阅读说明：本技术 一种配电网验电方法及验电机器人 (Power distribution network electricity testing method and electricity testing robot ) 是由 邹林 李锐海 孟晓波 肖易易 于 2020-12-24 设计创作，主要内容包括：本发明提供的一种配电网验电方法及验电机器人,所述验电机器人包括机器人本体、收线绞盘、绝缘线、绝缘转轴、第一升降器、导线夹和验电器能够用于配电网导线的验电,验电机器人通过接地线绞盘电机放下接地线,实现导线的接地；所述机器人本体该连接有行走轮架和行走轮,能够实现所述配电机器人在配电网导线上行走,通过机器人本体的控制通过绝缘绳自升降靠近导线,通过控制第一升降器,使得导线夹接通导线进行验电,检验停电后可通过接地线绞盘放下地线进行接地。利用验电机器人的验电方法可以无需人工登高进行验电和挂接地线作业,消除了人工验电的风险,降低了工作量,安全可靠、操作简单。(The invention provides a power distribution network electricity testing method and a power testing robot, wherein the power testing robot comprises a robot body, a take-up winch, an insulated wire, an insulated rotating shaft, a first lifter, a wire clamp and an electroscope, and can be used for testing electricity of a power distribution network wire; should be connected with walking wheel carrier and walking wheel to the robot body, can realize the distribution robot walks on the distribution network wire, and the control through the robot body is close to the wire through insulating rope from going up and down for the wire presss from both sides the switch-on wire and tests the electricity, and accessible earth connection capstan winch puts down the ground wire and ground connection after the inspection has a power failure through the first riser of control. The electricity testing method of the electricity testing robot can be used for testing electricity and hanging the ground wire without manual ascending, the risk of manual electricity testing is eliminated, the workload is reduced, and the method is safe, reliable and simple to operate.)

1. The power distribution network electricity testing method is characterized in that a power distribution network electricity testing robot is adopted, and the robot comprises: the robot comprises a robot body, two take-up 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 take-up winch which is provided with a take-up winch motor, and the two take-up winches are hung on a wire of a power distribution network through an insulating rope;

the insulation rotating shaft is connected with the robot body through an anchor point, the first end of the first lifter is fixedly connected with the insulation 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 testing method executed by the electricity testing robot comprises the following steps:

controlling the take-up winch to contract the insulating rope, so that the robot body reaches an electricity testing position with a first preset distance from the lead;

controlling the first lifter to contract, wherein the insulation rotating shaft rotates around the anchor point to connect the wire clamp with the wire;

controlling an electroscope to test the lead;

after the electricity test is finished, the second lifter is controlled to extend, so that the wire clamp is separated from the wire, and the electricity test operation is finished.

2. The power distribution network electricity testing method according to claim 1, wherein a grounding wire winch is further fixed to the insulating rotating shaft, a grounding wire is wound around the grounding wire winch, the grounding wire winch is provided with a grounding wire winch motor, and the grounding wire is connected with the wire clamp;

the electricity testing method executed by the electricity testing robot further comprises the following steps:

when the electricity testing result of the electroscope is that the wire is powered off, an alarm is given, the first lifter is controlled to extend, the insulating rotating shaft is made to rotate around the 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 is made to rotate around the anchor point, and the wire clamp is connected with the wire;

and when the result of the electroscope is that the lead is electrified, the electroscope feeds back an electroscope result.

3. The power distribution network electricity testing method according to claim 1, wherein the robot body is further connected with a traveling wheel carrier through a rotating shaft, the traveling wheel carrier is fixedly connected with a first end of a second lifter, a second end of the second lifter is fixedly connected with the robot body, the traveling wheel carrier is connected with traveling wheels, and the traveling wheels are provided with traveling wheel motors;

the robot body is through control first riser is flexible, makes the walking wheel carrier revolute the rotation of axes to through walking wheel and wire contact, realize the dynamometry robot is in walk on the wire.

4. The power distribution network electricity testing method according to claim 1, wherein a balance compass is further installed in the robot body;

the robot body control receive the line capstan winch shrink the in-process of insulating rope, balanced compass discernment the robot body to when one of them side slope in two receive the line capstan winch, the robot body is through the receipts line capstan winch motor of controlling this side, accelerates this side receipts line capstan winch's hoist speed with the acceleration rate of predetermineeing, works as balanced compass discernment the robot body keeps the level, the receipts line capstan winch of robot body control this side resumes to the speed before the acceleration rate.

5. The electricity testing method for the power distribution network according to claim 1, wherein a stopper is further mounted on the robot body, and the first preset distance is limited by contact with a conducting wire during the lifting process of the robot.

6. The power distribution network electricity testing method according to claim 1, wherein an insulating shell is additionally mounted on the robot body.

7. An electroscope robot, the robot comprising: the robot comprises a robot body, two take-up 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 take-up winch which is provided with a take-up winch motor, and the two take-up winches are hung on a wire of a power distribution network through an insulating rope;

the insulation rotating shaft is connected with the robot body through an anchor point, the first end of the first lifter is fixedly connected with the insulation 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.

8. The motor testing robot of claim 7, wherein a grounding wire winch is further fixed to the insulating rotating shaft, a grounding wire is wound around the grounding wire winch, the grounding wire winch is provided with a grounding wire winch motor, and the grounding wire is connected with the wire clamp.

9. The motor inspection robot of claim 7, wherein the robot body is further connected with a traveling wheel carrier through a rotating shaft, the traveling wheel carrier is fixedly connected with a first end of a second lifter, a second end of the second lifter is fixedly connected with the robot body, the traveling wheel carrier is connected with traveling wheels, and the traveling wheels are provided with traveling wheel motors.

10. The electroscope robot of claim 7, wherein the robot body is further provided with a stopper, a balance compass and an insulating shell.

Technical Field

The invention relates to the field of automation, in particular to a power distribution network electricity testing method and an electricity testing robot.

Background

The power line is as the energy transport life pulse, and its power supply reliability can not break easily, needs to carry out the operation of testing electricity to power line's distribution network, according to electric power work safety flow regulation, when carrying out various operations on the power line, perhaps during the transformer substation blackout operation, all lines of transformer substation go out the line and all test electricity and earth connection operation to guarantee personnel's safety.

The circuit electricity testing and grounding wire work in the prior art generally needs manual climbing operation or a climbing vehicle, the grounding wire is heavy in weight, certain difficulty is achieved, the high-altitude electricity testing operation is not convenient enough, and great safety risks are caused.

Disclosure of Invention

Aiming at the defects of the prior art, the invention discloses a power distribution network electricity testing method and a motor testing robot, which are used for testing the power distribution network and hanging a ground wire, so that the difficulty of testing the power distribution network is reduced, and the risk of manual electricity testing is eliminated.

The embodiment of the invention provides a power distribution network electricity testing method, which adopts a power distribution network electricity testing robot, wherein the robot comprises: the robot comprises a robot body, two take-up 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 take-up winch which is provided with a take-up winch motor, and the two take-up winches are hung on a wire of a power distribution network through an insulating rope;

the insulation rotating shaft is connected with the robot body through an anchor point, the first end of the first lifter is fixedly connected with the insulation 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 testing method executed by the electricity testing robot comprises the following steps:

controlling the take-up winch to contract the insulating rope, so that the robot body reaches an electricity testing position with a first preset distance from the lead;

controlling the first lifter to contract, wherein the insulation rotating shaft rotates around the anchor point to connect the wire clamp with the wire;

controlling an electroscope to test the lead;

after the electricity test is finished, the second lifter is controlled to extend, so that the wire clamp is separated from the wire, and the electricity test operation is finished.

Preferably, a grounding wire winch is further fixed on the insulating rotating shaft, a grounding wire is wound around the grounding wire winch, the grounding wire winch is provided with a grounding wire winch motor, and the grounding wire is connected with the wire clamp;

the electricity testing method executed by the electricity testing robot further comprises the following steps:

when the electricity testing result of the electroscope is that the wire is powered off, an alarm is given, the first lifter is controlled to extend, the insulating rotating shaft is made to rotate around the 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 is made to rotate around the anchor point, and the wire clamp is connected with the wire;

and when the result of the electroscope is that the lead is electrified, the electroscope feeds back an electroscope result.

Preferably, the robot body is further connected with a traveling wheel carrier through a rotating shaft, the traveling wheel carrier is fixedly connected with a first end of a second lifter, a second end of the second lifter is fixedly connected with the robot body, the traveling wheel carrier is connected with traveling wheels, and the traveling wheels are provided with traveling wheel motors;

the robot body is through control first riser is flexible, makes the walking wheel carrier revolute the rotation of axes to through walking wheel and wire contact, realize the dynamometry robot is in walk on the wire.

Preferably, a balance compass is further arranged in the robot body;

the robot body control receive the line capstan winch shrink the in-process of insulating rope, balanced compass discernment the robot body to when one of them side slope in two receive the line capstan winch, the robot body is through the receipts line capstan winch motor of controlling this side, accelerates this side receipts line capstan winch's hoist speed with the acceleration rate of predetermineeing, works as balanced compass discernment the robot body keeps the level, the receipts line capstan winch of robot body control this side resumes to the speed before the acceleration rate.

Preferably, the robot body is further provided with a stopper, and the first preset distance is limited by contact with a wire in the process of lifting the robot.

Preferably, an insulating shell is additionally arranged on the robot body.

According to the power distribution network electricity testing method provided by the invention, the robot body is controlled to automatically lift through the insulating rope to approach the lead, the first lifter is controlled to enable the lead clamp to be connected with the lead for testing electricity, and the ground wire can be put down through the ground wire winch for grounding after the power failure is tested. The electricity testing method of the electricity testing robot can realize electricity testing and ground wire hanging operation without ascending a height, eliminates the risk of manual electricity testing, reduces the workload, and has the advantages of safety, reliability and simple operation.

The embodiment of the invention also provides a motor testing robot, which comprises: the robot comprises a robot body, two take-up 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 take-up winch which is provided with a take-up winch motor, and the two take-up winches are hung on a wire of a power distribution network through an insulating rope;

the insulation rotating shaft is connected with the robot body through an anchor point, the first end of the first lifter is fixedly connected with the insulation 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, the insulation rotating shaft is further fixed with a grounding wire winch, a grounding wire is wound around the grounding wire winch, the grounding wire winch is provided with a grounding wire winch motor, and the grounding wire is connected with the wire clamp.

Preferably, the robot body is further connected with a walking wheel carrier through a rotating shaft, the walking wheel carrier 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 carrier is connected with walking wheels, and the walking wheels are provided with walking wheel motors.

Preferably, the robot body is further provided with a limiter, a balance compass and an insulating shell.

The power distribution network electricity testing method and the electricity testing robot provided by the invention have the advantages that the electricity testing robot comprises a robot body, a take-up winch, an insulated wire, an insulated rotating shaft, a first lifter, a balance compass, a wire clamp and an electricity tester, the electricity testing robot can be used for testing the electricity of a wire of a power distribution network, and the electricity testing robot puts down a grounding wire through a grounding wire winch motor to realize the grounding of the wire; should be connected with walking wheel carrier and walking wheel to the robot body, can realize the distribution robot walks on the distribution network wire, and the control that the balanced compass is used for detecting the horizontality of robot body passes through the robot body is close to the wire through insulating rope from going up and down, through controlling first riser for the wire presss from both sides the switch-on wire and tests the electricity, and accessible earth connection capstan winch puts down the ground wire and carries out ground connection after the inspection has a power failure. The electricity testing method of the electricity testing robot can realize electricity testing and ground wire hanging operation without ascending a height, eliminates the risk of manual electricity testing, reduces the workload, and has the advantages of safety, reliability and simple operation.

Drawings

Fig. 1 is a front structural view of an electroscope robot provided in an embodiment of the present invention;

FIG. 2 is a side view of a robot for testing electrical components according to another embodiment of the present invention;

FIG. 3 is a front view of a motor tester provided in accordance with another embodiment of the present invention;

fig. 4 is a flowchart of a power verification method for a power distribution network according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments, not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, a structural front view of an electroscope robot provided by an embodiment of the present invention is shown, the electroscope robot includes: : the robot comprises a robot body, two take-up winches, an insulating rope, a wire clamp, an insulating rotating shaft, a first lifter, an electroscope, a walking wheel frame, a walking wheel, a limiter, a second lifter, a grounding wire winch, a grounding wire and a limiter;

the robot comprises a robot body, a wire collecting winch and a wire collecting winch motor, wherein two ends of the robot body are respectively connected with the wire collecting winch, and the two wire collecting winches are hung on a wire of a power distribution network through an insulating rope;

the insulation rotating shaft is connected with the robot body through an anchor point, the first end of the first lifter is fixedly connected with the insulation 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, and the wire clamp is connected with the electroscope;

still be fixed with the earth connection capstan winch on the insulating pivot, the earth connection capstan winch encircles there is the earth connection, the earth connection capstan winch is furnished with the motor, the earth connection with the wire clamp is connected.

The robot body is further connected with a walking wheel carrier through a rotating shaft, the walking wheel carrier 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 carrier is connected with the walking wheels.

The robot is characterized in that the robot body is further provided with a limiter and a balance compass, the limiter is limited in the first preset distance between 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 component and the like, and can control the winding winch motor to hoist so that the winding winch wins the insulating wire, and the power distribution robot rises to a position close to a wire of a power distribution network; the grounding wire winch can put down the grounding wire by controlling the grounding wire motor to reversely hoist.

The first lifter is used for controlling the insulated rotating shaft to rotate around an anchor point connected with the robot through stretching and retracting, so that the insulated rotating shaft and the lead clamp are connected and disconnected with the lead;

the grounding wire is wound on the grounding wire winch, and the grounding wire winch can put down or put up the grounding wire under the driving of the motor;

the second lifter is used for controlling the walking wheel frame to rotate around the connecting shaft through stretching, so that the walking wheel is in contact with or separated from the conducting wire, and the walking wheel walks on the conducting wire;

referring to fig. 2, a side view structure diagram of a motor testing robot according to another embodiment provided by the embodiment of the present invention is shown, and the motor testing robot according to the embodiment of the present invention includes a second lifter, a traveling wheel carrier and traveling wheels, and the traveling wheel carrier is controlled to rotate around a connecting shaft by the extension and contraction of the second lifter, so that the traveling wheels are in contact with or separated from a conductor, and the traveling wheels travel on the conductor;

the motor testing robot comprises a plurality of second lifters, and a plurality of walking wheel carriers and walking wheels which are connected with the second lifters, wherein the walking wheel carriers and the walking wheels can realize that a robot body frame can stably walk on a conducting wire.

Referring to fig. 3, in another embodiment of the invention, an electric inspection robot is provided, and an insulating housing is further installed on the robot body, so that the risk of inter-phase short circuit caused when the robot ascends to approach a wire is reduced.

The invention provides a motor testing robot, which comprises a robot body, a take-up winch, an insulated wire, an insulated rotating shaft, a first lifter, a wire clamp and an electroscope, wherein the robot body, the take-up winch, the insulated wire, the insulated rotating shaft, the first lifter, the wire clamp and the electroscope can be used for testing the electricity of a wire of a power distribution network; the electric inspection robot also comprises a grounding wire and a grounding wire winch, and the grounding wire can be put down through a grounding wire winch motor to realize the grounding of the conducting wire; the robot body should be connected with walking wheel carrier and walking wheel, can realize the electric distribution robot walks on the distribution network wire.

Referring to fig. 4, a flowchart of a power distribution network electricity testing method provided by the embodiment of the present invention is further provided, and the method is executed by a robot body and includes steps S401 to 404:

s401, controlling the take-up winch to contract the insulating rope, and enabling the robot body to reach an electricity testing position with a first preset distance from the conducting wire;

s402, controlling the first lifter to contract, wherein the insulated rotating shaft rotates around the anchor point to connect the wire clamp with the wire;

s403, controlling an electroscope to test the lead;

and S404, after the electricity test is finished, controlling the second lifter to extend to enable the wire clamp to be separated from the wire, and finishing the electricity test operation.

The electroscopy operation of step S403 is specifically:

when the electricity testing result of the electroscope is that the lead is in power failure, an alarm is given out, and the grounding wire winch is controlled to release the grounding wire, so that the grounding wire is connected with the ground;

and when the result of the electroscope is that the lead is electrified, the electroscope feeds back an electroscope result.

After electricity testing, the robot body is through control first riser is flexible, makes the walking wheel carrier revolute the rotation of axes to through walking wheel and wire contact, realize the electricity testing robot is in walk on the wire.

In specific implementation, the specific process of the electricity testing method controlled by the robot body is as follows:

when the robot is at the ground end, the first lifter deflects the insulating rotating shaft laterally, controls the second lifter to extend, enables the traveling wheel carrier to be away from the vertical direction of the lead, and prevents the insulating rotating shaft and the traveling wheel carrier from blocking the ascending process of the robot;

driving an insulated wire traction rope to bypass the upper side of the wire by using a small tool such as an unmanned aerial vehicle, crossing the insulated wire on the wire by using the insulated wire traction rope, and fixing two ends of the insulated wire crossing the wire on two take-up winches at two sides of the robot body;

the winding winch is used for winding the insulated wire by winding of the winding winch motor, so that the robot body leaves the ground and slowly approaches to a wire of a power distribution network;

it should be pointed out that the center of gravity of the robot body is distributed at the position between the two take-up winches, so that the robot is convenient to keep horizontal, in addition, the robot body controls the take-up winches to contract the insulating rope, when the balance compass identifies that the robot body inclines to one of the two take-up winches, the robot body controls the take-up winch motor on the side to accelerate the winding speed of the take-up winch on the side at a preset acceleration rate, when the balance compass identifies that the robot body keeps horizontal, the robot body controls the take-up winch on the side to recover to the speed before acceleration, and the robot can keep balance in the ascending process through the control of the balance compass and the robot body.

When the robot body rises to the position where the limiting stopper is contacted with the wire, the robot reaches a preset position for electricity testing, at the moment, the motor of the take-up winch stops working, the take-up winch is locked, and the robot body is fixed at the preset position;

first riser contracts this moment, drives the insulating pivot and rotates around the anchor point for insulating epaxial wire clamp of changeing puts through with the wire, and is concrete, and the wire clamp includes with the mode of wire switch-on: when the insulated cable is arranged on the lead, the bifurcation of the lead clamp is contacted with the grounding ring on the insulated cable of the lead, so that the lead clamp is conducted with the lead to test the electricity; when the lead is a bare lead, the bifurcation of the lead clamp directly contacts the lead, so that the lead clamp is conducted with the lead to test the electricity;

after the electroscope is connected with the lead, the lead is subjected to electroscopy, and when the electroscopy is that the lead is electrified, the electroscope feeds back a result to the robot body;

when the electricity testing result is that the conducting wire is powered off, the electroscope feeds alarm information back to the robot body, the robot body controls the first lifter to extend, the insulating rotating shaft is made to rotate around the anchor point, the conducting wire clamp is disconnected with the conducting wire, the grounding wire winch is controlled to emit a grounding wire, the grounding wire is connected with the ground, the first lifter is controlled to shorten, the insulating rotating shaft is made to rotate around the anchor point, the conducting wire clamp is connected with the conducting wire, the grounding operation of the powered-off conducting wire is achieved, after the conducting wire is grounded, the powered-off conducting wire can be maintained, and after the conducting wire is in a charged state, the motor of the grounding wire winch is;

after the electricity testing is finished, the first lifter extends to drive the insulation rotating shaft to rotate around the anchor point, and the wire clamp is disconnected from the wire and separated;

the robot with the point can also retract the second lifter, so that the travelling wheel fixed at the upper end of the travelling wheel frame rotates to be right above the conducting wire, at the moment, the wire take-up winch is slightly loosened by controlling, the motor testing robot is erected on the conducting wire through the travelling wheel and the travelling wheel frame, and the travelling wheel motor of the travelling wheel is controlled, so that the motor testing robot can travel on the conducting wire;

after the electricity testing work of the wire is completed, the take-up winch motor is slightly tightened, the second lifter is extended, so that the walking wheel frame rotates around the connecting shaft, the walking wheel is separated from the wire, the walking wheel leaves the vertical direction of the wire, then the take-up winch motor is controlled to reversely hoist, the take-up winch emits an insulating rope, the electricity testing robot descends to the ground, and the work is finished.

It should be pointed out that the control of the wire-receiving winch motor, the expansion of the first lifter and the second lifter and the control of the walking wheel motor of the motor testing robot can be automatically carried out through a program set by the robot body controller and are connected with the wire-receiving winch motor, the first lifter, the second lifter and the walking wheel motor in a wireless or wired mode; the wireless data transmission can be connected through the controller and can be controlled wirelessly through an external controller.

The invention provides a power distribution network electricity testing method and a power testing robot, wherein the power testing robot comprises a robot body, a take-up winch, an insulated wire, an insulated rotating shaft, a first lifter, a wire clamp and an electroscope, and can be used for testing electricity of a power distribution network wire; should be connected with walking wheel carrier and walking wheel to the robot body, can realize the distribution robot walks on the distribution network wire, and the control through the robot body is close to the wire through insulating rope from going up and down for the wire presss from both sides the switch-on wire and tests the electricity, and accessible earth connection capstan winch puts down the ground wire and ground connection after the inspection has a power failure through the first riser of control. The electricity testing method of the electricity testing robot can realize electricity testing and ground wire hanging operation without ascending a height, eliminates the risk of manual electricity testing, reduces the workload, and has the advantages of safety, reliability and simple operation.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.