CN112763789B - Power distribution network electricity inspection method and electricity inspection robot - Google Patents
Power distribution network electricity inspection method and electricity inspection robot Download PDFInfo
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- CN112763789B CN112763789B CN202011574186.3A CN202011574186A CN112763789B CN 112763789 B CN112763789 B CN 112763789B CN 202011574186 A CN202011574186 A CN 202011574186A CN 112763789 B CN112763789 B CN 112763789B
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- 230000005611 electricity Effects 0.000 title claims abstract description 95
- 238000007689 inspection Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims description 25
- 238000012360 testing method Methods 0.000 claims abstract description 37
- 230000001174 ascending effect Effects 0.000 claims abstract description 8
- 238000010998 test method Methods 0.000 claims abstract description 5
- 238000004804 winding Methods 0.000 claims description 57
- 238000010586 diagram Methods 0.000 description 5
- 238000009413 insulation Methods 0.000 description 4
- 238000012795 verification Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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- 230000016507 interphase Effects 0.000 description 1
- 238000011418 maintenance treatment Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/145—Indicating the presence of current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
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Abstract
The invention provides a power distribution network electricity test method and an electricity test robot, wherein the electricity test robot comprises a robot body, a wire collecting winch, an insulated wire, an insulated rotating shaft, a first lifter, a wire clamp and an electroscope, wherein the first lifter, the wire clamp and the electroscope can be used for testing electricity of a power distribution network wire, and the electricity test robot can put down a ground wire through a ground wire winch motor to realize the grounding of the wire; the robot body should be connected with walking wheel carrier and walking wheel, can realize the distribution robot walks on the distribution network wire, is close to the wire through the control of robot body self-elevating through insulating rope, through control first riser for wire clamp switch-on wire tests the electricity, and the accessible earth connection capstan winch is put down the earth connection and is grounded after the inspection has a power failure. The electricity testing method by using the electricity testing robot can perform electricity testing and grounding wire hanging operation without manual ascending, eliminates the risk of manual electricity testing, reduces the workload, and is safe, reliable and simple to operate.
Description
Technical Field
The invention relates to the field of automation, in particular to a power distribution network electricity inspection method and an electricity inspection robot.
Background
The power line is used as an energy source transmission pulse, the power supply reliability of the power line cannot be easily interrupted, the power distribution network of the power line needs to be subjected to electricity checking operation, and when various operations are carried out on the power line or a transformer substation is in power failure operation according to the regulations of the power work safety flow, the electricity checking and grounding wire operation needs to be carried out on all the outgoing lines of the transformer substation so as to ensure the safety of personnel.
The circuit electricity test and grounding wire work in the prior art generally needs manual climbing operation or uses a climbing vehicle, the grounding wire is large in weight and has certain difficulty, the circuit electricity test and grounding wire work is inconvenient, and the high-altitude electricity test operation has great safety risks.
Disclosure of Invention
Aiming at the defects in the prior art, the invention discloses a power distribution network electricity inspection method and an electricity inspection robot, which are used for inspecting electricity and hanging ground wires of a power distribution network, so that the difficulty in inspecting electricity of the power distribution network is reduced, and the risk of manual electricity inspection is eliminated.
The embodiment of the invention provides a power distribution network electricity inspection method, which adopts a power distribution network electricity inspection robot, wherein the robot comprises the following components: the robot comprises a robot body, two wire winding winches, an insulating rope, a wire clamp, an insulating rotating shaft, a first lifter and an electroscope;
two opposite side surfaces of the robot body are respectively provided with a wire winding winch, the wire winding winch is provided with a wire winding winch motor, and the two wire winding winches are hung on a wire of a power distribution network through an insulating rope;
the first end of the first lifter is fixedly connected with the insulating rotating shaft, and the second end of the first lifter is fixedly connected with the robot body;
the wire clamp is fixed on the insulating rotating shaft, the electroscope is also fixed on the insulating rotating shaft, and the wire clamp is connected with the electroscope;
the electricity inspection method executed by the electricity inspection robot comprises the following steps:
controlling the wire winding winch to shrink the insulating rope, so that the robot body reaches an electricity inspection position at a first preset distance from the wire;
the first lifter is controlled to shrink, and the insulating rotating shaft rotates around the anchor point to enable the wire clamp to be communicated with the wire;
controlling an electroscope to electroscope on the lead;
after the electricity test is finished, the first lifter is controlled to extend, so that the wire clamp is separated from the wire, and the electricity test operation is completed.
Preferably, a ground wire winch is further fixed on the insulating rotating shaft, a ground wire is wound around the ground wire winch, the ground wire winch is provided with a ground wire winch motor, and the ground wire is connected with the wire clamp;
the electricity inspection method executed by the electricity inspection robot further comprises the following steps:
when the electricity testing result of the electroscope is that the wire is in power failure, an alarm is sent out, the first lifter is controlled to extend, the insulating rotating shaft rotates around an anchor point, the wire clamp is disconnected with the wire, the grounding wire winch is controlled to discharge the grounding wire, the grounding wire is connected with the ground, the first lifter is controlled to shorten, the insulating rotating shaft rotates around the anchor point, and the wire clamp is connected with the wire;
when the result of the electroscope is that the lead is electrified, the electroscope feeds back the electroscope result.
Preferably, the robot body is further connected with a traveling wheel frame through a rotating shaft, the traveling wheel frame is fixedly connected with the first end of the second lifter, the second end of the second lifter is fixedly connected with the robot body, the traveling wheel frame is connected with traveling wheels, and the traveling wheels are provided with traveling wheel motors;
the robot body enables the walking wheel frame to rotate around the rotating shaft by controlling the second lifter to stretch and retract, and the walking wheel is contacted with the lead through the walking wheel, so that the electroscope robot walks on the lead.
Preferably, a balance compass is also arranged in the robot body;
in the process that the robot body controls the wire winding winch to shrink the insulating rope, when the balance compass recognizes that the robot body inclines to one side of the two wire winding winches, the robot body accelerates the winding speed of the wire winding winch at the side by controlling the wire winding winch motor at the side through preset speed increasing, and when the balance compass recognizes that the robot body keeps horizontal, the robot body controls the wire winding winch at the side to recover to the speed before speed increasing.
Preferably, the robot body is further provided with a limiter, and the first preset distance is defined by contact with a wire during the ascending process of the robot.
Preferably, an insulating shell is additionally arranged on the robot body.
According to the power distribution network electricity verification method provided by the invention, the robot body is controlled to automatically lift and approach the lead through the insulating rope, and the first lifter is controlled to enable the lead clamp to be connected with the lead for electricity verification, so that the ground wire can be put down through the ground wire winch for grounding after power failure. The electricity checking method of the electricity checking robot can realize the operation of electricity checking and grounding wire hanging without ascending, eliminates the risk of manual electricity checking, reduces the workload and has the advantages of safety, reliability and simple operation.
The embodiment of the invention also provides a motor inspection robot, which comprises: the robot comprises a robot body, two wire winding winches, an insulating rope, a wire clamp, an insulating rotating shaft, a first lifter and an electroscope;
two opposite side surfaces of the robot body are respectively provided with a wire winding winch, the wire winding winch is provided with a wire winding winch motor, and the two wire winding winches are hung on a wire of a power distribution network through an insulating rope;
the first end of the first lifter is fixedly connected with the insulating rotating shaft, and the second end of the first lifter is fixedly connected with the robot body;
the wire clamp is fixed on the insulating rotating shaft, the electroscope is also fixed on the insulating rotating shaft, and the wire clamp is connected with the electroscope.
Preferably, a ground wire winch is further fixed on the insulating rotating shaft, a ground wire is wound around the ground wire winch, the ground wire winch is provided with a ground wire winch motor, and the ground wire is connected with the wire clamp.
Preferably, the robot body is further connected with a traveling wheel frame through a rotating shaft, the traveling wheel frame is fixedly connected with the first end of the second lifter, the second end of the second lifter is fixedly connected with the robot body, the traveling wheel frame is connected with traveling wheels, and the traveling wheels are provided with traveling wheel motors.
Preferably, the robot body is further provided with a limiter, a balance compass and an insulating shell.
The invention provides a power distribution network electricity test method and an electricity test robot, wherein the electricity test robot comprises a robot body, a wire collecting winch, an insulated wire, an insulated rotating shaft, a first lifter, a balance compass, a wire clamp and an electroscope, wherein the electricity test robot can be used for testing a power distribution network wire, and the electricity test robot can put down a ground wire through a ground wire winch motor to realize the grounding of the wire; the robot body should be connected with walking wheel carrier and walking wheel, can realize distribution robot walks on the distribution network wire, and the balance compass is used for detecting the horizontality of robot body and is close to the wire through the control of robot body through insulating rope self-elevating, through controlling first riser for wire clamp switch-on wire tests the electricity, and the accessible earth connection capstan winch is put down the ground wire and is grounded after the inspection has a power failure. The electricity checking method of the electricity checking robot can realize the operation of electricity checking and grounding wire hanging without ascending, eliminates the risk of manual electricity checking, reduces the workload and has the advantages of safety, reliability and simple operation.
Drawings
FIG. 1 is a front view block diagram of a motor inspection robot provided by an embodiment of the present invention;
FIG. 2 is a side view block diagram of a motor verification robot according to another embodiment of the present invention;
FIG. 3 is a front view block diagram of a motor verification robot according to still another embodiment of the present invention;
fig. 4 is a flowchart of a power distribution network electricity test method provided by an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
Referring to fig. 1, a front view of a structure of an electroscope robot according to an embodiment of the present invention is shown, where the electroscope robot includes: : the robot comprises a robot body, two wire collecting winches, an insulating rope, a wire clamp, an insulating rotating shaft, a first lifter, an electroscope, a traveling wheel frame, traveling wheels, a limiter, a second lifter, a ground wire winch, a ground wire and a limiter;
the two ends of the robot body are respectively connected with a wire winding winch, the wire winding winch is provided with a wire winding winch motor, and the two wire winding winches are hung on a wire of the power distribution network through an insulating rope;
the first end of the first lifter is fixedly connected with the insulating rotating shaft, and the second end of the first lifter is fixedly connected with the robot body;
the wire clamp is fixed on the insulating rotating shaft through a rivet, the electroscope is also fixed on the insulating rotating shaft, the wire clamp is connected with the electroscope, and particularly, the wire clamp can be fixed at a position vertical to the insulating rotating shaft in a Y-shaped manner and can be contacted with a wire through a bifurcation at the upper end of the wire clamp;
the insulating rotating shaft is also fixedly provided with a grounding wire winch, the grounding wire winch is surrounded by a grounding wire, the grounding wire winch is provided with a motor, and the grounding wire is connected with the wire clamp.
The robot body is further connected with a walking wheel frame through a rotating shaft, the walking wheel frame is fixedly connected with the first end of the second lifter, the second end of the second lifter is fixedly connected with the robot body, and the walking wheel frame is connected with walking wheels.
The robot body is further provided with a limiter and a balance Heng Luopan, the limiter is limited to a first preset distance between the robot body and the wires when the robot body ascends, and the balance compass detects the horizontal state of the robot body and is used for keeping the balance of the robot body.
Specifically, the robot body comprises a battery, a controller, a wireless data transmission and other components, and can control the winding winch motor to wind up the winding winch to wind up the insulated wire, so that the power distribution robot ascends to a wire position close to a power distribution network; the ground wire winch can be controlled to release the ground wire by controlling the ground wire motor to reversely hoist.
The first lifter stretches to control the insulating rotating shaft to rotate around an anchor point connected with the robot, so that the insulating rotating shaft is connected with the wire clamp and disconnected with the wire;
the grounding wire is wound on the grounding wire winch, and the grounding wire winch can put down or retract the grounding wire under the drive of the motor;
the travelling wheel frame is controlled to rotate around the connecting shaft through the extension and retraction of the second lifter, so that the travelling wheel is contacted with or separated from the wire, and the travelling wheel is driven on the wire;
referring to fig. 3, a side view structural diagram of a motor inspection robot according to another embodiment of the present invention includes a second lifter, a traveling wheel frame and a traveling wheel, wherein the traveling wheel frame is controlled to rotate around a connection shaft by extending and retracting the second lifter, so that the traveling wheel is contacted with or separated from a wire, and traveling on the wire is realized;
the motor inspection robot comprises a plurality of second lifters, and the walking wheel frames and the walking wheels which are connected with the second lifters, wherein the walking wheel frames and the walking wheels can realize stable walking of the robot body frame on a wire.
Referring to fig. 2, another embodiment of the present invention provides a structure diagram of an electroscope robot, where an insulating housing is further installed on the robot body, so as to reduce the risk of interphase short circuit caused when the robot rises close to a wire.
The invention provides a motor inspection robot which comprises a robot body, a wire collecting winch, an insulating wire, an insulating rotating shaft, a first lifter, a wire clamp and an electroscope, wherein the wire inspection robot can be used for wire electricity inspection of a power distribution network; the motor inspection robot further comprises a ground wire and a ground wire winch, and the ground wire can be grounded through the ground wire winch motor; the robot body is connected with the walking wheel frame and the walking wheels, so that the power distribution robot can walk on the power distribution network wires.
Referring to fig. 4, a flowchart of a power distribution network electricity inspection method is provided in an embodiment of the present invention, and the method is performed by a robot body by using the electric inspection robot provided in the above embodiment, and includes steps S401 to 404:
s401, controlling the wire winding winch to shrink the insulating rope, so that the robot body reaches an electricity inspection position at a first preset distance from the wire;
s402, controlling the first lifter to shrink, and enabling the insulating rotating shaft to rotate around the anchor point so as to enable the wire clamp to be communicated with the wire;
s403, controlling an electroscope to electroscope on the lead;
s404, after the electricity test is finished, controlling the first lifter to extend so that the wire clamp is separated from the wire, and completing the electricity test operation.
The electroscopic operation in step S403 specifically includes:
when the electricity testing result of the electroscope is that the lead is in power failure, an alarm is given out, and the ground wire winch is controlled to release the ground wire, so that the ground wire is connected with the ground;
when the result of the electroscope is that the lead is electrified, the electroscope feeds back the electroscope result.
After electricity testing is finished, the robot body enables the walking wheel carrier to rotate around the rotating shaft by controlling the first lifter to stretch out and draw back, and the electricity testing robot walks on the lead through the contact of the walking wheel and the lead.
In specific implementation, the specific process of the electricity testing method controlled by the robot body is as follows:
when the electricity inspection robot is at the ground end, the first lifter enables the insulation rotating shaft to deflect laterally, controls the second lifter to extend, enables the walking wheel frame to leave the vertical direction of the wire, and prevents the insulation rotating shaft and the walking wheel frame from blocking the ascending process of the robot;
driving an insulated wire traction rope to bypass the upper side of the wire by a small tool such as an unmanned aerial vehicle, straddling the insulated wire by the insulated wire traction rope, and fixing two ends of the insulated wire straddling the wire on two wire winding winches at two sides of a robot body;
the winding winch is used for winding the insulated wire by the winding winch motor, so that the robot body leaves the ground and slowly approaches to the power distribution network wire;
it should be noted that the center of gravity of the robot body is distributed at a position between two wire winding winches, so that the robot is convenient to keep horizontal, in addition, the robot body controls the wire winding winches to shrink in the process of the insulating ropes, when the balance compass recognizes that the robot body inclines to one side of the two wire winding winches, the robot body accelerates the winding speed of the wire winding winches at the side through controlling the wire winding winches motor at the side at a preset speed increasing rate, when the balance compass recognizes that the robot body keeps horizontal, the robot body controls the wire winding winches at the side to recover to the speed increasing rate, and the robot can keep balance in the ascending process through controlling the balance compass and the robot body.
When the robot body rises to the position where the limiter contacts the lead, the robot is stated to reach the preset position for electricity inspection, at the moment, the motor of the wire winding winch stops working, the wire winding winch is locked, and the robot body is fixed at the preset position;
at this time, the first lifter contracts, drives the insulating rotating shaft to rotate around the anchor point, so that the wire clamp on the insulating rotating shaft is connected with the wire, and specifically, the mode of connecting the wire clamp with the wire comprises: when the insulated cable wires are arranged on the conducting wires, the bifurcation of the conducting wire clamp is contacted with the grounding ring on the conducting wire insulated cable, so that the conducting wire clamp is conducted with the conducting wires for electricity testing; when the wire is a bare wire, the bifurcation of the wire clamp directly contacts the wire, so that the wire clamp is conducted with the wire, and electricity inspection is performed;
after the electroscope is connected with the lead, electroscope performs electroscope on the lead, and when the electroscope is electrified, the electroscope feeds back the result to the robot body;
when the electricity checking result is that the wire is in a power failure, the electroscope feeds back alarm information to the robot body, the robot body controls the first lifter to extend to enable the insulation rotating shaft to rotate around an anchor point, the wire clamp is disconnected with the wire, the grounding wire winch is controlled to release the grounding wire to enable the grounding wire to be connected with the ground, the first lifter is controlled to shorten to enable the insulation rotating shaft to rotate around the anchor point, the wire clamp is connected with the wire to achieve the wire grounding operation of power failure, maintenance treatment can be carried out on the power failure wire after grounding, and after the wire is in a power-on state, the grounding wire winch is controlled to hoist so that the grounding wire winch receives the grounding wire;
after electricity inspection is completed, the first lifter stretches to drive the insulating rotating shaft to rotate around the anchor point, and the wire clamp is disconnected from the wire and separated;
in addition, the motor inspection robot can also shrink the second lifter to enable the travelling wheel fixed at the upper end of the travelling wheel frame to rotate to be right above the conducting wire, at the moment, the motor inspection robot can walk on the conducting wire through the travelling wheel and the travelling wheel frame by slightly loosening the wire collecting winch under control, and the motor inspection robot can walk on the conducting wire through control of the travelling wheel motor of the travelling wheel;
after the electricity inspection of the wire is completed, the wire winding winch motor is slightly tightened, the second lifter stretches, the traveling wheel frame rotates around the connecting shaft, the traveling wheel is separated from the wire, the traveling wheel is separated from the vertical direction of the wire, the wire winding winch motor is controlled to reversely wind, the wire winding winch releases the insulating rope, the electricity inspection robot descends to the ground, and the work is finished.
It should be noted that, the control of the wire-rewinding winch motor of the inspection robot, the expansion and contraction of the first lifter and the second lifter, and the control of the travelling wheel motor can be automatically performed by a program set by the robot body controller, and the inspection robot is connected with the wire-rewinding winch motor, the first lifter, the second lifter and the travelling wheel motor in a wireless or wired mode; and the wireless data transmission can also be connected with the controller and can be controlled by an external controller in a wireless way.
The invention provides a power distribution network electricity test method and an electricity test robot, wherein the electricity test robot comprises a robot body, a wire collecting winch, an insulated wire, an insulated rotating shaft, a first lifter, a wire clamp and an electroscope, wherein the first lifter, the wire clamp and the electroscope can be used for testing electricity of a power distribution network wire, and the electricity test robot can put down a ground wire through a ground wire winch motor to realize the grounding of the wire; the robot body should be connected with walking wheel carrier and walking wheel, can realize the distribution robot walks on the distribution network wire, is close to the wire through the control of robot body self-elevating through insulating rope, through control first riser for wire clamp switch-on wire tests the electricity, and the accessible earth connection capstan winch is put down the earth connection and is grounded after the inspection has a power failure. The electricity checking method of the electricity checking robot can realize the operation of electricity checking and grounding wire hanging without ascending, eliminates the risk of manual electricity checking, reduces the workload and has the advantages of safety, reliability and simple operation.
While the foregoing is directed to the preferred embodiments of the present invention, it should be noted that modifications and variations could be made by those skilled in the art without departing from the principles of the present invention, and such modifications and variations are to be regarded as being within the scope of the invention.
Claims (8)
1. An electricity distribution network electricity inspection method is characterized in that an electricity distribution network electricity inspection robot is adopted, and the robot comprises: the robot comprises a robot body, two wire winding winches, an insulating rope, a wire clamp, an insulating rotating shaft, a first lifter and an electroscope;
two opposite side surfaces of the robot body are respectively provided with a wire winding winch, the wire winding winch is provided with a wire winding winch motor, and the two wire winding winches are hung on a wire of a power distribution network through an insulating rope;
the first end of the first lifter is fixedly connected with the insulating rotating shaft, and the second end of the first lifter is fixedly connected with the robot body;
the wire clamp is fixed on the insulating rotating shaft, the electroscope is also fixed on the insulating rotating shaft, and the wire clamp is connected with the electroscope;
the robot body is also connected with a traveling wheel frame through a rotating shaft, the traveling wheel frame is fixedly connected with the first end of the second lifter, the second end of the second lifter is fixedly connected with the robot body, the traveling wheel frame is connected with traveling wheels, and the traveling wheels are provided with traveling wheel motors;
the electricity inspection method executed by the electricity inspection robot comprises the following steps:
controlling the wire winding winch to shrink the insulating rope, so that the robot body reaches an electricity inspection position at a first preset distance from the wire;
the first lifter is controlled to shrink, and the insulating rotating shaft rotates around the anchor point to enable the wire clamp to be communicated with the wire;
controlling an electroscope to electroscope on the lead;
after the electricity test is finished, controlling the first lifter to extend to enable the wire clamp to be separated from the wire, and finishing the electricity test operation;
the robot body enables the walking wheel frame to rotate around the rotating shaft by controlling the second lifter to extend, and the walking wheel is in contact with the lead through the walking wheel, so that the electroscope robot walks on the lead.
2. The electricity testing method of a power distribution network according to claim 1, wherein a ground wire winch is further fixed on the insulating rotating shaft, the ground wire winch is surrounded by a ground wire, the ground wire winch is provided with a ground wire winch motor, and the ground wire is connected with the wire clamp;
the electricity inspection method executed by the electricity inspection robot further comprises the following steps:
when the electricity testing result of the electroscope is that the wire is in power failure, an alarm is sent out, the first lifter is controlled to extend, the insulating rotating shaft rotates around an anchor point, the wire clamp is disconnected with the wire, the grounding wire winch is controlled to discharge the grounding wire, the grounding wire is connected with the ground, the first lifter is controlled to shorten, the insulating rotating shaft rotates around the anchor point, and the wire clamp is connected with the wire;
when the result of the electroscope is that the lead is electrified, the electroscope feeds back the electroscope result.
3. The electricity distribution network electricity test method according to claim 1, wherein a balance compass is further arranged in the robot body;
in the process that the robot body controls the wire winding winch to shrink the insulating rope, when the balance compass recognizes that the robot body inclines to one side of the two wire winding winches, the robot body accelerates the winding speed of the wire winding winch at the side by controlling the wire winding winch motor at the side through preset speed increasing, and when the balance compass recognizes that the robot body keeps horizontal, the robot body controls the wire winding winch at the side to recover to the speed before speed increasing.
4. The method according to claim 1, wherein the robot body is further provided with a limiter, and the first preset distance is defined by contact with a wire during the ascending of the robot.
5. The method for inspecting electric power of electric power distribution network according to claim 1, wherein the robot body is provided with an insulating housing.
6. An electroscope robot, the robot comprising: the robot comprises a robot body, two wire winding winches, an insulating rope, a wire clamp, an insulating rotating shaft, a first lifter and an electroscope;
two opposite side surfaces of the robot body are respectively provided with a wire winding winch, the wire winding winch is provided with a wire winding winch motor, and the two wire winding winches are hung on a wire of a power distribution network through an insulating rope;
the first end of the first lifter is fixedly connected with the insulating rotating shaft, and the second end of the first lifter is fixedly connected with the robot body;
the wire clamp is fixed on the insulating rotating shaft, the electroscope is also fixed on the insulating rotating shaft, and the wire clamp is connected with the electroscope;
the robot body is further connected with a walking wheel frame through a rotating shaft, the walking wheel frame is fixedly connected with the first end of the second lifter, the second end of the second lifter is fixedly connected with the robot body, the walking wheel frame is connected with a walking wheel, and the walking wheel is provided with a walking wheel motor.
7. The electroscope robot of claim 6 wherein a ground wire winch is further secured to the insulated shaft, the ground wire winch surrounding a ground wire, the ground wire winch being provided with a ground wire winch motor, the ground wire being connected to the wire clamp.
8. The electroscope of claim 6 wherein the robot body further comprises a limiter, a balance compass and an insulating housing.
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| CN202011574186.3A CN112763789B (en) | 2020-12-24 | 2020-12-24 | Power distribution network electricity inspection method and electricity inspection robot |
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| CN201611699U (en) * | 2009-12-15 | 2010-10-20 | 胜利石油管理局电力管理总公司东区供电公司 | Remote control earth wire |
| CN102545103B (en) * | 2012-03-05 | 2014-08-20 | 国家电网公司 | Overhead power line electricity testing and grounding line hanging and disassembling tool and operation method |
| CN105870666A (en) * | 2016-04-08 | 2016-08-17 | 国家电网公司 | Multifunctional ground wire of integrating electrical inspection and illumination |
| CN106356654B (en) * | 2016-10-14 | 2018-08-31 | 国网浙江省电力公司岱山县供电公司 | A kind of buckle-type earth wire operation stick |
| KR101873712B1 (en) * | 2018-03-16 | 2018-07-03 | 대원전기 주식회사 | lifting function Cable clamp connection device and non-power-failure power distribution method method using the device |
| JP6730352B2 (en) * | 2018-03-20 | 2020-07-29 | ファナック株式会社 | Cable clamps and robots |
| CN108808556A (en) * | 2018-08-09 | 2018-11-13 | 云南电网有限责任公司电力科学研究院 | A kind of electrical verification for power distribution line maintenance is grounded integrated apparatus |
| CN109462053A (en) * | 2018-11-05 | 2019-03-12 | 国网四川省电力公司成都供电公司 | A kind of novel grounded line apparatus for aerial insulated wire |
| CN210074185U (en) * | 2019-08-23 | 2020-02-14 | 王凯 | Earthing device for electric power construction |
| CN110867768B (en) * | 2019-11-08 | 2021-04-13 | 三峡大学 | Power transmission line ground wire channel inspection system suitable for complex conditions |
| CN111585059A (en) * | 2020-04-03 | 2020-08-25 | 国网浙江台州市椒江区供电有限公司 | Grounding wire assembly with real-time electricity testing function |
| CN111923089B (en) * | 2020-09-15 | 2021-01-08 | 广东冠能电力科技发展有限公司 | Robot hanging rope and wire live working robot |
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2020
- 2020-12-24 CN CN202011574186.3A patent/CN112763789B/en active Active
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