0055] Contact and pre-compression: When the clamping component contacts the cable, the electric push rod 4 slowly extends to apply a pre-compression force;

[0056] Adaptive adjustment: Based on real-time clamping distance information, adjust the extension speed and length of the electric push rod 4 to keep the clamping force stable within the preset range;

[0057] Clamping force maintenance: Once the clamping force reaches the target value and stabilizes, the electric push rod 4 stops extending, maintaining the current clamping state;

[0058] Release and reset: The electric push rod 4 retracts to its initial position, completely disengaging from the cable.

[0059] Specifically, the adaptive clamping method uses a phased adaptive clamping process: initial position → pre-clamping → adjustment → holding → reset. This ensures a smooth transition of clamping force, avoids instantaneous overload impact on the cable, and achieves precise control through real-time feedback of clamping distance and clamping force, reducing the risk of device slippage or wire derailment during inspection.

[0060] Furthermore, the preset clamping force range is adaptively adjusted according to the cable diameter, and a set of data is provided as a reference for adjusting the preset clamping force range, specifically as follows:

[0061] When the cable diameter is ≤20mm, the clamping force is 5~10N;

[0062] When the cable diameter is 20-40mm, the clamping force is 11-15N;

[0063] When the cable diameter is ≥40mm, the clamping force is 16~20N;

[0064] Users can adjust the preset clamping force range according to the actual working environment and for different types of cables.

[0065] Furthermore, the adaptive adjustment is based on feedback data from the clamping force sensor and uses a PID algorithm to control the extension and retraction speed of the electric push rod 4, so as to avoid slippage caused by insufficient clamping force or cable deformation caused by excessive clamping force.

[0066] Furthermore, the clamping force sensor monitors the clamping force between the silicone wheel 9 and the cable in real time and sends the data to the control center. The signal conversion chip converts the sensor signal into a digital signal for processing by the PID algorithm. The brushless motor 10 drive board adjusts the extension speed and stroke of the electric push rod 4 according to the control quantity output by the PID.

[0067] Specific steps for controlling the extension and retraction speed of electric actuator 4 using the PID algorithm:

[0068] S1. Set the target clamping force;

[0069] S2, Sensor data acquisition;

[0070] S3, PID error calculation;

[0071] S4, PID algorithm output control quantity;

[0072] S5, Push rod extension / retraction control;

[0073] S6, Closed-loop feedback adjustment.

[0074] Specifically, in S1, the target clamping force is set according to the cable diameter;

[0075] The clamping force sensor in S2 collects the actual clamping force in real time;

[0076] In S3, PID error = target clamping force - measured clamping force;

[0077] In S4, the output control quantity is calculated according to the formula:

[0078]

[0079] Where u(t) is the output control quantity; e(t) is the real-time error in S3; Kp is the proportional coefficient; Ki is the integral coefficient; Kd is the derivative coefficient; and t and τ are time variables.

[0080] In S5, based on the output control quantity u(t) > 0 in S4, the push rod extends faster, increasing the clamping force; if u(t) < 0, the push rod decelerates or retracts, decreasing the clamping force; if u(t) = 0, the push rod remains stationary, and the clamping force is stable.

[0081] The above steps are repeated continuously in S6 until the clamping force stabilizes within the target range.

[0082] Here is a practical application example for reference:

[0083] The cable diameter is 35mm, and the target clamping force is set to 11-15N;

[0084] The initial clamping force is detected as 10N, which is lower than the target clamping force. The PID outputs a positive control quantity, and the push rod extends faster.

[0085] When the clamping force increases to 14N, the error decreases and the push rod speed decreases.

[0086] Once the clamping force stabilizes at 14N, the push rod remains stationary, and the PID is only finely adjusted to cope with external disturbances.

[0087] Through closed-loop control of PID algorithm and clamping force sensor, this device achieves precise adjustment of the extension speed of electric push rod 4, ensuring that the clamping force adapts to different cable diameters and working conditions, thus solving the problems of unstable clamping and poor adaptability of traditional inspection robots.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A symmetrical adjustable clamping cable inspection drive device, characterized in that, include: The system comprises a drive mechanism, a clamping mechanism, and a control center. The drive mechanism includes a driven wheel, a silicone wheel, a brushless motor, and a support rod. The driven wheel has a groove in its center with an opening radius larger than the cable diameter and a retaining edge on its outer side. It is fixed to the drive housing via a driven wheel shaft and bearings for guiding and constraining the cable. The silicone wheel is directly connected to the output shaft of the brushless motor via a flange and is at the same horizontal level as the groove of the driven wheel. The clamping mechanism includes an electric push rod, a support rod, a hinge, and a damping hinge. The electric push rods are symmetrically fixed between the integrated frame and the drive housing via screws. The support rod connects the drive housing and the integrated frame via hinges, enabling symmetrical opening and closing and clamping of the drive housing. Bearings are installed between the support rod and the hinge to adjust the contact angle between the drive device and the cable. The opening angle range between the drive housing and the integrated frame is 30° to 150°. Two sets of electric push rods are symmetrically arranged, and the extension and retraction stroke of each set of push rods is independently controllable. Two sets of independently controllable telescopic strokes are arranged to dynamically correct the center of gravity imbalance during the device's movement. The control center includes a remote controller, signal receiver, brushless motor drive board, clamping force sensor, and signal conversion chip, used to receive remote control commands and control the speed of the brushless motor and the telescopic movement of the electric push rod. The wheel drive housing is connected to the integrated frame via a damping hinge, and the drive mechanism and clamping mechanism are symmetrically distributed around the cable axis. The clamping force of the silicone wheel and driven wheel on the cable is adjusted by the telescopic movement of the electric push rod. An electromagnetic composite detection device is installed inside the detection coil housing in the control center to detect surface cracks and internal strand breakage defects in the cable. The control center uses a PID algorithm to control the telescopic speed of the electric push rod and adjusts the target clamping force range in real time according to the cable diameter: 5~10N for cable diameter ≤20mm; 11~15N for cable diameter 20~40mm; and 16~20N for cable diameter ≥40mm.

2. An adaptive clamping method for a symmetrical adjustable clamping cable inspection drive device, applied to the symmetrical adjustable clamping cable inspection drive device as described in claim 1, characterized in that... Includes the following steps: Initial position determination: The electric push rod is in the initial retracted state, and the clamping mechanism maintains a safe distance from the cable; Contact and pre-clamping: When the clamping component contacts the cable, the electric push rod slowly extends to apply a pre-clamping force; Adaptive adjustment: Based on real-time clamping distance information, adjust the extension speed and length of the electric push rod to keep the clamping force stable within the preset range; Clamping force holding: When the clamping force reaches the target value and stabilizes, the electric push rod stops extending and maintains the current clamping state; Release and reset: The electric push rod retracts to the initial position and is completely disconnected from the cable.

3. The adaptive clamping method of a symmetrical adjustable clamping cable inspection drive device according to claim 2, characterized in that, The preset clamping force range is adaptively adjusted according to the cable diameter.

4. The adaptive clamping method of a symmetrical adjustable clamping cable inspection drive device according to claim 2, characterized in that, The adaptive adjustment is based on feedback data from the clamping force sensor and uses a PID algorithm to control the extension and retraction speed of the electric push rod.

5. A symmetrical adjustable clamping cable inspection device, characterized in that, Includes a symmetrical adjustable clamping cable inspection drive device as described in claim 1.

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