Automatic inspection operation robot for transformer substation

Abstract

The invention relates to the technical field of transformer substations, in particular to a transformer substation automatic inspection operation robot which comprises a robot traction base, a partial discharge detection assembly and an electrical parameter detection assembly, and the partial discharge detection assembly and the electrical parameter detection assembly are installed on the robot traction base. The partial discharge detection assembly comprises a middle support and an electric connection seat arranged on the middle support, and a detection machine head is arranged on the electric connection seat; the electrical parameter detection assembly comprises an electrical parameter detection assembly, the electrical parameter detection assembly is installed on the supporting frame, an electromagnetic wave analyzer, an electromagnetic wave receiving base station and an infrared detector are arranged in the electrical parameter detection assembly, and the electromagnetic wave receiving base station is arranged at the detection end of the electromagnetic wave analyzer; the infrared detector is cooperatively arranged on the side edge of the electromagnetic wave receiving base station. Partial discharge detection, electromagnetic wave analysis and infrared temperature measurement technologies are integrated, the state of substation equipment is efficiently and accurately detected, electric leakage and thermal faults are prevented, and the operation and maintenance efficiency and safety are improved.

Description

Technical Field

[0001] The invention relates to the technical field of substations, in particular to an automatic inspection and operation robot for substations. Background Art

[0002] Substations are places in the power system that transform voltage and current, receive and distribute electric energy. Their function is to boost the voltage of the electric energy generated by the generator and feed it into the high-voltage power grid. Near the user, the substation is responsible for reducing the voltage of the high-voltage electricity to meet the user's electricity demand. Due to the development needs of modern power systems, the advancement of sensor technology, the application of artificial intelligence and automated control technology, and the power industry's continued pursuit of safety and efficiency, automatic inspection robots have become a key detection tool in the power industry.

[0003] The substation automatic inspection operation robot in the existing technology is usually equipped with high-precision sensors, which collect key power parameters of the equipment in the substation in real time through electromagnetic wave sensing and other methods; this single sensor has a relatively high detection error, and thus the risk grasp in the substation is not accurate enough. Summary of the invention

[0004] The purpose of the present invention is to provide a substation automatic inspection operation robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A substation automatic inspection operation robot comprises a robot traction seat and a partial discharge detection component and an electrical parameter detection component installed on the robot traction seat; the robot traction seat comprises a body base, a mounting frame installed on the body base and a support frame arranged at the rear edge of the body base; the partial discharge detection component comprises a middle bracket, a sliding base installed at the bottom of the middle bracket and an electric coupling seat arranged on the middle bracket, the middle bracket is slidably installed on the mounting frame through the sliding base, and a detection head is arranged on the electric coupling seat; the electrical parameter detection component comprises an electrical parameter detection component, the electrical parameter detection component is installed on the support frame, and an electromagnetic wave analyzer, an electromagnetic wave receiving base and an infrared detector are respectively arranged in the electrical parameter detection component, the electromagnetic wave receiving base is arranged at the detection end of the electromagnetic wave analyzer, and the infrared detector is cooperatively arranged at the side edge of the electromagnetic wave receiving base.

[0007] As a further solution of the present invention: the electromagnetic wave analyzer includes a hanging frame and an electromagnetic detection base frame installed on the hanging frame, the top of the electromagnetic detection base frame is provided with an electromagnetic wave detector, and the bottom of the electromagnetic detection base frame is installed with a waveguide frame through a waveguide bracket; the waveguide frame is provided with a microwave integrated machine barrel, and the microwave integrated machine barrel is provided with a waveguide head, and the waveguide head is connected to the detection end of the electromagnetic wave detector and there is a detection gap.

[0008] As a further solution of the present invention: the electromagnetic wave receiving base station includes a receiving base station, which is horizontally installed in the frame of the electrical parameter detection component. A plurality of filters are arranged on the board of the receiving base station, and amplifiers are installed on the filters. The amplifiers are located directly below the waveguide frame, and output heads are arranged on the side edges of the filters; fine-tuning modules are arranged on the filters, and the amplifiers are installed on the fine-tuning modules.

[0009] As a further solution of the present invention: the infrared detector is arranged on the other side of the receiving base, the main body of the infrared detector is an infrared imaging device, the infrared imaging device is installed on the side edge of the receiving base through a side wing fixing seat, and a thermal sensing panel is arranged on the infrared imaging device.

[0010] As a further solution of the present invention: an antenna is also arranged at the side edge of the receiving base station, a feeder is arranged at the detection end of the antenna, and the feeder is extended to be connected to the amplifier.

[0011] As a further solution of the present invention: the vehicle body base includes a vehicle body frame and a traction wheel installed on the vehicle body frame, a middle bracket plate is also mounted on the vehicle body frame, a sliding module is arranged on the middle bracket plate, and the sliding base is slidably installed on the sliding module.

[0012] As a further solution of the present invention: the electrical coupling seat includes a detection support frame and a kneading track arranged on the detection support frame; the detection head includes electrical detection supports installed on both ends of the kneading track, and the electrical detection supports at both ends are slidably installed on the kneading track through a sliding installation frame; a positioning bolt is installed at the midline position of the kneading track, and a two-way telescopic rod is fixedly installed on the positioning bolt, and the telescopic ends on both sides of the two-way telescopic rod are respectively connected to the electrical detection supports.

[0013] As a further solution of the present invention: an electric contact rod is installed on the electric detection support head, and a power box is arranged on the electric detection support head. The power box is electrically connected to the electric contact rod and is externally connected to a signal feedback device.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The robot traction seat is a walking tool that drives the vehicle body base to move freely in the substation and adapt to various terrains. The vehicle body base serves as a bearing platform, with driving wheels and steering mechanisms at the bottom. The mounting frame is equipped with slide rails to guide the sliding base to move smoothly and drive the partial discharge detection component. The support frame provides a stable installation platform for the electrical parameter detection component. The middle bracket serves as the main body of the partial discharge detection component to ensure that the detection head is stable and accurate. The electrical connector mounts and fixes the detection head to accurately capture the internal discharge and leakage risks of the equipment. The electromagnetic wave analyzer analyzes the electromagnetic wave signal of the equipment, and the receiving base is highly sensitive and anti-interference, and the received signal is converted into an electrical signal for analysis. The infrared detector measures temperature non-contactly, measures the surface temperature distribution of the equipment, and prevents thermal failures.

[0016] The robot designed by the present invention integrates partial discharge detection, electromagnetic wave analysis and infrared temperature measurement technology, which can efficiently and accurately detect the status of substation equipment, prevent leakage and thermal failures, improve operation and maintenance efficiency and safety, and ensure stable operation of the power grid.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into and constitute a part of the specification to illustrate embodiments consistent with the present application and are used together with the specification to explain the principles of the present application. At the same time, these drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application for those skilled in the art by referring to specific embodiments.

[0019] Figure 1 A schematic diagram of the structure of a substation automatic inspection operation robot from a front perspective provided in an embodiment of the present invention.

[0020] Figure 2 A schematic diagram of the structure of a substation automatic inspection operation robot from a side view provided in an embodiment of the present invention.

[0021] Figure 3 A schematic diagram of the structure of an electromagnetic wave analyzer provided in an embodiment of the present invention.

[0022] Figure 4 A schematic diagram of the structure of an electromagnetic wave receiving base station provided in an embodiment of the present invention.

[0023] Figure 5 A schematic diagram of the installation of a partial discharge detection assembly and a vehicle body base provided in an embodiment of the present invention.

[0024] Figure 6 A schematic structural diagram of an electrical connector and a detection head provided in an embodiment of the present invention.

[0025] In the figure: 10, robot traction seat; 20, partial discharge detection component; 30, electrical parameter detection component; 11, vehicle body base; 12, mounting frame; 13, support frame; 21, middle bracket; 22, sliding base; 23, electrical connection seat; 24, detection head; 31, electromagnetic wave analyzer; 32, electromagnetic wave receiving base; 33, infrared detector; 41, hanging frame; 42, electromagnetic detection base; 43, electromagnetic wave detector; 44, waveguide bracket; 45, waveguide frame; 46, microwave integrated barrel; 47, waveguide head; 51. Receiving base; 52. Filter; 53. Amplifier; 54. Output head; 55. Fine-tuning module; 56. Side wing fixing seat; 57. Infrared imaging equipment; 58. Feeder; 59. Antenna; 61. Vehicle body frame; 62. Traction wheel; 63. Middle bracket plate; 64. Sliding module; 71. Detection support frame; 72. Kneading track; 73. Electric detection support head; 74. Sliding mounting frame; 75. Two-way telescopic rod; 76. Positioning bolt; 77. Electric contact support; 78. Electric contact rod; 79. Power box; 70. Signal feedback device. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0027] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0029] In one embodiment, see Figure 1 and Figure 2, provides a substation automatic inspection operation robot, including a robot traction seat 10 and a partial discharge detection component 20 and an electrical parameter detection component 30 installed on the robot traction seat 10; the robot traction seat 10 includes a body base 11, a mounting frame 12 installed on the body base 11 and a support frame 13 arranged at the rear edge of the body base 11; the partial discharge detection component 20 includes a middle bracket 21, a sliding base 22 installed at the bottom of the middle bracket 21 and an electrical connection seat 23 arranged on the middle bracket 21, the middle bracket 21 is slidably installed on the mounting frame 12 through a sliding base 22, and a detection head 24 is arranged on the electrical socket 23; the electrical parameter detection component 30 includes an electrical parameter detection component 30, and the electrical parameter detection component 30 is installed on the support frame 13, and an electromagnetic wave analyzer 31, an electromagnetic wave receiving base 32 and an infrared detector 33 are respectively arranged in the electrical parameter detection component 30, the electromagnetic wave receiving base 32 is arranged at the detection end of the electromagnetic wave analyzer 31, and the infrared detector 33 is arranged at the side edge of the electromagnetic wave receiving base 32.

[0030] In this embodiment, the robot adopts a vehicle body structure, the robot traction seat 10 is a walking tool, and the vehicle body base 11 serves as a bearing platform for the entire robot. The bottom of the vehicle body base 11 is equipped with driving wheels and steering mechanisms, etc., so that the robot can move freely in the substation and adapt to different terrains and obstacles; the mounting frame 12 is also provided with a slide rail on the mounting frame 12 to guide the smooth movement of the sliding base 22, thereby driving the movement of the partial discharge detection component 20; the support frame 13 is located at the rear edge of the vehicle body base 11 to provide a stable installation platform for the electrical parameter detection component 30.

[0031] The middle bracket 21 is the main structure of the partial discharge detection assembly 20, and has sufficient strength and rigidity to ensure the stability and accuracy of the detection head 24. The electric socket 23: The electric socket 23 is set on the middle bracket 21, and is used to install and fix the detection head 24. The electric socket 23 and the detection head 24 are electrically connected. The detection head 24 is the core component of partial discharge detection. It fits on the equipment shell to accurately capture the discharge status inside the substation equipment and detect whether there is a leakage risk. The electromagnetic wave analyzer 31 is used to analyze the electromagnetic wave signals emitted by the substation equipment. The electromagnetic wave receiving base 32 is set at the detection end of the electromagnetic wave analyzer 31, and has high sensitivity and anti-interference ability. It can receive electromagnetic wave signals from the substation equipment and convert them into electrical signals for analysis by the electromagnetic wave analyzer 31. Infrared detector 33: The infrared detector 33 is set on the side edge of the electromagnetic wave receiving base 32, and is used to measure the temperature distribution on the surface of the substation equipment. The infrared detector 33 adopts non-contact temperature measurement technology, which can accurately reflect the thermal state of the equipment and provide important information for preventing thermal failures.

[0032] In this embodiment, the robot can simultaneously detect the partial discharge signal and electrical parameters of the equipment through the integrated application of the partial discharge detection component 20 and the electrical parameter detection component 30, thereby improving the comprehensiveness and accuracy of the detection. The robot replaces manual labor in entering dangerous areas such as high voltage and high radiation, reducing the chance of direct exposure of personnel to potential dangers and improving operational safety.

[0033] In one embodiment, see Figure 1 , Figure 3 and Figure 4 Based on the contents of the above embodiment, the specific implementation structure of the electrical parameter detection component 30 is designed as follows:

[0034] The electromagnetic wave analyzer 31 includes a hanging frame 41 and an electromagnetic detection base frame 42 installed on the hanging frame 41, an electromagnetic wave detector 43 is arranged on the top of the electromagnetic detection base frame 42, and a waveguide frame 45 is installed on the bottom of the electromagnetic detection base frame 42 through a waveguide bracket 44; a microwave integrated machine barrel 46 is arranged on the waveguide frame 45, and a waveguide head 47 is arranged on the microwave integrated machine barrel 46, and the waveguide head 47 is connected to the detection end of the electromagnetic wave detector 43 and there is a detection gap.

[0035] The electromagnetic wave receiving base 32 includes a receiving base 51, which is horizontally installed in the frame of the electrical parameter detection component 30. A plurality of filters 52 are arranged on the board of the receiving base 51, and amplifiers 53 are installed on the filters 52. The amplifiers 53 are located directly below the waveguide frame 45. An output head 54 is arranged on the side edge of the filter 52; a fine-tuning module 55 is arranged on the filter 52, and the amplifier 53 is installed on the fine-tuning module 55. An antenna 59 is also arranged on the side edge of the receiving base 51, and a feeder 58 is arranged at the detection end of the antenna 59, and the feeder 58 extends to connect with the amplifier 53.

[0036] The hoisting frame 41 serves as the supporting structure of the entire electromagnetic wave receiving base 32. The electromagnetic wave detector 43 has high sensitivity and can capture weak electromagnetic signals, providing reliable data for subsequent electrical parameter analysis. The bottom of the electromagnetic detection base 42 is connected to the waveguide frame 45 through the waveguide bracket 44. As a key component of electromagnetic wave transmission, the internal structure design of the waveguide frame 45 optimizes the propagation path of the electromagnetic wave and reduces signal loss. As an important component of the waveguide frame 45, the microwave integrated barrel 46 integrates advanced microwave technology. The waveguide head 47 installed on it is precisely connected to the detection end of the electromagnetic wave detector 43. The detection gap between the two ensures the efficient transmission and reception of electromagnetic waves, while avoiding interference caused by physical contact.

[0037] A plurality of filters 52 are arranged on the board of the receiving base station 51, each filter 52 is equipped with a high-performance amplifier 53, and an antenna 59 arranged on the side of the receiving base station 51 is connected to the amplifier 53 through a feeder 58. These amplifiers are located directly below the waveguide frame 45, ensuring efficient amplification of the electromagnetic wave signal from the waveguide head 47. The combination of the filter 52 and the amplifier 53 effectively improves the signal quality and reduces noise interference.

[0038] The coordinated use of the filter 52 and the amplifier 53, combined with the flexibility of the fine-tuning module 55, effectively improves the efficiency and accuracy of signal processing, reduces the impact of external interference on the monitoring results, and then guides the electromagnetic waves to the electromagnetic wave detector 43 with the assistance of waveguide transmission. The present invention can realize accurate monitoring of the electromagnetic field in the substation and provide a reliable basis for equipment status evaluation.

[0039] In one case of this embodiment, a fine-tuning module 55 is further provided on the filter 52, which can fine-tune the position of the amplifier 53 according to actual conditions to achieve the best signal reception effect.

[0040] In one case of this embodiment, the infrared detector 33 is arranged on the other side of the receiving base 51. The main body of the infrared detector 33 is an infrared imaging device 57. The infrared imaging device 57 is installed on the side edge of the receiving base 51 through a side wing fixing seat 56. A thermal sensing panel is provided on the infrared imaging device 57. The infrared imaging device 57 is arranged at the end position of the vehicle body. The infrared imaging device 57 has a high-resolution infrared sensor, which can capture subtle temperature changes on the surface of the substation equipment and generate clear infrared thermal images.

[0041] In one embodiment, see Figure 2 , Figure 5 and Figure 6 Based on the contents of the above embodiment, the specific implementation structure of the electrical parameter detection component 30 is designed as follows:

[0042] The vehicle body base 11 includes a vehicle body frame 61 and a traction wheel 62 installed on the vehicle body frame 61. A middle bracket plate 63 is also mounted on the vehicle body frame 61. A sliding module 64 is arranged on the middle bracket plate 63. The sliding base 22 is slidably mounted on the sliding module 64. The vehicle body base 11 is the basic support part of the entire robot, and is composed of the vehicle body frame 61 and the traction wheel 62. The traction wheel 62 is installed at the bottom of the vehicle body frame 61 and is responsible for the movement and steering of the robot. Through a precise control program, the robot can autonomously navigate to the designated inspection position. The sliding module 64 adopts a precise guide rail and slider structure to ensure that the sliding base 22 slides smoothly and accurately thereon. The sliding base 22 serves as an installation carrier for the electrical connector 23 and the detection head 24, and can be moved according to inspection requirements.

[0043] The electric coupling seat 23 includes a detection support frame 71 and a kneading track 72 arranged on the detection support frame 71; the detection head 24 includes electric detection supports 73 installed at both ends of the kneading track 72, and the electric detection supports 73 at both ends are slidably installed on the kneading track 72 through a sliding installation frame 74. A positioning bolt 76 is installed at the midline position of the kneading track 72, and a two-way telescopic rod 75 is fixedly installed on the positioning bolt 76, and the telescopic ends on both sides of the two-way telescopic rod 75 are respectively connected to the electric detection support 73; an electric contact rod 78 is installed on the electric detection support 73, and a power box 79 is arranged on the electric detection support 73, and the power box 79 is electrically connected to the electric contact rod 78 and is externally connected to a signal feedback device 70.

[0044] The detection head 24 is the core component of the robot for electrical parameter detection. The electrical detection support head 73 is installed at both ends of the kneading track 72, and slides on the kneading track 72 through the sliding mounting frame 74 to achieve precise contact and detection of the substation equipment. The bidirectional telescopic rod 75 is installed at the midline position of the kneading track 72, and the telescopic ends on both sides are respectively connected to the electrical detection support head 73. By adjusting the telescopic amount of the telescopic rod, an electric contact rod 78 is installed on the electrical detection support head 73 through an electric contact support 77. As a component that is in direct contact with the substation equipment, the electric contact rod 78 is made of a material with high conductivity and high wear resistance. The design of the bidirectional telescopic rod 75 enables the electrical detection support head 73 to adapt to equipment of different sizes, ensuring the close contact between the electric contact rod 78 and the surface of the equipment, thereby improving the accuracy of leakage detection.

[0045] The power box 79 is installed on the electrical detection support 73 and is electrically connected to the electric contact rod 78. The signal feedback device 70 is externally connected between the power box 79 and the electric contact rod 78 to monitor and feedback the electrical connection status and detection data in real time to ensure the accuracy and reliability of the inspection process. Once abnormal electrical parameters are detected, such as leakage current exceeding the preset threshold, the signal feedback device 70 will immediately issue a warning signal to notify the operation and maintenance personnel to handle it in time, effectively preventing the occurrence of leakage accidents.

[0046] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

[0047] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A substation automatic inspection operation robot, comprising a robot traction seat (10) and a partial discharge detection component (20) and an electrical parameter detection component (30) mounted on the robot traction seat (10); characterized in that: The robot traction seat (10) comprises a vehicle body base (11), a mounting frame (12) mounted on the vehicle body base (11), and a support frame (13) arranged at the rear edge of the vehicle body base (11); The partial discharge detection assembly (20) comprises a middle bracket (21), a sliding base (22) mounted on the bottom of the middle bracket (21), and an electrical connection seat (23) arranged on the middle bracket (21); the middle bracket (21) is slidably mounted on the mounting frame (12) via the sliding base (22); and a detection head (24) is arranged on the electrical connection seat (23); The electrical parameter detection component (30) comprises an electrical parameter detection component (30), the electrical parameter detection component (30) is mounted on a support frame (13), an electromagnetic wave analyzer (31), an electromagnetic wave receiving base (32) and an infrared detector (33) are respectively arranged in the electrical parameter detection component (30), the electromagnetic wave receiving base (32) is arranged at the detection end of the electromagnetic wave analyzer (31), and the infrared detector (33) is cooperatively arranged at the side edge of the electromagnetic wave receiving base (32).

2. The substation automatic inspection operation robot according to claim 1 is characterized in that: The electromagnetic wave analyzer (31) comprises a hanging frame (41) and an electromagnetic detection base frame (42) mounted on the hanging frame (41); an electromagnetic wave detector (43) is arranged on the top of the electromagnetic detection base frame (42); and a waveguide frame (45) is installed on the bottom of the electromagnetic detection base frame (42) via a waveguide bracket (44); The waveguide frame (45) is provided with a microwave integrated machine barrel (46), and the microwave integrated machine barrel (46) is provided with a waveguide head (47), and the waveguide head (47) is connected to the detection end of the electromagnetic wave detector (43) and there is a detection gap.

3. The substation automatic inspection operation robot according to claim 2 is characterized in that: The electromagnetic wave receiving base station (32) comprises a receiving base station (51), the receiving base station (51) is horizontally installed in the frame of the electrical parameter detection component (30), a plurality of filters (52) are arranged on the board surface of the receiving base station (51), and amplifiers (53) are installed on the filters (52), and the amplifiers (53) are located directly below the waveguide frame (45), and an output head (54) is arranged on the side edge of the filter (52); The filters (52) are each provided with a fine-tuning module (55), and the amplifier (53) is mounted on the fine-tuning module (55).

4. The substation automatic inspection operation robot according to claim 3 is characterized in that: The infrared detector (33) is arranged on the other side of the receiving base (51); the main body of the infrared detector (33) is an infrared imaging device (57); the infrared imaging device (57) is installed on the side edge of the receiving base (51) through a side wing fixing seat (56); and a thermal sensing panel is arranged on the infrared imaging device (57).

5. The substation automatic inspection operation robot according to claim 4 is characterized in that: An antenna (59) is also provided on the side edge of the receiving base station (51), and a feeder (58) is provided at the detection end of the antenna (59), and the feeder (58) extends to be connected to the amplifier (53).

6. The substation automatic inspection operation robot according to any one of claims 1 to 5, characterized in that: The vehicle body base (11) comprises a vehicle body frame (61) and a traction wheel (62) mounted on the vehicle body frame (61); a middle bracket plate (63) is also mounted on the vehicle body frame (61); a sliding module (64) is arranged on the middle bracket plate (63); and the sliding base (22) is slidably mounted on the sliding module (64).

7. The substation automatic inspection operation robot according to claim 6, characterized in that: The electrical coupling seat (23) comprises a detection support frame (71) and a kneading track (72) arranged on the detection support frame (71); the detection head (24) comprises electrical detection supports (73) installed at both ends of the kneading track (72), and the electrical detection supports (73) at both ends are slidably installed on the kneading track (72) through a sliding installation frame (74); A positioning bolt (76) is installed at the midline position of the kneading track (72), and a bidirectional telescopic rod (75) is fixedly installed on the positioning bolt (76). The telescopic ends on both sides of the bidirectional telescopic rod (75) are respectively connected to the electrical detection support head (73).

8. The substation automatic inspection operation robot according to claim 7, characterized in that: An electric contact rod (78) is installed on the electric detection support head (73), and an electric quantity box (79) is arranged on the electric detection support head (73). The electric quantity box (79) is electrically connected to the electric contact rod (78) and is externally connected to a signal feedback device (70).

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