CN114336107A - Electricity testing grounding robot and electricity testing grounding method thereof - Google Patents
Electricity testing grounding robot and electricity testing grounding method thereof Download PDFInfo
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Abstract
The invention discloses an electricity testing grounding robot and an electricity testing grounding method thereof, wherein the electricity testing grounding robot comprises a winding mechanism, a swinging mechanism, an electricity testing mechanism, a first grounding mechanism and a second grounding mechanism, wherein the swinging mechanism is arranged above the winding mechanism; the hoisting mechanism is used for hanging a distribution network line on the electricity testing grounding robot, the swinging mechanism is used for driving the electricity testing mechanism and the second grounding mechanism to swing, the electricity testing mechanism is used for carrying out electricity testing processing on the distribution network line, the first grounding mechanism is used for clamping the distribution network line for carrying out grounding processing, and the second grounding mechanism is used for carrying out grounding processing on the distribution network line far away from the electricity testing grounding robot; through hoist mechanism, swing mechanism, test electric mechanism, first ground mechanism and the cooperation of second ground mechanism to a plurality of net circuits of joining in marriage automatically test electric ground connection operation, avoid the maintainer to climb high-tension electricity tower high altitude construction, reduced the operation degree of difficulty of testing electric ground connection operation.
Description
Technical Field
The invention relates to the technical field of automatic robots, in particular to an electricity testing grounding robot and an electricity testing grounding method thereof.
Background
In order to guarantee to join in marriage net twine way operation safety, generally need regularly overhaul to joining in marriage net twine way, at the line inspection in-process, in order to ensure maintainer's work safety, need to have a power failure to joining in marriage net twine way, test the electricity, articulate the preparation work of ground wire, and join in marriage net twine way at present and test electricity grounding work and adopt manual work's mode usually, need maintainer to climb on the high-tension electricity tower at the operation process, and the manual work is tested electricity operation and ground wire operation to joining in marriage net twine way, so there is the risk that the high altitude falls and electrocute, the potential safety hazard is great, in addition, join in marriage net twine way and adopt vertically, level or triangular's mode of arranging, so maintainer still need test electricity grounding work to many net twine way simultaneously, very big the degree of difficulty of operation has been increased.
It is seen that improvements and enhancements to the prior art are needed.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide the electricity testing grounding robot which can automatically complete on-line electricity testing grounding, avoid the accident risk of manual operation and has high operation efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
an electricity testing grounding robot comprises a hoisting mechanism, a swinging mechanism, an electricity testing mechanism, a first grounding mechanism and a second grounding mechanism, wherein the swinging mechanism is arranged above the hoisting mechanism, the first grounding mechanism is arranged in the swinging mechanism, and the electricity testing mechanism and the second grounding mechanism are respectively arranged on two sides of the swinging mechanism; the hoisting mechanism is used for hanging a distribution network line on the electricity testing grounding robot, the swing mechanism is used for driving the electricity testing mechanism and the second grounding mechanism to swing, the electricity testing mechanism is used for testing the electricity of the distribution network line, the first grounding mechanism is used for clamping the distribution network line to conduct grounding processing, and the second grounding mechanism is used for conducting grounding processing on the distribution network line far away from the electricity testing grounding robot.
Test among the electricity ground connection robot, test electric mechanism and include that first test electric portion, second test electric portion and third test electric portion, the second test electric portion one end with swing mechanism rotates and connects, first test electric portion sets up the second tests the other end of electric portion, first test electric portion with the second tests electric portion mutually perpendicular, just first test electric portion can toward both sides swing, the third test electric portion one end with the second tests the other end rotation of electric portion and connects.
In the electricity-testing grounding robot, the second grounding mechanism comprises a first grounding part, a second grounding part and a rotating part, one end of the first grounding part is rotatably connected with the swinging mechanism, and the other end of the first grounding part is rotatably connected with one end of the second grounding part through the rotating part.
In the electricity testing grounding robot, the swing mechanism comprises a first swing part and a second swing part, and the second swing part is arranged on one side of the first swing part; the first grounding mechanism is fixedly connected with the first swinging portion, one end of the second electroscopic portion is fixedly connected with an output shaft of the second swinging portion, and one end of the first grounding portion is in transmission connection with the first swinging portion.
In the electricity testing grounding robot, the first grounding mechanism comprises a first grounding clamping frame and a second grounding clamping frame, and the first grounding clamping frame and the second grounding clamping frame are oppositely arranged on the first swinging part.
In the electricity testing grounding robot, the hoisting mechanism is connected with the swinging mechanism through a plurality of counterweight rods.
In the electricity testing grounding robot, a traction rope is arranged in the hoisting mechanism, and a guide mechanism for guiding the traction rope is arranged on the first swinging part; the traction rope is used for being connected with an external hanging tool and dragging the electricity testing grounding robot to finish hanging actions.
The invention also correspondingly provides an electricity testing grounding method, which comprises the following steps:
the traction rope is hung to any distribution network line through an external hanger;
starting the swing mechanism and the second electroscopic part to respectively control the second electroscopic part and the third electroscopic part to rotate, so that the second electroscopic part rotates to be in a vertically upward state, and the third electroscopic part rotates to be in a folded state with the second electroscopic part;
starting a winding mechanism to wind a traction rope, so that the electricity testing grounding robot climbs towards the distribution network line;
starting the winch mechanism to control the first electricity testing part to be close to the distribution network line, and completing electricity testing work of the first distribution network line after any side of the first electricity testing part is contacted with the first distribution network line;
if the electricity testing of the first distribution network line is finished, the hoisting mechanism controls the first electricity connecting mechanism to be close to the first distribution network line until the first distribution network line is clamped on the first grounding clamping frame and the second grounding clamping frame, and then the grounding work of the first distribution network line is completed;
the swing mechanism is started to control the second electricity testing part to rotate towards the second distribution network line, and electricity testing work on the second distribution network line is completed after the second electricity testing part is contacted with the second distribution network line;
starting the second electricity testing part to control the third electricity testing part to rotate towards the third distribution network line, and completing electricity testing work of the third distribution network line after the third electricity testing part is contacted with the third distribution network line;
starting a swing mechanism to control the first grounding part to rotate towards the second distribution network line, and finishing the grounding work of the second distribution network line after the first grounding part clamps the second distribution network line;
and the rotating part is started to control the second grounding part to rotate towards the third distribution network line, and after the second grounding part clamps the third distribution network line, the grounding work of the third distribution network line is finished.
In the electricity testing grounding method, the traction rope is hung on any distribution network line through an external hanger, and the electricity testing grounding method specifically comprises the following steps:
an external hanging tool is hung on any distribution network line through an unmanned aerial vehicle, so that the traction rope bypasses the upper part of the distribution network line.
The electricity testing grounding method further comprises the following steps:
if the first electricity testing part has electricity testing abnormity on the first distribution network line, an abnormal signal is sent to an electricity testing grounding robot;
if the second electricity testing part has electricity testing abnormity on the second distribution network line, an abnormal signal is sent to the electricity testing grounding robot;
and if the third electroscopic part has an electroscopic abnormality on the third distribution network line, an abnormal signal is sent to the electroscopic grounding robot.
Has the advantages that:
the invention provides an electricity testing grounding robot, which is used for automatically testing electricity and grounding a plurality of distribution network lines by matching the winding mechanism, the swinging mechanism, the electricity testing mechanism, the first grounding mechanism and the second grounding mechanism, so that a maintainer is prevented from climbing a high-voltage tower to work high above the ground, the safety of the work is improved, and the work difficulty of the electricity testing grounding work is reduced.
Drawings
Fig. 1 is a schematic overall structure diagram i of an electroscopic grounding robot provided by the invention;
fig. 2 is a schematic view of the overall structure of the electroscopic grounding robot provided by the invention;
fig. 3 is a first schematic diagram of an internal structure of the swing mechanism in the electroscopic grounding robot provided by the present invention;
fig. 4 is a schematic diagram of an internal structure of the swing mechanism in the electroscopic grounding robot provided by the present invention;
FIG. 5 is a first control flow chart of the method for testing the grounding according to the present invention;
FIG. 6 is a schematic flow chart of step 101 in the method for testing electrical grounding according to the present invention;
FIG. 7 is a second control flow chart of the grounding method for testing electricity according to the present invention;
FIG. 8 is a third control flow chart of the grounding method for testing electricity according to the present invention;
fig. 9 is a fourth control flow chart of the electrical grounding method provided by the present invention.
Description of the main element symbols: 1-hoisting mechanism, 2-swinging mechanism, 3-electricity testing mechanism, 4-first grounding mechanism, 5-second grounding mechanism, 6-counterweight rod, 21-first swinging part, 22-second swinging part, 31-first electricity testing part, 32-second electricity testing part, 33-third electricity testing part, 41-first grounding clamping frame, 42-second grounding clamping frame, 51-first grounding part, 52-second grounding part, 53-rotating part, 511-first swinging arm, 512-first clamping mechanism, 521-second swinging arm and 522-second clamping mechanism.
Detailed Description
The invention provides an electricity testing grounding robot and an electricity testing grounding method thereof, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail by referring to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be understood that the terms "middle", "inside", "outside", and the like indicate orientations or positional relationships based on the drawings, and are only for convenience of describing the present invention and for simplification of description. Furthermore, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
Referring to fig. 1 to 4, the invention provides an electricity testing grounding robot, which includes a hoisting mechanism 1, a swinging mechanism 2, an electricity testing mechanism 3, a first grounding mechanism 4 and a second grounding mechanism 5, wherein the swinging mechanism 2 is arranged above the hoisting mechanism 1, the first grounding mechanism 4 is arranged in the swinging mechanism 2, and the electricity testing mechanism 3 and the second grounding mechanism 5 are respectively arranged at two sides of the swinging mechanism 2; the hoisting mechanism 1 is used for hanging a distribution network line on an electricity testing grounding robot, the swing mechanism 2 is used for driving the electricity testing mechanism 3 and the second grounding mechanism 5 to swing, the electricity testing mechanism 3 is used for carrying out electricity testing treatment on the distribution network line, the first grounding mechanism 4 is used for clamping the distribution network line for carrying out grounding treatment, and the second grounding mechanism 5 is used for carrying out grounding wire treatment on the distribution network line far away from the electricity testing grounding robot; the first grounding mechanism 4 and the second grounding mechanism 5 are connected with the ground through an external grounding wire; the hoisting mechanism 1, the swing mechanism 2, the electricity testing mechanism 3, the first grounding mechanism 4 and the second grounding mechanism 5 are all in communication connection with a ground control station, and a maintainer can carry out work control on an electricity testing grounding robot through the ground control station.
In practical application, the electricity testing grounding robot is suspended on a distribution network line through the hoisting mechanism 1 and climbs towards the distribution network line, after the electricity testing grounding robot is close to the distribution network line, the swinging mechanism 2 controls the electricity testing mechanism 3 to swing and is matched with the electricity testing mechanism 3 to sequentially test electricity of a plurality of distribution network lines, after all the distribution network lines are tested without abnormity, the hoisting mechanism 1 drives the first grounding mechanism 4 to be close to the upper distribution network line, the distribution network line is clamped through the first grounding mechanism 4 to complete grounding operation, the swinging mechanism 2 controls the second grounding mechanism 5 to be close to the rest distribution network lines, and the rest distribution network lines are clamped through the second grounding mechanism 5 to complete grounding operation respectively; through hoist mechanism 1, swing mechanism 2 test electric mechanism 3 first ground mechanism 4 with the cooperation of second ground mechanism is tested electric ground connection operation to a plurality of distribution network lines automation, avoids maintainer to climb high-tension electricity tower high altitude construction, has improved the security of operation to the operation degree of difficulty of testing electric ground connection operation has been reduced.
Further, as shown in fig. 1 to 4, the electroscopic mechanism 3 includes a first electroscopic part 31, a second electroscopic part 32 and a third electroscopic part 33, one end of the second electroscopic part 32 is rotatably connected to the swing mechanism 2, the first electroscopic part 31 is disposed at the other end of the second electroscopic part 32, the first electroscopic part 31 and the second electroscopic part 32 are perpendicular to each other, the first electroscopic part 31 can swing to both sides, and one end of the third electroscopic part 33 is rotatably connected to the other end of the second electroscopic part 32; in use, the initial state of the second electroscopic part 32 and the third electroscopic part 33 is set to be a folded state, and the first electroscopic part 31 faces to a distribution network line right above the electroscopic grounding robot, the electricity testing operation is sequentially completed for three distribution network lines through the first electricity testing part 31, the second electricity testing part 32 and the third electricity testing part 33, when one side of the first electricity testing part 31 is contacted with a first distribution network line, the electricity testing operation for the first distribution network line is completed, and the first electricity testing part 31 automatically completes the reset and returns to the initial level state, the second distribution network line and the third distribution network line are respectively tested by the second electroscope 32 and the third electroscope 33, thereby accomplish through adjusting swing angle between them and join in marriage the contact of net route and test the electricity, improved the flexibility of testing electric ground connection robot.
Further, as shown in fig. 1 to 4, the second grounding mechanism 5 includes a first grounding portion 51, a second grounding portion 52, and a rotating portion 53, one end of the first grounding portion 51 is rotatably connected to the swing mechanism 2, and the other end of the first grounding portion 51 is rotatably connected to one end of the second grounding portion 52 through the rotating portion 53; the first grounding part 51 and the second grounding part 52 which can move relatively improve the flexibility of use, when in use, any distribution network line is grounded through the first grounding mechanism 4 in advance, and then the first grounding part 51 and the second grounding part 52 adjust the rotating angle according to the positions of the other two distribution network lines to carry out grounding operation, thereby reducing the operation difficulty of the distribution network lines and improving the operation efficiency.
In the present embodiment, the first grounding section 51 includes a first swing arm 511 and a first clamping mechanism 512, the second grounding section 52 includes a second swing arm 521 and a second clamping mechanism 522, the first clamping mechanism 512 is slidably connected to the first swing arm 511, the second clamping mechanism 522 is slidably connected to the second swing arm 521, one end of the first swing arm 511 is rotatably connected to the swing mechanism 2, and the other end of the first swing arm 511 is rotatably connected to one end of the second swing arm 521 through the rotating section 53; the first clamping mechanism 512 and the second clamping mechanism 522 are used for grounding the distribution network line, and the first clamping mechanism 512 and the second clamping mechanism 522 can move along the first swing arm 511 and the second swing arm 521 respectively, so that the clamping position of the distribution network line can be adjusted, and the use flexibility of the electricity testing grounding robot is improved.
Further, as shown in fig. 1 to 4, the swing mechanism 2 includes a first swing portion 21 and a second swing portion 22, the second swing portion 22 being provided on one side of the first swing portion 21; the first grounding mechanism 4 is fixedly connected with the first swinging portion 21, one end of the second electroscopic portion 32 is fixedly connected with an output shaft of the second swinging portion 22, and one end of the first grounding portion 51 is in transmission connection with the first swinging portion 21; the relative position of the second grounding part 52 and the distribution network line is adjusted by adjusting the vertical swing of the second grounding part 52 through the first swing part 21; the second swing part 22 is used for adjusting the whole swing amplitude of the electricity testing mechanism 3, so that the electricity testing mechanism 3 can finish electricity testing operation close to a distribution network line.
Further, as shown in fig. 1 to 4, the first grounding mechanism 4 includes a first grounding clip 41 and a second grounding clip 42, and the first grounding clip 41 and the second grounding clip 42 are oppositely disposed on the first swinging portion 21; through first ground connection holder 41 with two ground connection holders carry out the centre gripping ground connection to joining in marriage the net twine way simultaneously, have improved the steadiness of centre gripping, also guarantee simultaneously to test electric grounding robot's stability, prevent to appear rocking problem when following in that join in marriage net twine way and test electric grounding to all the other.
Further, as shown in fig. 1 to 4, the hoisting mechanism 1 is connected with the swing mechanism 2 through a plurality of counterweight rods 6; the distance between the hoisting mechanism 1 and the swing mechanism 2 is enlarged through the balance weight rod 6, so that the gravity center of the hoisting mechanism 1 is far away from the swing mechanism 2, the swing mechanism 2 can be kept stable during working, and the shaking is reduced.
Further, as shown in fig. 1 to 4, a traction rope (not shown in the drawings) is arranged in the hoisting mechanism 1, and a guide mechanism for guiding the traction rope is arranged on the first swinging part 21; the traction rope is used for being connected with an external hanging tool and dragging the electricity testing grounding robot to finish hanging action; in this embodiment, the hauling rope is an insulating hauling rope.
In conclusion, the hoisting mechanism 1, the swinging mechanism 2, the electricity testing mechanism 3, the first grounding mechanism 4 and the second grounding mechanism 5 are matched to automatically test electricity and ground a plurality of distribution network lines, so that a maintainer is prevented from climbing high-altitude operation of a high-voltage power tower, the operation safety is improved, and the operation difficulty of the electricity testing and ground operation is reduced.
As shown in fig. 5, the invention also provides a corresponding electricity testing grounding method, which specifically comprises the following steps:
s100, hanging the traction rope to any distribution network line through an external hanging tool.
In one embodiment, when the three distribution network lines are vertically arranged, the external hanger is hung on the lowest distribution network line, and the first electroscopic unit 31, the second electroscopic unit 32 and the third electroscopic unit 33 respectively conduct electroscopy on the three distribution network lines from bottom to top.
In another embodiment, when the three distribution network lines are horizontally arranged, the external hanging tool is hung on the outermost distribution network line, and the first electroscope unit 31, the second electroscope unit 32 and the third electroscope unit 33 respectively conduct electroscopy on the three distribution network lines from left to right or from right to left.
In another embodiment, when the three distribution network lines are arranged in a triangle, the external hanging tool is hung on any one of the left and right distribution network lines, and the first electroscopic unit 31, the second electroscopic unit 32 and the third electroscopic unit 33 respectively conduct electroscopy on the three distribution network lines from left to right or from right to left.
S200, starting the swing mechanism 2 and the second electroscope portion 32 to control the second electroscope portion 32 and the third electroscope portion 33 to rotate respectively, so that the second electroscope portion 32 rotates to be in a vertically upward state, and the third electroscope portion 33 rotates to be in a folded state with the second electroscope portion 32; the second electroscope portion 32 and the third electroscope portion 33 are folded to ensure the electroscope sequence of the first electroscope portion 31, the second electroscope portion 32 and the third electroscope portion 33, so that the electroscope can be completed for three distribution network lines in sequence.
S300, starting the winding mechanism 1 to wind the traction rope, so that the electricity testing grounding robot climbs towards the distribution network line.
S400, starting the hoisting mechanism 1 to control the first electricity testing part 31 to be close to the distribution network line, and completing electricity testing work of the first distribution network line after any side of the first electricity testing part 31 is contacted with the first distribution network line; the first distribution network line is a distribution network line hung by an external hanger, the first electricity testing part 31 which is horizontally arranged is contacted with the distribution network line, so that electricity testing work is completed, and the first electricity testing part 31 restores to the original horizontal state after the first electricity testing part is contacted; if the first electroscope 31 detects no voltage after contacting the distribution network line, it indicates that there is no abnormality in electroscopy.
S500, after the electricity testing of the first distribution network line is finished, the hoisting mechanism 1 controls the first electricity connecting mechanism to be close to the first distribution network line until the first distribution network line is clamped on the first grounding clamping frame 41 and the second grounding clamping frame 42, and then the grounding work of the first distribution network line is completed; the first distribution network line is clamped in advance through the first grounding clamping frame 41 and the second grounding clamping frame 42, the stability of the electricity testing grounding robot is improved, and the problem that the robot shakes during electricity testing and grounding of the rest distribution network lines is avoided.
S600, the swing mechanism 2 is started to control the second electricity testing portion 32 to rotate towards the second distribution network line, and electricity testing work of the second distribution network line is completed after the second electricity testing portion 32 is in contact with the second distribution network line.
S700, the second electroscopic part 32 is started to control the third electroscopic part 33 to rotate towards the third distribution network line, and after the third electroscopic part 33 is contacted with the third distribution network line, electroscopic work on the third distribution network line is completed.
The second electroscope portion 32 and the third electroscope portion 33 are adjusted according to the actual condition of arranging of joining in marriage the net twine way, accomplish and join in marriage the contact of net twine way through adjusting the swing amplitude between the two to accomplish all electrics of joining in marriage net twine way and examine electric work, improve the flexibility of examining electric work, can satisfy the different demands that arrange the net twine way of joining in marriage and examine electric.
In one embodiment, when three distribution network lines are vertically arranged, after the first electricity testing part 31 finishes testing electricity of the lowest distribution network line, the second electricity testing part 32 and the third electricity testing part 33 turn upwards in sequence, and the electricity of the two upper distribution network lines is tested from bottom to top in sequence.
In another embodiment, when three distribution network lines are arranged horizontally, after the first electroscopic part 31 tests the electricity of the leftmost or rightmost distribution network line, the second electroscopic part 32 and the third electroscopic part 33 turn left or right in turn, and test the electricity of the two distribution network lines on the side from left to right or from right to left in turn.
In another embodiment, when three join in marriage net twine way and be triangle-shaped when arranging, treat first electroscopic part 31 and examine the net twine way electricity to the leftmost side or the rightmost side and finish after, electroscopic part 32 is examined to the second with the third electroscopic part 33 turns left or turn right in proper order, examines the electricity to two net twine ways of side in proper order from the left side to the right side or from the right side to the left side, and because there is certain difference in height in two net twine ways of side, the accessible is adjusted electroscopic part 32 with contained angle between the third electroscopic part 33 satisfies the difference in height of two net twine ways.
And S800, starting the swing mechanism 2 to control the first grounding part 51 to rotate towards the second distribution network line, and finishing the grounding work of the second distribution network line after the first grounding part 51 clamps the second distribution network line.
And S900, the rotating part 53 is started to control the second grounding part 52 to rotate towards the third distribution network line, and after the third distribution network line is clamped by the second grounding part 52, the grounding work of the third distribution network line is finished.
The first grounding part 51 and the second grounding part 52 are adjusted according to the actual arrangement condition of the distribution network line, and the grounding operation with the distribution network line is completed by adjusting the swing amplitude between the first grounding part and the second grounding part, so that the flexibility of the grounding operation is improved, and the requirement of grounding the distribution network line in different arrangement modes can be met.
In one embodiment, when the three distribution network lines are vertically arranged, after the first grounding mechanism 4 completely grounds the lowest distribution network line, the first grounding part 51 and the second grounding part 52 turn upwards in sequence, and two upper distribution network lines are grounded from bottom to top in sequence.
In another embodiment, when the three distribution network lines are horizontally arranged, after the first grounding mechanism 4 completes grounding of the leftmost or rightmost distribution network line, the first grounding part 51 and the second grounding part 52 turn left or right in sequence, and two distribution network lines on the side are grounded in sequence from left to right or from right to left.
In another embodiment, when the three distribution network lines are arranged in a triangle, after the first grounding mechanism 4 completes grounding of the leftmost or rightmost distribution network line, the first grounding part 51 and the second grounding part 52 are sequentially turned left or right, and the two distribution network lines on the side are sequentially grounded from left to right or from right to left, and because a certain height difference exists between the two distribution network lines on the side, the height difference between the two distribution network lines on the side can be satisfied by adjusting an included angle between the first grounding part 51 and the second grounding part 52.
After the electricity testing grounding operation is finished, the clamping state of the first grounding mechanism 4, the second grounding part 52 and the third grounding part to the three distribution network lines is kept; guarantee that the maintainer can overhaul the distribution network line for a long time, avoid appearing the work risk.
Further, as shown in fig. 6, the step S100 of hanging the pulling rope on any distribution network line through an external hanging tool specifically includes:
s101, hanging an external hanging tool on any distribution network line through an unmanned aerial vehicle, and enabling a traction rope to bypass the upper part of the distribution network line.
Further, as shown in fig. 7 to 9, the electrical grounding verification method further includes the steps of:
s401, if the first electroscopic unit 31 has an electroscopic abnormality for the first distribution network line, sending an abnormal signal to an electroscopic grounding robot.
S601, if the second electroscopic unit 32 has an electroscopic abnormality for the second distribution network line, sending an abnormality signal to the electroscopic grounding robot.
S701, if the third electroscopic unit 33 has an electroscopic abnormality in the third distribution network line, sending an abnormality signal to the electroscopic grounding robot.
The abnormal signal accessible tests electric ground connection robot and sends to ground control station, if the maintainer finds abnormal signal, then rechecks the outage condition of joining in marriage net twine way immediately, resumes subsequent operation after guaranteeing to be errorless.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
Claims (10)
1. The electricity testing grounding robot is characterized by comprising a winding mechanism, a swinging mechanism, an electricity testing mechanism, a first grounding mechanism and a second grounding mechanism, wherein the swinging mechanism is arranged above the winding mechanism; the hoisting mechanism is used for hanging a distribution network line on the electricity testing grounding robot, the swing mechanism is used for driving the electricity testing mechanism and the second grounding mechanism to swing, the electricity testing mechanism is used for testing the electricity of the distribution network line, the first grounding mechanism is used for clamping the distribution network line to conduct grounding processing, and the second grounding mechanism is used for conducting grounding processing on the distribution network line far away from the electricity testing grounding robot.
2. The electricity testing grounding robot of claim 1, wherein the electricity testing mechanism comprises a first electricity testing portion, a second electricity testing portion and a third electricity testing portion, one end of the second electricity testing portion is rotatably connected with the swing mechanism, the first electricity testing portion is arranged at the other end of the second electricity testing portion, the first electricity testing portion is perpendicular to the second electricity testing portion, the first electricity testing portion can swing towards two sides, and one end of the third electricity testing portion is rotatably connected with the other end of the second electricity testing portion.
3. The robot of claim 2, wherein the second grounding mechanism comprises a first grounding portion, a second grounding portion and a rotating portion, one end of the first grounding portion is rotatably connected to the swing mechanism, and the other end of the first grounding portion is rotatably connected to one end of the second grounding portion through the rotating portion.
4. The electroscopy robot of claim 3, wherein the swing mechanism comprises a first swing portion and a second swing portion, the second swing portion being disposed on one side of the first swing portion; the first grounding mechanism is fixedly connected with the first swinging portion, one end of the second electroscopic portion is fixedly connected with an output shaft of the second swinging portion, and one end of the first grounding portion is in transmission connection with the first swinging portion.
5. The electroscopic grounding robot as recited in claim 4, wherein the first grounding mechanism comprises a first grounding clamp and a second grounding clamp, and the first grounding clamp and the second grounding clamp are oppositely disposed on the first swinging portion.
6. The electricity testing grounding robot of claim 1, wherein the hoisting mechanism is connected with the swinging mechanism through a plurality of balance weight rods.
7. The electricity testing grounding robot of claim 5, wherein a traction rope is arranged in the hoisting mechanism, and a guide mechanism for guiding the traction rope is arranged on the first swinging part; the traction rope is used for being connected with an external hanging tool and dragging the electricity testing grounding robot to finish hanging actions.
8. An electricity testing grounding method is used for realizing the work control of the electricity testing grounding robot of claim 7, and comprises the following steps:
the traction rope is hung to any distribution network line through an external hanger;
starting the swing mechanism and the second electroscopic part to respectively control the second electroscopic part and the third electroscopic part to rotate, so that the second electroscopic part rotates to be in a vertically upward state, and the third electroscopic part rotates to be in a folded state with the second electroscopic part;
starting a winding mechanism to wind a traction rope, so that the electricity testing grounding robot climbs towards the distribution network line;
starting the winch mechanism to control the first electricity testing part to be close to the distribution network line, and completing electricity testing work of the first distribution network line after any side of the first electricity testing part is contacted with the first distribution network line;
if the electricity testing of the first distribution network line is finished, the hoisting mechanism controls the first electricity connecting mechanism to be close to the first distribution network line until the first distribution network line is clamped on the first grounding clamping frame and the second grounding clamping frame, and then the grounding work of the first distribution network line is completed;
the swing mechanism is started to control the second electricity testing part to rotate towards the second distribution network line, and electricity testing work on the second distribution network line is completed after the second electricity testing part is contacted with the second distribution network line;
starting the second electricity testing part to control the third electricity testing part to rotate towards the third distribution network line, and completing electricity testing work of the third distribution network line after the third electricity testing part is contacted with the third distribution network line;
starting a swing mechanism to control the first grounding part to rotate towards the second distribution network line, and finishing the grounding work of the second distribution network line after the first grounding part clamps the second distribution network line;
and the rotating part is started to control the second grounding part to rotate towards the third distribution network line, and after the second grounding part clamps the third distribution network line, the grounding work of the third distribution network line is finished.
9. The electricity testing grounding method according to claim 8, wherein the traction rope is hung on any distribution network line through an external hanger, and specifically comprises:
an external hanging tool is hung on any distribution network line through an unmanned aerial vehicle, so that the traction rope bypasses the upper part of the distribution network line.
10. The method of claim 8, further comprising the steps of:
if the first electricity testing part has electricity testing abnormity on the first distribution network line, an abnormal signal is sent to an electricity testing grounding robot;
if the second electricity testing part has electricity testing abnormity on the second distribution network line, an abnormal signal is sent to the electricity testing grounding robot;
and if the third electroscopic part has an electroscopic abnormality on the third distribution network line, an abnormal signal is sent to the electroscopic grounding robot.
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| CN116260021A (en) * | 2023-05-16 | 2023-06-13 | 深圳昱拓智能有限公司 | Power distribution network grounding robot system and grounding method |
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