CN114336107B - Electricity testing grounding robot and electricity testing grounding method thereof - Google Patents
Electricity testing grounding robot and electricity testing grounding method thereof Download PDFInfo
- Publication number
- CN114336107B CN114336107B CN202210013530.4A CN202210013530A CN114336107B CN 114336107 B CN114336107 B CN 114336107B CN 202210013530 A CN202210013530 A CN 202210013530A CN 114336107 B CN114336107 B CN 114336107B
- Authority
- CN
- China
- Prior art keywords
- grounding
- electricity
- distribution network
- network line
- testing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005611 electricity Effects 0.000 title claims abstract description 244
- 238000012360 testing method Methods 0.000 title claims abstract description 129
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 191
- 230000002159 abnormal effect Effects 0.000 claims description 20
- 238000004804 winding Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Testing Of Short-Circuits, Discontinuities, Leakage, Or Incorrect Line Connections (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses an electricity-checking grounding robot and an electricity-checking grounding method thereof, wherein the electricity-checking grounding robot comprises a hoisting mechanism, a swinging mechanism, an electricity-checking 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-checking mechanism and the second grounding mechanism are respectively arranged at two sides of the swinging mechanism; the hoisting mechanism is used for hanging a distribution network circuit 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 conducting electricity testing on the distribution network circuit, the first grounding mechanism is used for clamping the distribution network circuit to conduct grounding, and the second grounding mechanism is used for conducting grounding on the distribution network circuit far away from the electricity testing grounding robot; the hoisting mechanism, the swinging mechanism, the electricity testing mechanism, the first grounding mechanism and the second grounding mechanism are matched to automatically perform electricity testing and grounding operation on a plurality of distribution network lines, so that maintenance personnel are prevented from climbing a high-voltage electric tower to perform high-altitude operation, and the operation difficulty of the electricity testing and grounding operation is reduced.
Description
Technical Field
The invention relates to the technical field of automatic robots, in particular to an electricity-checking grounding robot and an electricity-checking grounding method thereof.
Background
In order to ensure the operation safety of the distribution network line, the distribution network line is usually required to be overhauled regularly, in the process of line overhauling, in order to ensure the work safety of overhauling staff, the preparation work of power failure, electricity inspection and grounding wire hanging is required to be carried out on the distribution network line, the electricity inspection and grounding work of the distribution network line at present is usually carried out in a manual operation mode, the overhauling staff is required to climb a high-voltage electric tower in the operation process, and the electricity inspection operation and the grounding wire operation are carried out on the distribution network line manually, so that the risk of high-altitude falling and electric shock exists, the potential safety hazard is large, in addition, the distribution network line is usually arranged in a vertical, horizontal or triangular arrangement mode, and the overhauling staff is also required to carry out the electricity inspection and grounding operation on a plurality of distribution network lines at the same time, so that the operation difficulty is greatly increased.
It can be seen that there is a need for improvements and improvements in the art.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention aims to provide an electricity-testing grounding robot which can automatically finish on-line electricity-testing grounding, avoid accident risks of manual operation and has high operation efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the 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 swinging mechanism is used for driving the electricity testing mechanism and the second grounding mechanism to swing, the electricity testing mechanism is used for conducting electricity testing on the distribution network line, the first grounding mechanism is used for clamping the distribution network line to conduct grounding treatment, and the second grounding mechanism is used for conducting grounding treatment on the distribution network line far away from the electricity testing grounding robot.
The electricity checking grounding robot comprises a first electricity checking part, a second electricity checking part and a third electricity checking part, wherein one end of the second electricity checking part is rotationally connected with the swinging mechanism, the first electricity checking part is arranged at the other end of the second electricity checking part, the first electricity checking part is mutually perpendicular to the second electricity checking part, the first electricity checking part can swing towards two sides, and one end of the third electricity checking part is rotationally connected with the other end of the second electricity checking part.
In the electricity-checking 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 rotationally connected with the swinging mechanism, and the other end of the first grounding part is rotationally connected with one end of the second grounding part through the rotating part.
In the electricity-testing grounding robot, the swinging mechanism comprises a first swinging part and a second swinging part, and the second swinging part is arranged on one side of the first swinging part; the first grounding mechanism is fixedly connected with the first swinging part, one end of the second electricity checking part is fixedly connected with the output shaft of the second swinging part, and one end of the first grounding part is in transmission connection with the first swinging part.
In the electricity-checking 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 hanger and dragging the electricity-checking 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 on any distribution network line through an external hanger;
starting the swinging mechanism and the second electricity checking part to respectively control the second electricity checking part and the third electricity checking part to rotate, so that the second electricity checking part rotates to be in a vertical upward state, and the third electricity checking part rotates to be in a folding state with the second electricity checking part;
starting a winding mechanism to wind the traction rope, so that the electricity-testing grounding robot climbs towards the distribution network line;
starting a hoisting mechanism to control the first electricity checking part to be close to the distribution network line, and completing electricity checking work of the first distribution network line after any side of the first electricity checking part is contacted with the first distribution network line;
if the first distribution network line is tested, the winding mechanism controls the first power connection 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;
starting the swinging mechanism to control the second electricity checking part to rotate towards the second distribution network line, and completing electricity checking work of the second distribution network line after the second electricity checking part contacts 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 operation of the third distribution network line after the third electricity testing part contacts with the third distribution network line;
starting the swinging mechanism to control the first grounding part to rotate towards the second distribution network line, and completing the grounding work of the second distribution network line after the first grounding part clamps the second distribution network line;
and starting the rotating part to control the second grounding part to rotate towards the third distribution network line, and completing the grounding work of the third distribution network line after the second grounding part clamps the third distribution network line.
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 of:
the external hanging tool is hung on any distribution network line through the 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 detects that the first distribution network line is abnormal in electricity testing, an abnormal signal is sent to the electricity testing grounding robot;
if the second electricity testing part detects that the electricity testing is abnormal to the second distribution network line, an abnormal signal is sent to the electricity testing grounding robot;
if the third electricity testing part detects the electricity testing abnormality of the third distribution network line, an abnormal signal is sent to the electricity testing grounding robot.
The beneficial effects are that:
the invention provides an electricity-checking grounding robot, which automatically performs electricity-checking grounding operation on a plurality of distribution network lines through matching of a hoisting mechanism, a swinging mechanism, an electricity-checking mechanism, a first grounding mechanism and a second grounding mechanism, so that maintenance personnel are prevented from climbing a high-voltage electric tower to perform high-altitude operation, the operation safety is improved, and the operation difficulty of the electricity-checking grounding operation is reduced.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an electroscopic grounding robot provided by the invention;
fig. 2 is a schematic diagram of the overall structure of the electroscopic grounding robot provided by the invention;
fig. 3 is a schematic diagram of an internal structure of the swing mechanism in the electroscopic grounding robot according to the present invention;
fig. 4 is a schematic diagram of an internal structure of the swing mechanism in the electroscopic grounding robot according to the second embodiment of the present invention;
FIG. 5 is a control flow chart I of the electroscopic grounding method provided by the invention;
fig. 6 is a schematic flow chart of step 101 in the electrical grounding method provided by the present invention;
FIG. 7 is a second control flow chart of the electrical grounding method according to the present invention;
fig. 8 is a control flow chart III of the electroscopic grounding method provided by the invention;
fig. 9 is a control flow chart of the electroscopic grounding method provided by the invention.
Description of main reference numerals: 1-hoist mechanism, 2-swing mechanism, 3-test electric mechanism, 4-first grounding mechanism, 5-second grounding mechanism, 6-counter weight pole, 21-first swing portion, 22-second swing portion, 31-first test electric portion, 32-second test electric portion, 33-third test electric portion, 41-first ground clamp frame, 42-second ground clamp frame, 51-first ground portion, 52-second ground portion, 53-rotation portion, 511-first swing arm, 512-first fixture, 521-second swing arm, 522-second fixture.
Detailed Description
The invention provides an electricity-checking grounding robot and an electricity-checking grounding method thereof, and the invention is further described in detail below with reference to the accompanying drawings and the examples in order to make the purposes, the technical schemes and the effects of the invention clearer and more definite. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the azimuth or positional relationship indicated by the terms "middle", "inside", "outside", etc. are the azimuth or positional relationship of the present invention based on the drawings, and are merely for convenience of description of the present invention and simplification of the description. In addition, 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 present invention provides an electroscope grounding robot, which comprises a hoisting mechanism 1, a swinging mechanism 2, an electroscope 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 electroscope 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 the electricity testing grounding robot, the swinging 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 conducting electricity testing treatment on the distribution network line, the first grounding mechanism 4 is used for clamping the distribution network line to conduct grounding treatment, and the second grounding mechanism 5 is used for conducting grounding 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 swinging mechanism 2, the electricity checking mechanism 3, the first grounding mechanism 4 and the second grounding mechanism 5 are all in communication connection with a ground control station, and an maintainer can perform work control on the electricity checking grounding robot through the ground control station.
In practical application, the hoisting mechanism 1 is used for enabling the electricity testing grounding robot to be suspended on the distribution network line and climb towards the distribution network line, after the electricity testing grounding robot approaches the distribution network line, the swinging mechanism 2 is used for controlling the electricity testing mechanism 3 to swing, and the electricity testing mechanism 3 is matched for sequentially carrying out electricity testing operation on a plurality of distribution network lines, after all the distribution network lines are free from abnormal electricity testing, the hoisting mechanism 1 is used for driving the first grounding mechanism 4 to approach the distribution network line above, the first grounding mechanism 4 is used for clamping the distribution network line to complete grounding operation, the swinging mechanism 2 is used for controlling the second grounding mechanism 5 to approach other distribution network lines, and the second grounding mechanism 5 is used for respectively clamping the other distribution network lines to complete grounding operation; through hoist mechanism 1 swing mechanism 2 the electricity test mechanism 3 the first grounding mechanism 4 with the cooperation of second grounding mechanism 5 is carried out the electricity test ground connection operation to a plurality of distribution network circuit automation, avoids the maintainer to climb high-voltage electric tower overhead operation, has improved the security of operation to the operation degree of difficulty of electricity test ground connection operation has been reduced.
Further, as shown in fig. 1 to 4, the electricity checking mechanism 3 includes a first electricity checking portion 31, a second electricity checking portion 32, and a third electricity checking portion 33, one end of the second electricity checking portion 32 is rotatably connected to the swinging mechanism 2, the first electricity checking portion 31 is disposed at the other end of the second electricity checking portion 32, the first electricity checking portion 31 and the second electricity checking portion 32 are perpendicular to each other, the first electricity checking portion 31 can swing to two sides, and one end of the third electricity checking portion 33 is rotatably connected to the other end of the second electricity checking portion 32; when in use, the initial states of the second electricity checking part 32 and the third electricity checking part 33 are set to be folded states, the first electricity checking part 31 faces to the distribution network line right above the electricity checking grounding robot, the electricity checking operation is completed on three distribution network lines sequentially through the first electricity checking part 31, the second electricity checking part 32 and the third electricity checking part 33, when one side of the first electricity checking part 31 contacts with the first distribution network line, the electricity checking operation on the first distribution network line is completed, the first electricity checking part 31 automatically completes reset and returns to the state of the initial level, the second electricity checking part 32 and the third electricity checking part 33 respectively check electricity, and the contact electricity checking with the distribution network line is completed through adjusting the swinging angles of the second electricity checking part 31 and the third electricity checking part, so that the flexibility of the electricity checking grounding robot is improved.
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 swinging 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 flexibility of use is improved through the first grounding part 51 and the second grounding part 52 which can move relatively, when in use, any distribution network line is grounded through the first grounding mechanism 4 in advance, and then the grounding operation is performed through the first grounding part 51 and the second grounding part 52 according to the positions of the other two distribution network lines, so that the operation difficulty of the distribution network lines is reduced, and the operation efficiency is improved.
In this embodiment, the first grounding portion 51 includes a first swing arm 511 and a first clamping mechanism 512, the second grounding portion 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 rotation portion 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 respectively move along the first swing arm 511 and the second swing arm 521, so that the clamping positions of the distribution network line are adjusted, and the flexibility of the use 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 part 21, one end of the second electricity checking part 32 is fixedly connected with the output shaft of the second swinging part 22, and one end of the first grounding part 51 is in transmission connection with the first swinging part 21; the first swinging part 21 is used for adjusting the up-down swing of the second grounding part 52, so that the relative position of the second grounding part 52 and a distribution network line is adjusted; the second swinging part 22 adjusts the whole swing of the electricity inspection mechanism 3, so that the electricity inspection mechanism 3 can approach to a distribution network line to finish electricity inspection operation.
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, the first grounding clip 41 and the second grounding clip 42 being disposed opposite to each other on the first swinging portion 21; through first ground clamp holder 41 with two ground clamp holders carry out centre gripping ground connection to joining in marriage the net twine way simultaneously, have improved the steadiness of centre gripping, also guarantee simultaneously and examine electric ground robot's stability, prevent to examine the problem that rocks when electric ground connection is carried out to other net twine ways in the follow-up.
Further, as shown in fig. 1 to 4, the hoisting mechanism 1 and the swinging mechanism 2 are connected through a plurality of weight bars 6; the distance between the hoisting mechanism 1 and the swinging mechanism 2 is enlarged through the counterweight rod 6, so that the gravity center of the hoisting mechanism 1 is far away from the swinging mechanism 2, the swinging mechanism 2 can be kept stable during working, and shaking is reduced.
Further, as shown in fig. 1 to 4, a hauling rope (not shown in the drawings) is provided in the hoisting mechanism 1, and a guide mechanism for guiding the hauling rope is provided on the first swinging part 21; the traction rope is used for being connected with an external hanger and for dragging the electroscopic grounding robot to finish hanging actions; in this embodiment, the haulage rope is an insulated haulage rope.
In summary, through hoist mechanism 1, swing mechanism 2, examine electric mechanism 3, first grounding mechanism 4 with the cooperation of second grounding mechanism 5 is carried out the electricity to a plurality of distribution network circuit automation and is examined electric ground operation, avoids the maintainer to climb high-voltage electric tower overhead operation, has improved the security of operation to the operation degree of difficulty of examining electric ground operation has been reduced.
As shown in fig. 5, the invention further provides an electricity testing grounding method, which specifically comprises the following steps:
s100, hanging the traction rope to any distribution network line through an external hanger.
In one embodiment, when three distribution network lines are vertically arranged, the external hanging tool is hung on the lowest distribution network line, and the first electricity testing portion 31, the second electricity testing portion 32 and the third electricity testing portion 33 test electricity of the three distribution network lines from bottom to top.
In another embodiment, when the three distribution network lines are horizontally arranged, the external hanger is hung on the distribution network line at the outermost side, and the first electricity checking portion 31, the second electricity checking portion 32 and the third electricity checking portion 33 perform electricity checking on the three distribution network lines from left to right or from right to left, respectively.
In another embodiment, when three distribution network lines are arranged in a triangle, the external hanger is hung on any one of the distribution network lines on the left and right sides, and the first electricity testing portion 31, the second electricity testing portion 32 and the third electricity testing portion 33 test electricity of the three distribution network lines from left to right or from right to left.
S200, starting the swinging mechanism 2 and the second electricity checking part 32 to respectively control the second electricity checking part 32 and the third electricity checking part 33 to rotate, so that the second electricity checking part 32 rotates to be in a vertical upward state, and the third electricity checking part 33 rotates to be in a folding state with the second electricity checking part 32; the second electricity checking part 32 and the third electricity checking part 33 are folded to ensure the electricity checking sequence of the first electricity checking part 31, the second electricity checking part 32 and the third electricity checking part 33, so that the three distribution network lines can be checked 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 a hoisting mechanism 1 to control a first electricity testing part 31 to be close to a 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, and is contacted with the distribution network line through a first electricity testing part 31 which is horizontally arranged, so that electricity testing work is completed, and the first electricity testing part 31 is restored to an initial horizontal state after the first electricity testing part is contacted; if no voltage is detected after the first electricity testing part 31 contacts the distribution network line, it indicates that electricity testing is abnormal.
S500, if the first distribution network line is tested, the hoisting mechanism 1 controls the first power connection 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, so that the stability of the electricity testing grounding robot is improved, and the problem that the rest distribution network lines shake during electricity testing grounding is avoided.
And S600, starting the swinging mechanism 2 to control the second electricity testing part 32 to rotate towards the second distribution network line, and completing electricity testing operation of the second distribution network line after the second electricity testing part 32 contacts with the second distribution network line.
And S700, starting the second electricity testing part 32 to control the third electricity testing part 33 to rotate towards the third distribution network line, and completing electricity testing operation of the third distribution network line after the third electricity testing part 33 contacts with the third distribution network line.
The second electricity checking part 32 and the third electricity checking part 33 are adjusted according to the actual arrangement condition of the distribution network lines, contact with the distribution network lines is completed by adjusting the swing between the second electricity checking part and the third electricity checking part, so that electricity checking work of all the distribution network lines is completed, flexibility of electricity checking work is improved, and electricity checking requirements of the distribution network lines in different arrangement modes can be met.
In one embodiment, when three distribution network lines are vertically arranged, after the first electricity checking portion 31 performs electricity checking on the lowest distribution network line, the second electricity checking portion 32 and the third electricity checking portion 33 turn up in sequence, and perform electricity checking on the two upper distribution network lines from bottom to top in sequence.
In another embodiment, when three distribution network lines are horizontally arranged, after the first electricity testing portion 31 tests the leftmost or rightmost distribution network line, the second electricity testing portion 32 and the third electricity testing portion 33 turn left or right in sequence, and test the electricity of two distribution network lines on the opposite sides in sequence from left to right or from right to left.
In another embodiment, when three distribution network lines are arranged in a triangle, after the first electricity checking portion 31 finishes the electricity checking of the leftmost or rightmost distribution network line, the second electricity checking portion 32 and the third electricity checking portion 33 turn left or right in sequence, and the two distribution network lines on the side are subjected to electricity checking in sequence 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 is met by adjusting an included angle between the second electricity checking portion 32 and the third electricity checking portion 33.
S800, starting the swinging mechanism 2 to control the first grounding part 51 to rotate towards the second distribution network line, and completing the grounding work of the second distribution network line after the first grounding part 51 clamps the second distribution network line.
And S900, starting the rotating part 53 to control the second grounding part 52 to rotate towards the third distribution network line, and completing the grounding work of the third distribution network line after the second grounding part 52 clamps the third distribution network line.
The first grounding part 51 and the second grounding part 52 are adjusted according to the actual arrangement condition of the distribution network lines, the grounding operation of the distribution network lines is completed by adjusting the swing between the first grounding part and the second grounding part, the flexibility of the grounding operation is improved, and the grounding requirements of the distribution network lines in different arrangement modes can be met.
In one embodiment, when three distribution network lines are vertically arranged, after the first grounding mechanism 4 finishes grounding the lowest distribution network line, the first grounding portion 51 and the second grounding portion 52 turn upwards in sequence, and ground the two upper distribution network lines from bottom to top in sequence.
In another embodiment, when the three distribution network lines are horizontally arranged, after the first grounding mechanism 4 finishes grounding the leftmost or rightmost distribution network line, the first grounding portion 51 and the second grounding portion 52 turn left or right in sequence, and the two distribution network lines on the side are grounded in sequence from left to right or from right to left.
In another embodiment, when three distribution network lines are arranged in a triangle, after the first grounding mechanism 4 finishes grounding the leftmost or rightmost distribution network line, the first grounding portion 51 and the second grounding portion 52 turn left or right in sequence, and the two distribution network lines on the side are grounded in sequence 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 can be met by adjusting an included angle between the first grounding portion 51 and the second grounding portion 52.
After the electricity test grounding operation is finished, the clamping state of the first grounding mechanism 4, the second grounding part 52 and the third grounding part on three distribution network lines is maintained; ensure that maintainer can overhaul the distribution network line for a long time, avoid appearing the working risk.
Further, as shown in fig. 6, the step S100 of hanging the hauling rope on any distribution network line through an external hanger specifically includes:
s101, hanging an external hanger on any distribution network line through the unmanned aerial vehicle, and enabling a traction rope to bypass the upper portion of the distribution network line.
Further, as shown in fig. 7 to 9, the electrical grounding method further includes the steps of:
s401, if the first electricity testing unit 31 detects an abnormal electricity test on the first distribution network line, an abnormal signal is sent to the electricity test grounding robot.
S601, if the second electricity testing unit 32 detects an abnormal electricity test on the second distribution network line, an abnormal signal is sent to the electricity test grounding robot.
S701, if the third electricity testing unit 33 detects an abnormal electricity test on the third distribution network line, an abnormal signal is sent to the electricity test grounding robot.
The abnormal signal can be sent to the ground control station through the electricity checking grounding robot, if an maintainer finds the abnormal signal, the power failure condition of the distribution network line is immediately rechecked, and subsequent operation is continued after error-free operation is ensured.
It will be understood that equivalents and modifications will occur to those skilled in the art in light of the present invention and their spirit, and all such modifications and substitutions are intended to be included within the scope of the present invention as defined in the following claims.
Claims (9)
1. The electricity testing grounding robot is characterized by comprising 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 at two sides of the swinging 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 conducting electricity testing on the distribution network line, the first grounding mechanism is used for clamping the distribution network line to conduct grounding, and the second grounding mechanism is used for conducting grounding on the distribution network line far away from the electricity testing grounding robot; the electricity checking mechanism comprises a first electricity checking part, a second electricity checking part and a third electricity checking part, one end of the second electricity checking part is rotationally connected with the swinging mechanism, the first electricity checking part is arranged at the other end of the second electricity checking part, the first electricity checking part is mutually perpendicular to the second electricity checking part, the first electricity checking part can swing towards two sides, and one end of the third electricity checking part is rotationally connected with the other end of the second electricity checking part.
2. The electrical grounding robot according to claim 1, 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 with the swinging mechanism, and the other end of the first grounding portion is rotatably connected with one end of the second grounding portion through the rotating portion.
3. The electroscopic grounding robot of claim 2 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 part, one end of the second electricity checking part is fixedly connected with the output shaft of the second swinging part, and one end of the first grounding part is in transmission connection with the first swinging part.
4. A power-on grounding robot as claimed in claim 3, wherein the first grounding mechanism comprises a first grounding clip and a second grounding clip, the first grounding clip and the second grounding clip being disposed opposite to each other on the first swinging portion.
5. The electroscopic grounding robot of claim 1 wherein the hoist mechanism is connected to the swing mechanism by a plurality of weight bars.
6. The electroscopic grounding robot of claim 4 wherein a pull rope is disposed in the hoist and a guide mechanism for guiding the pull rope is disposed on the first swing portion; the traction rope is used for being connected with an external hanger and dragging the electricity-checking grounding robot to finish hanging actions.
7. An electricity testing grounding method, which is characterized by being used for realizing the work control of the electricity testing grounding robot according to claim 6, and specifically comprising the following steps:
the traction rope is hung on any distribution network line through an external hanger;
starting the swinging mechanism and the second electricity checking part to respectively control the second electricity checking part and the third electricity checking part to rotate, so that the second electricity checking part rotates to be in a vertical upward state, and the third electricity checking part rotates to be in a folding state with the second electricity checking part;
starting a winding mechanism to wind the traction rope, so that the electricity-testing grounding robot climbs towards the distribution network line;
starting a hoisting mechanism to control the first electricity checking part to be close to the distribution network line, and completing electricity checking work of the first distribution network line after any side of the first electricity checking part is contacted with the first distribution network line;
if the first distribution network line is tested, the winding mechanism controls the first power connection 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;
starting the swinging mechanism to control the second electricity checking part to rotate towards the second distribution network line, and completing electricity checking work of the second distribution network line after the second electricity checking part contacts 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 operation of the third distribution network line after the third electricity testing part contacts with the third distribution network line;
starting the swinging mechanism to control the first grounding part to rotate towards the second distribution network line, and completing the grounding work of the second distribution network line after the first grounding part clamps the second distribution network line;
and starting the rotating part to control the second grounding part to rotate towards the third distribution network line, and completing the grounding work of the third distribution network line after the second grounding part clamps the third distribution network line.
8. The electrical grounding method according to claim 7, wherein the traction rope is hung on any distribution network line through an external hanger, and the electrical grounding method specifically comprises:
the external hanging tool is hung on any distribution network line through the unmanned aerial vehicle, so that the traction rope bypasses the upper part of the distribution network line.
9. The electrical grounding method of claim 7, further comprising the steps of:
if the first electricity testing part detects that the first distribution network line is abnormal in electricity testing, an abnormal signal is sent to the electricity testing grounding robot;
if the second electricity testing part detects that the electricity testing is abnormal to the second distribution network line, an abnormal signal is sent to the electricity testing grounding robot;
if the third electricity testing part detects the electricity testing abnormality of the third distribution network line, an abnormal signal is sent to the electricity testing grounding robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210013530.4A CN114336107B (en) | 2022-01-05 | 2022-01-05 | Electricity testing grounding robot and electricity testing grounding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210013530.4A CN114336107B (en) | 2022-01-05 | 2022-01-05 | Electricity testing grounding robot and electricity testing grounding method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114336107A CN114336107A (en) | 2022-04-12 |
| CN114336107B true CN114336107B (en) | 2024-02-09 |
Family
ID=81025221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210013530.4A Active CN114336107B (en) | 2022-01-05 | 2022-01-05 | Electricity testing grounding robot and electricity testing grounding method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114336107B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116260021B (en) * | 2023-05-16 | 2023-08-04 | 深圳昱拓智能有限公司 | Power distribution network grounding robot system and grounding method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004242476A (en) * | 2003-02-10 | 2004-08-26 | Techno Success Kk | Device for inspecting aerial wire |
| CN102545103A (en) * | 2012-03-05 | 2012-07-04 | 饶阳县电力局 | Overhead power line electricity testing and grounding line hanging and disassembling tool and operation method |
| JP5994035B1 (en) * | 2016-03-31 | 2016-09-21 | 株式会社オーク | Pile hole penetration test device and pile construction management method |
| CN112510394A (en) * | 2020-11-06 | 2021-03-16 | 成都运达科技股份有限公司 | Combined type electricity testing grounding device and contact net electricity testing grounding control system |
| 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 |
-
2022
- 2022-01-05 CN CN202210013530.4A patent/CN114336107B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004242476A (en) * | 2003-02-10 | 2004-08-26 | Techno Success Kk | Device for inspecting aerial wire |
| CN102545103A (en) * | 2012-03-05 | 2012-07-04 | 饶阳县电力局 | Overhead power line electricity testing and grounding line hanging and disassembling tool and operation method |
| JP5994035B1 (en) * | 2016-03-31 | 2016-09-21 | 株式会社オーク | Pile hole penetration test device and pile construction management method |
| CN112510394A (en) * | 2020-11-06 | 2021-03-16 | 成都运达科技股份有限公司 | Combined type electricity testing grounding device and contact net electricity testing grounding control system |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114336107A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108599007B (en) | Device and method for installing pulley insulating rope on high-voltage line unmanned aerial vehicle | |
| CN110854739B (en) | Overhead transmission line electricity testing grounding method based on unmanned aerial vehicle | |
| CN110412059B (en) | Live radiation detection device for power transmission line hardware fitting and application method thereof | |
| CN114336107B (en) | Electricity testing grounding robot and electricity testing grounding method thereof | |
| CN113206478B (en) | Electricity testing grounding robot | |
| CN108458889B (en) | Electric power inspection sensing equipment simulation test platform | |
| CN111807271B (en) | System and method for moving a vehicle component relative to a vehicle structure | |
| CN114389058B (en) | Distribution overhead line earth connection articulates robot | |
| CN116902242A (en) | Uninterrupted operation device and operation method for unmanned aerial vehicle of overhead transmission line | |
| CN115582846B (en) | Modularized live working robot | |
| CN110824233A (en) | Power transmission line power failure operation pre-reverse-prevention power supply continuous electricity testing device | |
| CN115588930A (en) | Modularization live working robot body | |
| US20240034489A1 (en) | Payload support frame for unmanned aerial system | |
| CN110416693A (en) | Antenna apparatus for controlling of lifting and control method | |
| CN214314254U (en) | X-ray photoelectric detection robot for multi-split power transmission line | |
| CN117674411A (en) | Vision-based power grid transmission line inspection device and method | |
| CN218726782U (en) | Automatic turning device of many split conductors strain clamp unmanned aerial vehicle ray detection | |
| CN206096564U (en) | Composite fiber -optic overhead ground wi crosses pulley test device | |
| CN112578199A (en) | Integrated electrical testing device | |
| CN112763789B (en) | Power distribution network electricity inspection method and electricity inspection robot | |
| CN115656229A (en) | Strain clamp unmanned aerial vehicle ray detection device | |
| CN106501748A (en) | A kind of altitude test mode of connection based on unmanned air vehicle technique | |
| CN115313243A (en) | Robot for installing spacer of high-voltage transmission line | |
| CN114421192B (en) | Distribution network three-phase line grounding operation mechanical arm assembly | |
| CN116106338A (en) | Strain clamp X-ray detection device and method for multi-split line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |