CN116260021B - Power distribution network grounding robot system and grounding method - Google Patents
Power distribution network grounding robot system and grounding method Download PDFInfo
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- CN116260021B CN116260021B CN202310549417.2A CN202310549417A CN116260021B CN 116260021 B CN116260021 B CN 116260021B CN 202310549417 A CN202310549417 A CN 202310549417A CN 116260021 B CN116260021 B CN 116260021B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/027—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for connecting conductors by clips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/145—Indicating the presence of current or voltage
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R11/00—Individual connecting elements providing two or more spaced connecting locations for conductive members which are, or may be, thereby interconnected, e.g. end pieces for wires or cables supported by the wire or cable and having means for facilitating electrical connection to some other wire, terminal, or conductive member, blocks of binding posts
- H01R11/11—End pieces or tapping pieces for wires, supported by the wire and for facilitating electrical connection to some other wire, terminal or conductive member
- H01R11/12—End pieces terminating in an eye, hook, or fork
- H01R11/14—End pieces terminating in an eye, hook, or fork the hook being adapted for hanging on overhead or other suspended lines, e.g. hot line clamp
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R4/00—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation
- H01R4/58—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation characterised by the form or material of the contacting members
- H01R4/66—Connections with the terrestrial mass, e.g. earth plate, earth pin
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electric Cable Installation (AREA)
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Abstract
The invention discloses a power distribution network grounding robot system and a grounding method, wherein the power distribution network grounding robot system comprises an unmanned aerial vehicle unit, a robot unit and an insulated sling unit, wherein a first winding module, an electricity testing module, a grounding module and a mechanical arm module are arranged in the robot unit; the mechanical arm module is matched with the grounding module, and is used for clamping the grounding module to the grounding ring for grounding operation. The invention has the advantages of simple structure, simple and convenient operation, safe and reliable grounding and the like.
Description
Technical Field
The invention mainly relates to the technical field of power equipment, in particular to a power distribution network grounding robot system and a grounding method.
Background
When power equipment and circuits are subjected to power failure maintenance work, the grounding wire is required to be hung on the power equipment which is in power failure, so that the power equipment which is in power failure is connected with the ground, and the voltage is directly transferred to the ground, so that the risk of electric shock to a human body is reduced. In order to ensure personal safety and equipment safety, the line needs to be subjected to electricity testing operation outside a safe distance before the earth wire. Along with the continuous deep construction of the power grid, the power supply system becomes more and more huge, the maintenance and guarantee workload is increased, the traditional grounding wire is operated by personnel, the labor intensity is high, the risk of high-altitude live working exists, and the personal and equipment safety is affected.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the power distribution network grounding robot system and the method which have the advantages of simple structure, simplicity and convenience in operation and safety and reliability in grounding operation.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the utility model provides a distribution network ground connection robot system, includes unmanned aerial vehicle unit, robot unit and insulating hoist cable unit, be provided with first spiral module, test electric module, earthing module and arm module in the robot unit, unmanned aerial vehicle unit is used for with hoist cable unit is thrown and is hung on the electric wire of distribution network, one end of hoist cable unit is fastened subaerial, the other end of hoist cable unit links to each other with first spiral module, the arm module with test electric module mutually support for it tests electric operation to get test electric module to electric wire through the arm module clamp; the mechanical arm module is matched with the grounding module, and is used for clamping the grounding module to the grounding ring for grounding operation.
As a further improvement of the above technical scheme:
the grounding module comprises a second winding module, a grounding rod, a clamping mechanism and a grounding wire, one end of the second winding module is connected with one end of the grounding wire, the other end of the grounding wire is grounded, the clamping mechanism is located below the second winding module and used for clamping the grounding wire, and the grounding rod is electrically connected with the clamping mechanism.
The clamping mechanism comprises a clamping motor, a fixed block, a movable block, a screw rod and a guide rod, wherein the fixed block and the movable block are oppositely arranged and both slide on the guide rod, and the clamping motor is connected with the movable block through the screw rod and is used for driving the movable block to be close to or far away from the fixed block so as to clamp and loosen the grounding wire.
The robot unit is provided with a clamping module used for clamping the electric wires of the power distribution network.
The clamping module comprises clamping columns positioned on two sides of the robot body, and a first clamping jaw is arranged at the top end of each clamping column.
The sling unit comprises a lifting rope, a rope ring and a pull rope, one end of the lifting rope and one end of the pull rope are connected with the rope ring, and the other end of the lifting rope is connected with the first winding module.
The robot body of the robot unit is provided with a plurality of adjusting rings, the adjusting rings are sequentially arranged along the height direction of the robot body, and the other end of the pull rope sequentially penetrates through the adjusting rings.
The mechanical arm module comprises a multi-axis mechanical arm and a first clamping jaw, wherein the fixed end of the multi-axis mechanical arm is arranged on the robot body of the robot unit, and the first clamping jaw is rotatably arranged at the movable end of the multi-axis mechanical arm.
The invention also discloses a grounding method based on the power distribution network grounding robot system, which comprises the following steps:
1) The unmanned aerial vehicle unit carries the sling unit to fly above the electric wire of the power distribution network, and the sling unit is thrown to enable the sling unit to fall on the electric wire, and two ends of the sling unit respectively fall to the ground from two sides of the electric wire;
2) One end of the sling unit is fixed, and the other end of the sling unit is connected with a first winding module in the robot unit;
3) The first winding module performs winding action to enable the robot unit to ascend until the robot unit is close to the safe distance below the electric wire and then stops ascending;
4) The mechanical arm module clamps the electricity testing module to the grounding ring for electricity testing operation; when the electricity checking operation is passed, executing the next step;
5) The second coiling module performs paying-off operation, and the inhaul cable on the second coiling module is lowered to the ground; connecting a grounding wire with the inhaul cable; the second winding module performs winding operation again, pulls the grounding wire into the robot unit and clamps the grounding wire through a clamping mechanism;
6) The mechanical arm module sequentially clamps each grounding rod to be hung on the corresponding grounding ring, and the grounding operation is completed.
As a further improvement of the above technical scheme:
between steps 4) -5), the robot unit is clamped on the electric wire by means of a clamping module on the robot unit.
Compared with the prior art, the invention has the advantages that:
according to the power distribution network grounding robot system and the grounding method, the slinging of the sling unit is realized through the unmanned aerial vehicle unit, the robot unit automatically receives wires through the first winding module and ascends to a safe position near the wires along the sling unit, the wires are tested through the mechanical arm module clamping electricity testing module, and after electricity testing is carried out, the mechanical arm module grabs the grounding module to perform grounding function on the grounding ring; the whole structure is simple, the operation is simple, safe and reliable. In addition, operators always operate on the ground, so that the ground is conducted with the ground, a sufficient safety distance is kept, and personal safety is guaranteed.
Drawings
Fig. 1 is a schematic diagram of an embodiment of a grounding system according to the present invention in a specific application.
Fig. 2 is a schematic structural view of a sling unit according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a robot unit according to an embodiment of the present invention.
Fig. 4 is a second schematic structural view of the robot unit according to the embodiment of the present invention.
Fig. 5 is a block diagram of a first winding module according to an embodiment of the present invention.
Fig. 6 is a structural view of a second winding module according to an embodiment of the present invention.
Fig. 7 is a connection structure diagram of the clamping mechanism and the grounding rod of the present invention.
Fig. 8 is a diagram of an embodiment of the cord loop of the present invention in a particular application.
Fig. 9 is one of the state diagrams of the grounding system of the present invention in a specific application.
Fig. 10 is a second state diagram of the grounding system of the present invention in a specific application.
Fig. 11 is a third state diagram of the grounding system of the present invention in a specific application.
Fig. 12 is a state diagram of the grounding system of the present invention in a specific application.
Fig. 13 is a fifth state diagram of the grounding system of the present invention in a specific application.
Fig. 14 is a sixth state diagram of the grounding system of the present invention in a specific application.
Fig. 15 is a seventh state diagram of the grounding system of the present invention in a specific application.
Fig. 16 is a state diagram of the grounding system of the present invention in a specific application.
Legend description: 1. an unmanned aerial vehicle unit; 2. a robot unit; 21. a first winding module; 22. an electricity checking module; 221. an electricity testing rod; 23. a grounding module; 231. a second winding module; 2311. a guy cable; 232. a ground rod; 233. a clamping mechanism; 2331. clamping a motor; 2332. a movable block; 2333. a fixed block; 2334. a seat plate; 2335. a screw rod; 2336. a guide rod; 2337. a wire; 234. a ground wire; 235. a bracket; 24. a robotic arm module; 241. a multi-axis mechanical arm; 242. a first jaw; 25. a clamping module; 251. a clamping column; 252. a second jaw; 26. an adjusting ring; 27. a robot body; 3. a sling unit; 31. a lifting rope; 32. a rope loop; 33. a pull rope; 4. an electric wire; 5. a ground ring.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 1, the grounding robot system for the power distribution network in the embodiment of the invention comprises an unmanned plane unit 1, a robot unit 2 and an insulated sling unit 3, wherein the robot unit 2 comprises a robot body 27, a first winding module 21, an electricity testing module 22, a grounding module 23 and a mechanical arm module 24 are arranged on the robot body 27, the unmanned plane unit 1 is used for throwing and hanging the sling unit 3 on an electric wire 4 of the power distribution network, one end of the sling unit 3 is fastened on the ground, the other end of the sling unit 3 is connected with the first winding module 21, and the mechanical arm module 24 is mutually matched with the electricity testing module 22 and is used for clamping the electricity testing module 22 by the mechanical arm module 24 to perform electricity testing operation on a grounding ring 5; the mechanical arm module 24 is matched with the grounding module 23, and is used for clamping the grounding module 23 to the grounding ring 5 through the mechanical arm module 24 to perform grounding operation. The first winding module 21 is a winding machine, a winding drum is arranged in the winding machine, and the winding drum can continuously rotate, so that the robot body 27 can be lifted up and down along the direction of the sling unit 3.
According to the power distribution network grounding robot system, the throwing and hanging of the sling unit 3 are realized through the unmanned aerial vehicle unit 1, the robot unit 2 automatically receives wires through the first winding module 21 and ascends to a safe position near the electric wire 4 along the sling unit 3, the electric wire 4 is tested through the mechanical arm module 24 clamping the electric testing module 22, and after the electric testing is carried out, the mechanical arm module 24 grabs the grounding module 23 to conduct grounding action on the grounding ring 5; the whole structure is simple, the operation is simple, safe and reliable.
In a specific embodiment, the mechanical arm module 24 includes a multi-axis mechanical arm 241 and a first clamping jaw 242, the fixed end of the multi-axis mechanical arm 241 is installed on the robot body 27, the first clamping jaw 242 is rotatably installed on the movable end of the multi-axis mechanical arm 241, and the first clamping jaw 242 can deflect at any angle, so as to flexibly grasp the electroscope 221 and the grounding rod 232.
In a specific embodiment, the electricity testing module 22 includes an electricity testing rod 221, which can detect the electrification condition of the electric wire 4, and the electricity testing rod 221 is located at the bottom of the robot body 27, can be freely removed or hung by the mechanical arm module 24, and is hung at the bottom of the robot body 27 without falling. After the robot unit 2 moves to the safe position near the electric wire 4, the first clamping jaw 242 on the mechanical arm module 24 clamps the electroscope 221 to perform electroscope operation on the electric wire 4, and after the electroscope operation is completed, the electroscope 221 is put back to the bottom of the robot body 27.
In a specific embodiment, the grounding module 23 includes a second winding module 231, a grounding rod 232, a clamping mechanism 233 and a grounding wire 234, one end of the second winding module 231 is connected to one end of the grounding wire 234, the other end of the grounding wire 234 is grounded, the clamping mechanism 233 is located below the second winding module 231 and is used for clamping the grounding wire 234, and the grounding rod 232 is electrically connected to the clamping mechanism 233, wherein the grounding rod 232 is placed on the robot body 27 through a bracket 235. Similarly, the second winding module 231 has the same structure as the first winding module 21, and a spool is provided therein, and a cable 2311 is provided on the spool for hanging the ground wire 234. In order to ensure the safety and reliability of the grounding operation, after the electrical inspection operation is performed on the electrical wire 4 through the electrical inspection module 22, if the electrical inspection result meets the requirement, the second winding module 231 performs paying-off operation, the inhaul cable 2311 is lowered to the ground, the grounding wire 234 is connected with the inhaul cable 2311, the second winding module 231 performs winding operation again, after the grounding wire 234 is pulled into the robot body 27, the clamping mechanism 233 clamps the grounding wire 234, so that the grounding wire 234 is prevented from moving due to malfunction or failure of the second winding module 231, and the reliability of the subsequent grounding operation is ensured.
Specifically, the clamping mechanism 233 includes a clamping motor 2331, a seat plate 2334, a fixed block 2333, a movable block 2332, a screw rod 2335 and a guide rod 2336, wherein the seat plate 2334 is connected with the robot body 27, the clamping motor 2331 is located at one side of the seat plate 2334, the fixed block 2333 is located at the other side of the seat plate 2334, the fixed block 2333 is opposite to the movable block 2332 and both slide on the guide rod 2336, and the clamping motor 2331 is connected with the movable block 2332 through the screw rod 2335 and is used for driving the movable block 2332 to approach or depart from the fixed block 2333 so as to clamp and unclamp the grounding wire 234. Wherein the fixed block 2333 and the movable block 2332 are both made of metal, and the fixed block 2333 is electrically connected with each grounding rod 232 through a lead 2337, so as to realize the electrical connection between the grounding wire 234 and the grounding rod 232.
In a specific embodiment, the robot unit 2 is provided with a clamping module 25 for clamping on the electric wire 4 of the distribution network. Specifically, the clamping module 25 includes clamping posts 251 located on left and right sides of the center line of the robot body 27, the top ends of the clamping posts 251 are higher than the top of the robot body 27 and are provided with second clamping jaws 252, and the second clamping jaws 252 can clamp the electric wires 4. After the electroscopic work is completed, the robot body 27 ascends again, the electric wire 4 is clamped by the two second clamping jaws 252, so that the robot body 27 is hung on the electric wire 4 under the hanging of the first winding module 21, the stability of the robot body 27 is guaranteed, and the safety and reliability of the follow-up grounding wire 234 pulled up and the grounding ring 5 hung on the grounding rod 232 are guaranteed.
In a specific embodiment, one side of the robot body 27 is provided with a plurality of adjusting rings 26, and the plurality of adjusting rings 26 are sequentially arranged along the height direction of the robot body 27, wherein the other end of the pull rope 33 sequentially passes through each adjusting ring 26 from top to bottom. When the clamping module 25 clamps the electric wire 4, the tops of the two second clamping jaws 252 of the clamping module 25 are required to be guaranteed to be opposite to the electric wire 4, and at this time, the angle of the robot body 27 can be adjusted by pulling the pull rope 33, so that the two second clamping jaws 252 can be guaranteed to clamp the electric wire 4 smoothly. The structure is simple and the operation is simple.
In a specific embodiment, the sling unit 3 includes a lifting rope 31, a rope loop 32 and a pull rope 33, one end of the lifting rope 31 and one end of the pull rope 33 are connected to the rope loop 32, and the other end of the lifting rope 31 is connected to the first winding module 21. The lifting rope 31, the pull rope 33 and the rope ring 32 are all made of insulating materials, and the lifting rope 31 can bear the weight of the robot unit 2; the rope ring 32 is a circular ring, and the lifting rope 31 can be penetrated inside the ring. After the sling unit 3 is thrown and hung on the electric wire 4 by the unmanned aerial vehicle unit 1, two ends of the sling unit 3 respectively fall to the ground from two sides of the electric wire 4, a ground operator grabs the lifting rope 31 and the pull rope 33, pulls left and right to enable the rope ring 32 to be close to the operator, then one end of the lifting rope 31, which is far away from the rope ring 32, passes through the ring of the rope ring 32, pulls the pull rope 33 again, enables the rope ring 32 to rise to be close to the electric wire 4, and then tightens the lifting rope 31, enables the rope ring 32 to lock the electric wire 4, and guarantees the rising reliability of the follow-up robot body 27 along the lifting rope 31.
According to the invention, the unmanned aerial vehicle unit 1 (such as a conventional multi-rotor unmanned aerial vehicle) throws ropes, the robot unit 2 automatically receives the ropes and feeds the ropes, the mechanical arm module 24 automatically tests electricity and feeds back the charged condition, the mechanical arm module 24 automatically hangs the grounding wire 234, the operation of the grounding wire 234 is completed, the insulation distance is not worried, the live operation is safe, the labor cost is reduced, compared with the conventional manual operation, the efficiency is high, the manual operation steps are fewer, and the labor intensity of personnel is reduced.
As shown in fig. 9-16, the embodiment of the invention further provides a grounding method based on the grounding robot system of the power distribution network, which comprises the following steps:
1) The unmanned aerial vehicle unit 1 carries the sling unit 3 to fly above the electric wire 4 of the power distribution network, and the sling unit 3 is thrown and put, so that the sling unit 3 falls on the electric wire 4, and two ends of the sling unit 3 respectively fall to the ground from two sides of the electric wire 4;
2) One end of the sling unit 3 is fixed, and the other end is connected with a first winding module 21 in the robot unit 2;
3) The first winding module 21 performs winding operation to enable the robot unit 2 to rise until the robot unit approaches to the lower side of the electric wire 4 by a safe distance and then stops rising;
4) The mechanical arm module 24 clamps the electricity testing module 22 to the grounding ring 5 for electricity testing operation; when the electricity checking operation is passed, executing the next step;
5) The second winding module 231 performs paying-off operation, and the inhaul cable 2311 on the second winding module 231 is lowered to the ground; then, the ground wire 234 is connected with the inhaul cable 2311; the second winding module 231 performs a winding operation again, pulls the ground wire 234 into the robot unit 2 and clamps it by the clamping mechanism 233;
6) The mechanical arm module 24 sequentially clamps each grounding rod 232 to be hung on the corresponding grounding ring 5, so as to complete the grounding operation.
According to the grounding method, the slinging of the sling unit 3 is realized through the unmanned aerial vehicle unit 1, then the robot unit 2 ascends to a safe position near the electric wire 4 along the sling unit 3, the electric wire 4 is tested through the mechanical arm module 24 clamping the electric testing module 22, and after the electric testing is passed, the mechanical arm module 24 is used for grabbing the grounding module 23 to perform grounding function on the grounding ring 5; the whole method is simple and convenient to operate, safe and reliable; in addition, operators always operate on the ground, so that the ground is conducted with the ground, a sufficient safety distance is kept, and personal safety is guaranteed.
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments of the present disclosure:
as shown in fig. 9, the unmanned aerial vehicle unit 1 carries a sling unit 3, flies above the electric wire 4 of the electric pole by manual remote control, and throws the sling unit 3 so that the sling unit 3 falls on the electric wire 4, and two ends of the sling unit 3 respectively fall to the ground from two sides of the electric wire 4, as shown in fig. 10;
the ground operator grabs the lifting rope 31 and the pull rope 33, pulls the rope ring 32 left and right to enable the rope ring 32 to be close to the operator, then passes one end, far away from the rope ring 32, of the lifting rope 31 through the ring of the rope ring 32, pulls the pull rope 33 to enable the rope ring 32 to rise to abut against the electric wire 4, and tightens the lifting rope 31 to enable the rope ring 32 to lock the electric wire 4, as shown in fig. 8;
the ground operator grabs the hoist rope 31 and connects it with the second winding module 231 and passes the pull rope 33 through the adjusting ring 26 on the robot body 27 as shown in fig. 11;
the robot body 27 starts to automatically rise according to a set program until the robot body approaches a safe distance below the electric wire 4 and stops rising; the mechanical arm module 24 adjusts the gesture and opens the first clamping jaw 242, grabs the electricity testing rod 221, and approaches the grounding ring 5 until contacting to test electricity (as shown in fig. 12), sequentially tests the electrification condition of the three grounding rings 5 and feeds back to ground operators, and then withdraws the electricity testing rod 221, as shown in fig. 13; if the electricity test result is safe, the robot body 27 continues to execute subsequent actions; otherwise, the operation is abandoned, and the robot body 27 is taken off line;
the robot body 27 continues to be on line, ground operators can adjust the posture of the robot body 27 in the ascending process through the pull ropes 33, so that connecting lines of the two groups of second clamping jaws 252 are parallel to the electric wires 4, and finally the second clamping jaws 252 clamp the electric wires 4 (shown in fig. 14), so that the safety and the reliability of subsequent operation are ensured;
the second winding module 231 drops the cable 2311, the ground operator connects the ground wire 234 with the cable 2311, the second winding module 231 pulls up the ground wire 234, and the clamping mechanism 233 clamps the ground wire 234 after reaching the set position;
as shown in fig. 15, the mechanical arm module 24 grabs the grounding bars 232 and then hangs on the grounding ring 5 (as shown in fig. 16), all three grounding bars 232 are sequentially hung well, and the grounding wire 234 is completed;
waiting personnel for power failure maintenance operation; after the power failure maintenance operation is completed, the mechanical arm module 24 sequentially removes the three grounding rods 232 on the grounding ring 5 and withdraws the three grounding rods to the bracket 235 of the robot;
loosening the clamping mechanism 233, and putting down the stay 2311 to the ground; releasing the second clamping jaw 252 to lower the robot body 27 to the ground through the first winding module 21;
the operator removes the hoist rope 31 from the robot body 27 and pulls the pull rope 33 to release the wire 4 (shown in fig. 8) from the rope loop 32 and close to the ground operator, and then removes and withdraws the entire sling unit 3.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (8)
1. The utility model provides a distribution network grounding robot system which is characterized by, includes unmanned aerial vehicle unit (1), robot unit (2) and insulating hoist cable unit (3), be provided with first spiral module (21), test electric module (22), earthing module (23) and arm module (24) in robot unit (2), unmanned aerial vehicle unit (1) are used for with hoist cable unit (3) are thrown and are hung on electric wire (4) of distribution network, one end fastening of hoist cable unit (3) is subaerial, the other end of hoist cable unit (3) links to each other with first spiral module (21), arm module (24) with test electric module (22) mutually support for test electric operation is carried out to electric wire (4) through arm module (24) clamp electricity test module (22); the mechanical arm module (24) is matched with the grounding module (23) and is used for clamping the grounding module (23) to the grounding ring (5) through the mechanical arm module (24) to perform grounding operation;
the sling unit (3) comprises a lifting rope (31), a rope ring (32) and a pull rope (33), one end of the lifting rope (31) and one end of the pull rope (33) are connected with the rope ring (32), and the other end of the lifting rope (31) is connected with the first winding module (21);
a plurality of adjusting rings (26) are arranged on a robot body (27) of the robot unit (2), the adjusting rings (26) are sequentially arranged along the height direction of the robot body (27), and the other end of the pull rope (33) sequentially penetrates through each adjusting ring (26).
2. The power distribution network grounding robot system according to claim 1, wherein the grounding module (23) comprises a second winding module (231), a grounding rod (232), a clamping mechanism (233) and a grounding wire (234), one end of the second winding module (231) is connected with one end of the grounding wire (234), the other end of the grounding wire (234) is grounded, the clamping mechanism (233) is located below the second winding module (231) and is used for clamping the grounding wire (234), and the grounding rod (232) is electrically connected with the clamping mechanism (233).
3. The power distribution network grounding robot system according to claim 2, wherein the clamping mechanism (233) comprises a clamping motor (2331), a fixed block (2333), a movable block (2332), a screw rod (2335) and a guide rod (2336), the fixed block (2333) is arranged opposite to the movable block (2332) and both slide on the guide rod (2336), and the clamping motor (2331) is connected with the movable block (2332) through the screw rod (2335) for driving the movable block (2332) to approach or separate from the fixed block (2333) so as to clamp and unclamp a grounding wire (234).
4. A power distribution network grounding robot system according to claim 1 or 2 or 3, characterized in that the robot unit (2) is provided with a clamping module (25) for clamping on the electrical wires (4) of the power distribution network.
5. The power distribution network grounding robot system according to claim 4, characterized in that the clamping module (25) comprises clamping posts (251) located at two sides of the robot body (27), and the top ends of the clamping posts (251) are provided with second clamping jaws (252).
6. A power distribution network grounding robot system according to claim 1 or 2 or 3, characterized in that the robot arm module (24) comprises a multi-axis robot arm (241) and a first clamping jaw (242), the fixed end of the multi-axis robot arm (241) being mounted on the robot body (27) of the robot unit (2), the first clamping jaw (242) being rotatably mounted on the movable end of the multi-axis robot arm (241).
7. A grounding method based on the power distribution network grounding robot system according to any one of claims 2-6, characterized by comprising the steps of:
1) The unmanned aerial vehicle unit (1) carries the sling unit (3) to fly above the electric wire (4) of the power distribution network, the sling unit (3) is thrown and put to enable the sling unit (3) to fall on the electric wire (4), and two ends of the sling unit (3) respectively fall to the ground from two sides of the electric wire (4);
2) One end of the sling unit (3) is fixed, and the other end of the sling unit is connected with a first winding module (21) in the robot unit (2);
3) The first winding module (21) performs winding action to enable the robot unit (2) to ascend until the robot unit approaches to the lower safety distance of the electric wire (4) and then stops ascending;
4) The mechanical arm module (24) clamps the electricity testing module (22) to the grounding ring (5) for electricity testing operation; when the electricity checking operation is passed, executing the next step;
5) The second coiling module (231) performs paying-off operation, and the inhaul cable (2311) on the second coiling module (231) is lowered to the ground; connecting a ground wire (234) with the guy cable (2311); the second winding module (231) performs winding operation again, pulls the grounding wire (234) into the robot unit (2) and clamps the grounding wire by the clamping mechanism (233);
6) The mechanical arm module (24) sequentially clamps each grounding rod (232) to be hung on the corresponding grounding ring (5) to finish grounding operation.
8. The grounding method according to claim 7, characterized in that between steps 4) -5) the robot unit (2) is clamped on the wire (4) by means of a clamping module (25) on the robot unit (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310549417.2A CN116260021B (en) | 2023-05-16 | 2023-05-16 | Power distribution network grounding robot system and grounding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310549417.2A CN116260021B (en) | 2023-05-16 | 2023-05-16 | Power distribution network grounding robot system and grounding method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116260021A CN116260021A (en) | 2023-06-13 |
| CN116260021B true CN116260021B (en) | 2023-08-04 |
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| CN202310549417.2A Active CN116260021B (en) | 2023-05-16 | 2023-05-16 | Power distribution network grounding robot system and grounding method |
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| JPH06276634A (en) * | 1993-03-15 | 1994-09-30 | Niida Densetsu Kk | Wire extension method for stringing messenger wire of aerial wire and device thereof |
| DE102017116092A1 (en) * | 2017-07-18 | 2019-01-24 | Röhm Gmbh | Clamping system, transport link and drone |
| CN112763789A (en) * | 2020-12-24 | 2021-05-07 | 南方电网科学研究院有限责任公司 | Power distribution network electricity testing method and electricity testing robot |
| CN113206478A (en) * | 2021-04-30 | 2021-08-03 | 广东冠能电力科技发展有限公司 | Electricity testing grounding robot |
| CN114336107A (en) * | 2022-01-05 | 2022-04-12 | 广东冠能电力科技发展有限公司 | Electricity testing grounding robot and electricity testing grounding method thereof |
| CN216928969U (en) * | 2022-01-17 | 2022-07-08 | 广东冠能电力科技发展有限公司 | Distribution network line grounding robot |
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2023
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| JPH06276634A (en) * | 1993-03-15 | 1994-09-30 | Niida Densetsu Kk | Wire extension method for stringing messenger wire of aerial wire and device thereof |
| DE102017116092A1 (en) * | 2017-07-18 | 2019-01-24 | Röhm Gmbh | Clamping system, transport link and drone |
| CN112763789A (en) * | 2020-12-24 | 2021-05-07 | 南方电网科学研究院有限责任公司 | Power distribution network electricity testing method and electricity testing robot |
| CN113206478A (en) * | 2021-04-30 | 2021-08-03 | 广东冠能电力科技发展有限公司 | Electricity testing grounding robot |
| CN114336107A (en) * | 2022-01-05 | 2022-04-12 | 广东冠能电力科技发展有限公司 | Electricity testing grounding robot and electricity testing grounding method thereof |
| CN216928969U (en) * | 2022-01-17 | 2022-07-08 | 广东冠能电力科技发展有限公司 | Distribution network line grounding robot |
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| CN116260021A (en) | 2023-06-13 |
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