Detection auxiliary device, detection system and detection method

Abstract

The present invention relates to a detection auxiliary device, a detection system and a detection method. The above-mentioned detection auxiliary device includes a fixed bracket, a bearing, a rotating platform, a walking mechanism and a grasping mechanism, the fixed bracket includes a frame and a sliding rod arranged on the frame, and the sliding rod is provided with a first target position and a second target position; the bearing is arranged relative to the first target position, and the bearing is used to carry a transformer; the rotating platform is arranged relative to the second target position, and the rotating platform is used to install a lightning arrester and is electrically connected to the negative pole of the lightning arrester; the walking mechanism is slidably connected to the sliding rod; the grasping mechanism is connected to the walking mechanism; the above-mentioned detection auxiliary device avoids the traditional test monitoring based on the installation of the lightning arrester on site, so that all test items are completed in the process of detecting the lightning arrester without multiple different test instruments, and the wiring is connected or disconnected by the grasping mechanism, which solves the problem that the test process of the lightning arrester is relatively cumbersome and easy to cause unsafe factors.

Description

Technical Field

[0001] The present invention relates to the technical field of power equipment, and in particular to a detection auxiliary device, a detection system and a detection method. Background Art

[0002] Traditional arrester online detection systems are evolved from live detection. For example, the SD-6000 series arrester online monitoring remote transmission system samples the total leakage current and lightning strikes of the arrester through optical cables and transmits data back. Another example is the ZFQ-A series zinc oxide arrester online monitoring system, which uses current transformers to collect the total leakage current of MOA (arrester) and combines the 484 network to achieve real-time monitoring of the total leakage current, fundamental current and third harmonic current of MOA. These arrester online detection systems are based on the test monitoring of the arrester installed on site, and cannot carry out more test items required for arresters in the current electrical test standards such as "DL 393-2010 Transmission and Transformation Equipment Condition Maintenance Test Procedure" and "GB50150-2016 Electrical Equipment Handover Test Standard for Electrical Installation Engineering".

[0003] In the process of testing the lightning arrester, the detection system needs multiple different test instruments to complete all the test items, and each instrument has its own test power supply, test leads and control system. The repeated configuration leads to an increase in the size and weight of the test instrument, and requires frequent replacement of the test wiring and operation of the test instrument, resulting in a cumbersome test process for the lightning arrester, prone to unsafe factors and low test efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a detection auxiliary device, a detection system and a detection method to address the problems of low test efficiency, complicated test process and easy to cause unsafe factors in the detection system.

[0005] A detection auxiliary device, comprising:

[0006] A fixed bracket comprises a frame body and a slide bar arranged on the frame body, wherein the slide bar is provided with a first target position and a second target position;

[0007] A bearing member, the bearing member is arranged opposite to the first target position, and the bearing member is used to bear the transformer;

[0008] a rotating table, the rotating table being arranged opposite to the second target position, the rotating table being used for installing a lightning arrester and being electrically connected to a negative pole of the lightning arrester;

[0009] A walking mechanism, wherein the walking mechanism is slidably connected to the sliding rod;

[0010] A gripping mechanism is connected to the traveling mechanism; the gripping mechanism is used to connect a first connection when the traveling mechanism slides to a first target position of the slide bar, and disconnect the first connection after the transformer detection is completed; the gripping mechanism is used to connect a second connection when the traveling mechanism slides to a second target position of the slide bar, and disconnect the second connection after the arrester detection is completed; wherein the first connection is the connection between the transformer and the transformer detection mechanism, and the second connection is the connection between the arrester and the arrester detection mechanism, and between the rotating table and the arrester detection mechanism.

[0011] In one embodiment, the detection auxiliary device also includes a limiting mechanism, which is arranged on the carrier. The limiting mechanism is used to position the transformer so that the transformer can be placed on the carrier quickly and accurately, ensuring that the grasping mechanism can accurately connect the wiring between the transformer and the transformer detection mechanism.

[0012] In one embodiment, the detection auxiliary device also includes a CCD camera, which is connected to the control end of the walking mechanism. The CCD camera is used to photograph the current position of the grabbing mechanism and compare the current position of the grabbing mechanism with the reference position to adjust the position of the grabbing mechanism, so that the grabbing mechanism can accurately complete the connection and disconnection operations of the transformer or lightning arrester.

[0013] In one embodiment, the grasping mechanism includes a mechanical arm and a clamping mechanism, the mechanical arm is connected to the walking mechanism, and the clamping mechanism is arranged on the power output shaft of the mechanical arm, so that the mechanical arm drives the clamping mechanism to move to a predetermined position to complete the connection or disconnection operation of the test wiring of the transformer or lightning arrester; the clamping mechanism is used to connect the first wiring when the walking mechanism slides to the first target position of the sliding bar, and disconnect the first wiring after the transformer is detected, and the clamping mechanism is used to connect the second wiring when the walking mechanism slides to the second target position of the sliding bar, and disconnect the second wiring after the lightning arrester is detected.

[0014] A detection system, comprising a transformer detection mechanism, a lightning arrester detection mechanism and the detection auxiliary device described in any one of the above embodiments;

[0015] The transformer detection mechanism is disposed adjacent to the carrier; the grabbing mechanism connects the first connection when the walking mechanism slides to the first target position of the slide bar, and disconnects the first connection after the transformer detection is completed;

[0016] The arrester detection mechanism is arranged adjacent to the rotating platform; the grabbing mechanism connects the second connection when the walking mechanism slides to the second target position of the slide bar, and disconnects the second connection after the arrester detection is completed.

[0017] In one embodiment, the transformer detection mechanism is provided with a transformer grounding terminal, a plurality of high-voltage terminals and a plurality of low-voltage terminals, and the grasping mechanism respectively connects the transformer grounding terminal, the plurality of high-voltage terminals and the plurality of high-voltage terminals when the walking mechanism slides to the first target position of the slide bar, and respectively disconnects the transformer grounding terminal, the plurality of high-voltage terminals and the plurality of high-voltage terminals after the transformer detection is completed, so that the grasping mechanism connects the wiring of the transformer and the wiring of the transformer detection mechanism when the walking mechanism slides to the first target position of the slide bar, and disconnects the wiring of the transformer and the transformer detection mechanism after the transformer detection is completed.

[0018] In one embodiment, the lightning arrester detection mechanism is provided with an AC high-voltage terminal, a DC high-voltage terminal and a detection grounding terminal, and the grasping mechanism connects the lightning arrester to the AC high-voltage terminal, the DC high-voltage terminal, and the detection grounding terminal respectively when the walking mechanism slides to the second target position of the slide bar, and disconnects the lightning arrester from the AC high-voltage terminal, the DC high-voltage terminal, and the detection grounding terminal after the lightning arrester detection is completed, so that the grasping mechanism connects the lightning arrester to the lightning arrester detection mechanism, the rotating platform to the lightning arrester detection mechanism when the walking mechanism slides to the second target position of the slide bar, and disconnects the lightning arrester from the lightning arrester detection mechanism, the rotating platform to the lightning arrester detection mechanism after the lightning arrester detection is completed.

[0019] In one embodiment, the detection system further includes a controller, which is respectively connected to a control end of the grabbing mechanism, a control end of the walking mechanism, a control end of the rotating platform, a control end of the transformer detection mechanism, and a control end of the arrester detection mechanism;

[0020] When the grasping mechanism slides to the first target position with the walking mechanism, that is, when the grasping mechanism slides to the detection position of the transformer with the walking mechanism, the controller controls the grasping mechanism to clamp the wiring terminal and move it to the terminal position of the transformer; when the wiring connection of the transformer is completed, the grasping mechanism sends an instruction to the transformer detection mechanism, and the transformer testing mechanism tests the wiring result of the transformer to check whether the wiring meets the specification requirements; if the wiring does not meet the specification requirements, it is transferred to manual processing; if the wiring meets the specification requirements, the controller controls the transformer testing mechanism to perform a detection test on the transformer; after the transformer detection is completed, the transformer testing mechanism sends an instruction to the grasping mechanism, the grasping mechanism acts and disconnects the wiring of the transformer until the wiring of the transformer is disconnected;

[0021] When the grabbing mechanism slides to the second target position with the walking mechanism, that is, when the grabbing mechanism slides to the detection station of the transformer with the walking mechanism, the controller controls the grabbing mechanism to clamp the high-voltage DC terminal; the controller controls the lightning arrester detection mechanism to detect the lightning arrester; when the lightning arrester detection is completed, the lightning arrester detection mechanism sends an instruction to the grabbing mechanism, and the grabbing mechanism disconnects the wiring until the wire removal is completed.

[0022] In one embodiment, the detection system also includes an audible and visual alarm device, which is connected to the controller and is used to prompt that the detection of the transformer or the lightning arrester is completed; when the transformer test is completed, the audible and visual alarm device gives an audible and visual alarm and prompts that the detection is completed; similarly, when the lightning arrester test is completed, the audible and visual alarm device gives an audible and visual alarm and prompts that the detection is completed.

[0023] A detection method, using the detection system described in any of the above embodiments to detect the transformer and the arrester respectively, the detection method comprising:

[0024] placing the transformer on the carrier;

[0025] Installing the lightning arrester on the rotating platform;

[0026] The walking mechanism slides to the first target position, so that the grabbing mechanism moves with the walking mechanism to a position corresponding to the transformer;

[0027] connecting the transformer to the transformer detection mechanism through the grabbing mechanism;

[0028] Testing the transformer by the transformer testing mechanism;

[0029] disconnecting the connection between the transformer and the transformer detection mechanism by means of the grabbing mechanism;

[0030] The walking mechanism slides to the second target position, so that the grabbing mechanism moves with the walking mechanism to a position corresponding to the arrester;

[0031] Connecting the arrester to the arrester detection mechanism via the grabbing mechanism;

[0032] Detecting the arrester by the arrester detection mechanism;

[0033] The connection between the arrester and the arrester detection mechanism is disconnected by the grabbing mechanism.

[0034] The above-mentioned detection auxiliary device, detection system and detection method place the transformer on the carrier, and install the lightning arrester on the rotating table so that the negative pole of the lightning arrester is electrically connected to the rotating table; the walking mechanism drives the grasping mechanism to slide relative to the slide bar, so that the grasping mechanism slides relative to the slide bar with the walking mechanism, so that the walking mechanism can slide relative to the slide bar to the first target position or the second target position; when the grasping mechanism slides to the first target position with the walking mechanism, the grasping mechanism automatically connects the wiring between the transformer and the transformer detection mechanism, so that the transformer detection mechanism detects the transformer; when the transformer detection is completed, the grasping mechanism automatically disconnects the wiring between the transformer and the transformer detection mechanism; when the grasping mechanism slides to the second target position with the walking mechanism, the grasping mechanism automatically connects the wiring between the lightning arrester and the lightning arrester detection mechanism, and connects the wiring between the rotating table and the lightning arrester detection mechanism, so that the lightning arrester detection mechanism detects the lightning arrester Carry out detection; when the arrester detection is completed, the grabbing mechanism automatically disconnects the wiring between the arrester and the arrester detection mechanism, and between the rotating table and the arrester detection mechanism; the above-mentioned detection auxiliary device, detection system and detection method avoid the traditional test monitoring based on the arrester installed on site, so that all test items can be completed in the process of detecting the arrester without multiple different test instruments. At the same time, the connection or disconnection of the wiring by the grabbing mechanism solves the problem that the test process of the arrester is relatively cumbersome and easy to cause unsafe factors; the above-mentioned detection system and detection method have detection functions such as insulation resistance test, DC reference voltage test and leakage current test under 0.75 times DC reference voltage, can automatically complete the wiring, and automatically complete the detection of all items of the arrester and transformer, automatically complete data analysis and report generation, and the whole process does not require manual intervention, which greatly improves the test efficiency of the detection system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic diagram of a detection system according to an embodiment;

[0036] Figure 2 for Figure 1 A schematic diagram of the detection system shown;

[0037] Figure 3 for Figure 1 A schematic diagram of the detection system in the direction of B shown;

[0038] Figure 4 for Figure 1 A partial schematic diagram of a detection auxiliary device of the detection system shown;

[0039] Figure 5 for Figure 1 A partial enlarged view of the detection system shown;

[0040] Figure 6 for Figure 1 Topology diagram of the detection system shown. DETAILED DESCRIPTION

[0041] In order to facilitate understanding of the present invention, a more comprehensive description of the detection auxiliary device, the detection system and the detection method will be given below with reference to the relevant drawings. The preferred embodiments of the detection auxiliary device, the detection system and the detection method are given in the drawings. However, the detection auxiliary device, the detection system and the detection method can be implemented in many different forms and are not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the detection auxiliary device, the detection system and the detection method more thorough and comprehensive.

[0042] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the description of the detection auxiliary device, detection system and detection method are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0044] One embodiment is that a detection auxiliary device includes a fixed bracket, a bearing, a rotating table, a walking mechanism and a grasping mechanism, the fixed bracket includes a frame and a sliding bar arranged on the frame, the sliding bar is provided with a first target position and a second target position; the bearing is arranged relative to the first target position, and the bearing is used to carry a transformer; the rotating table is arranged relative to the second target position, and the rotating table is used to install a lightning arrester and is electrically connected to the negative pole of the lightning arrester; the walking mechanism is arranged on the sliding bar, and the walking mechanism is slidably connected to the sliding bar; the grasping mechanism is connected to the walking mechanism; the grasping mechanism is used to connect a first connection when the walking mechanism slides to the first target position of the sliding bar, and disconnect the first connection after the transformer detection is completed; the grasping mechanism is used to connect a second connection when the walking mechanism slides to the second target position of the sliding bar, and disconnect the second connection after the lightning arrester detection is completed; wherein, the first connection is the connection between the transformer and the transformer detection mechanism, and the second connection is the connection between the lightning arrester and the lightning arrester detection mechanism, and between the rotating table and the lightning arrester detection mechanism.

[0045] like Figure 1 As shown, the detection system 10 of one embodiment includes a transformer detection mechanism 100, a lightning arrester detection mechanism 200 and a detection auxiliary device 300. In one embodiment, the detection auxiliary device 300 includes a fixed bracket 310, a bearing 320, a rotating table 330, a walking mechanism 340 and a grabbing mechanism 350. The transformer detection mechanism 100 and the lightning arrester detection mechanism 200 are both detection mechanisms of an intelligent flexible online detection system. The transformer detection mechanism 100 and the lightning arrester detection mechanism 200 are mainly composed of four parts: a centralized control unit, a power supply unit, a detection unit and a switching unit. During the test, the unified deployment and control modules cooperate with each other to complete the detection task according to the pre-set detection parameters, and the corresponding test parameters are set in the centralized control unit according to the information of the test product. The centralized control unit will control the system to switch the function switching module of the detection unit to the corresponding test item, and complete the automatic line switching operation by controlling the lead switching unit, and the power supply unit outputs the corresponding test power according to the test item.

[0046] See again Figure 1 In one embodiment, the fixed bracket 310 includes a frame body 311 and a slide bar 313 disposed on the frame body 311. The slide bar 313 is provided with a first target position and a second target position. In this embodiment, the frame body 311 includes a first support frame, a second support frame parallel to the first support frame, and a cross frame connected to the first support frame and the second support frame respectively, and the slide bar 313 is disposed in parallel on the cross frame. The first target position and the second target position are disposed at intervals.

[0047] See again Figure 1 In one embodiment, the walking mechanism 340 is arranged on the sliding bar 313, and the walking mechanism 340 is slidably connected to the sliding bar 313. In one embodiment, the walking mechanism 340 includes a walking shaft and a driving assembly. The walking shaft is slidably connected to the sliding bar 313. The driving assembly is arranged on the walking shaft, and the power output end of the driving assembly is connected to the sliding bar 313, and the driving assembly drives the walking shaft to slide relative to the sliding bar 313. In one embodiment, the driving assembly includes a driving motor, a gear and a rack, the driving motor is connected to the walking shaft, and the gear is connected to the power shaft of the driving motor. The rack is arranged on the sliding bar 313 and meshes with the gear, so that the driving assembly drives the walking shaft to slide relative to the sliding bar 313, and the power output shaft of the driving assembly is connected to the sliding bar 313. In one embodiment, the grabbing mechanism 350 is connected to the walking mechanism 340, so that the walking mechanism 340 slides relative to the sliding bar 313 with the grabbing mechanism 350.

[0048] See also Figure 2 , Figure 2 for Figure 1 A-direction schematic diagram of the detection system shown, Figure 2 The dotted line shown is the motion trajectory of the grabbing mechanism 350. In one embodiment, the carrier 320 is arranged opposite to the first target position, and the carrier 320 is used to carry the transformer 20 so that the transformer 20 can be reliably grounded. The transformer detection mechanism 100 is arranged adjacent to the carrier 320. The grabbing mechanism 350 connects the wiring of the transformer 20 and the wiring of the transformer detection mechanism 100 when the walking mechanism 340 slides to the first target position of the slide bar 313, and disconnects the wiring of the transformer 20 and the transformer detection mechanism 100 after the detection of the transformer 20 is completed. In this embodiment, the carrier 320 is a tray.

[0049] like Figure 1 As shown, in one embodiment, the rotating platform 330 is arranged opposite to the second target position. Figure 3 , Figure 3 for Figure 1 The B-direction schematic diagram of the detection system shown, Figure 3The dotted line shown is the motion trajectory of the grabbing mechanism 350. The rotating platform 330 is used to install the arrester 30 and is electrically connected to the negative pole of the arrester 30. The arrester detection mechanism 200 is arranged adjacent to the rotating platform 330. The grabbing mechanism 350 connects the wiring between the arrester 30 and the arrester detection mechanism 200, and between the rotating platform 330 and the arrester detection mechanism 200 when the walking mechanism 340 slides to the second target position of the slide bar 313, and disconnects the wiring between the arrester 30 and the arrester detection mechanism 200, and between the rotating platform 330 and the arrester detection mechanism 200 after the arrester 30 is detected. In the present embodiment, the number of the arresters 30 is eight, and the eight arresters 30 are distributed at intervals along the circumference of the rotating table 330, so that the arrester 30 corresponds to the action position of the grabbing mechanism 350 every time the rotating table 330 rotates 45 degrees, so that the detection system can detect the eight arresters 30 in sequence. Before the detection, the eight arresters 30 are installed on the rotating table 330, which greatly improves the detection efficiency of a single arrester 30. It can be understood that in other embodiments, the number of arresters 30 can also be six or ten or twelve, etc. The above-mentioned detection system can complete the insulation resistance test, DC reference voltage test, leakage current test under 0.75 times DC reference voltage, power frequency reference voltage test, continuous current test, partial discharge test and other tests.

[0050] In one embodiment, the rotating table 330 includes a rotating table body and a plurality of lifting mechanisms disposed on the rotating table body. The rotating table body is provided with a plurality of positioning grooves, and the plurality of lifting mechanisms are disposed in the plurality of positioning grooves one by one. Each positioning groove is used to position and install the lightning arrester 30. Each lifting mechanism is electrically connected to the negative pole of the lightning arrester 30.

[0051] like Figure 4 As shown, in one embodiment, the grasping mechanism 350 includes a mechanical arm 352 and a clamping mechanism 354, and the mechanical arm 352 is connected to the walking mechanism 340. In this embodiment, the walking shaft drives the mechanical arm 352 to the wiring working range of the object to be inspected, that is, the first target position or the second target position. The mechanical arm 352, the walking shaft and the fixed bracket 310 are the actuators of the detection system. The clamping mechanism 354 is arranged on the power output shaft of the mechanical arm 352, so that the mechanical arm 352 drives the clamping mechanism 354 to move to a predetermined position to complete the connection or disconnection operation of the test wiring of the transformer 20 or the lightning arrester 30. The mechanical arm 352 and the seventh axis of transverse movement are used to realize automatic wiring, without the need for personnel to participate in the wiring.

[0052] In one embodiment, the clamp mechanism 354 is used to connect the wiring between the transformer 20 and the transformer detection mechanism 100 when the walking mechanism 340 slides to the first target position of the slide bar 313, and disconnect the wiring between the transformer 20 and the transformer detection mechanism 100 after the detection of the transformer 20 is completed. The clamp mechanism 354 is used to connect the wiring between the arrester 30 and the arrester detection mechanism 200, the rotating platform 330 and the arrester detection mechanism 200 when the walking mechanism 340 slides to the second target position of the slide bar 313, and disconnect the wiring between the arrester 30 and the arrester detection mechanism 200, the rotating platform 330 and the arrester detection mechanism 200 after the detection of the arrester 30 is completed.

[0053] In one of the embodiments, the mechanical arm 352 is a six-degree-of-freedom mechanism, so that the grasping range of the mechanical arm 352 is large, so that the grasping mechanism 350 has good flexibility. In one of the embodiments, the detection system includes a test lead, and the test lead is used to electrically connect the transformer detection mechanism 100 or the lightning arrester 30 detection mechanism 200 to the object to be tested. In one of the embodiments, the test lead includes a high-voltage pressurized lead and a low-voltage pressurized lead. In order to improve the insulation capacity of the withstand voltage test of the test lead and the requirement of no partial discharge in the partial discharge test, the test lead includes a high-voltage pressurized lead, and the high-voltage pressurized lead includes a first single core wire, a first inner shielding layer coated on the outside of the first single core wire, a first main insulation layer coated on the outside of the first inner shielding layer, and a first outer sheath layer coated on the outside of the first main insulation layer, so that the maximum test voltage of the high-voltage pressurized lead is 80kV, and it is designed according to the requirement of no partial discharge of 50kV and below, and the insulation strength between the core wire and the inner shielding layer is 1.5kV.

[0054] In one embodiment, the low-voltage boost lead includes a second single core wire, a second inner shielding layer wrapped around the outside of the second single core wire, a second main insulating layer wrapped around the outside of the second inner shielding layer, and a second outer sheath layer wrapped around the outside of the second main insulating layer, so that the maximum test voltage of the low-voltage boost lead is 2.5 kV, and the insulation strength between the core wire and the inner shielding layer is 1.5 kV designed according to the requirement of no partial discharge. In one embodiment, the high-voltage boost lead and the low-voltage boost lead have the same structure, and the thickness of the first single core wire, the first inner shielding layer, the first main insulating layer and the first outer sheath layer therein are different, so that their respective maximum test voltages are different.

[0055] like Figure 4As shown, in one embodiment, the clamp mechanism 354 includes a seat 3546, a driving element 3542 and a roller assembly 3544. The driving element is arranged on the seat, and the power output end of the driving element is connected to the roller assembly. The roller assembly is movably connected to the seat, and the driving element drives the roller assembly to move relative to the seat, so that the roller assembly presses or leaves the test lead, so that the test lead is connected or disconnected to the object to be tested. In one embodiment, the driving element includes a motor, the motor is arranged on the seat, and the power shaft of the motor is connected to the roller assembly, so that the power output end of the driving element is connected to the roller assembly.

[0056] like Figure 4 As shown, in order to make the clamp mechanism better grasp the test lead, in one embodiment, the test lead 40 includes a lead body 42 and a clamp assembly 44, the lead body is electrically connected to the clamp assembly, and the clamp assembly is used to clamp on the wiring position of the transformer or the arrester, so that the test lead is connected or disconnected on the transformer or the arrester. In this embodiment, the diameters of the lead bodies of the high-voltage pressurized lead and the low-voltage pressurized lead are different, so that their maximum test voltages are different. The structure of the clamp assembly of the high-voltage pressurized lead and the low-voltage pressurized lead is the same. The clamp assembly 44 is provided with a positioning hole. The grasping mechanism 350 is provided with a positioning pin 356, which is inserted into the positioning hole to position the clamp assembly on the grasping mechanism, so that the clamp assembly is relatively stable during the movement of the grasping mechanism. Specifically, the positioning pin is arranged on the seat. The driving element acts on the clamp assembly to drive the clamp assembly to buckle and realize the opening operation of the clamp assembly. The movement of the mechanical arm drives the clamp assembly to move to the contact position required to clamp the test lead, that is, the wiring position of the test lead. The motor drives the roller assembly to move to clamp the clamp assembly to drive the clamp assembly to buckle. In one embodiment, an abutment groove 442 is provided on the outer side of the clamp assembly, and the roller assembly is located in the abutment groove, so that the roller assembly can better press the clamp assembly.

[0057] In order to better realize the connection or disconnection of the grasping mechanism 350, in one embodiment, the jaws of the clamp assembly 444 are set at a predetermined angle for positioning and clamping, so that the clamp assembly can better grasp or release the contact, and realize the connection or disconnection of the grasping mechanism 350. In one embodiment, the predetermined angle is 110° to 130°, so that the mechanical arm 352 can better grasp or release the clamp assembly. In this embodiment, the predetermined angle is 120°, so that the mechanical arm 352 can better grasp or release the clamp assembly. The jaws of the clamp assembly need to be designed to be an opening and closing angle of 120° for easy positioning and clamping. The function of the clamp assembly buckle is to open the jaws of the clamp assembly through the clamping force of the clamping claws of the mechanical arm 352. In one embodiment, the maximum test voltages of the lead bodies of the high-voltage pressurized lead and the low-voltage pressurized lead are different, and the clamp assemblies of the high-voltage pressurized lead and the low-voltage pressurized lead have the same structure.

[0058] like Figure 2 As shown, in one embodiment, the robot arm 352 is invertedly mounted on the travel shaft of the travel mechanism 340. The structure of the external travel shaft and the inverted robot arm 352 can maximize the range of motion of the robot arm 352 by horizontally moving the robot arm 352, and meet the wiring range requirements of the two detection devices, the transformer 20 and the lightning arrester 30. The suspension method is used to fully utilize the spatial distance, shorten the arm span requirement of the robot arm 352, and reserve the insulation safety distance and the feeding path of the object to be inspected.

[0059] In order to enable the mechanical arm 352 to better grasp the clamp assembly of the test lead, in one embodiment, a first clamp seat (not shown) is provided on the transformer detection mechanism 100, and the first clamp seat is used to place the clamp assembly of the test lead of the transformer detection mechanism 100. Each time after the transformer detection mechanism 100 completes the detection of the transformer 20, the mechanical arm 352 grasps the clamp assembly and releases it to the position of the first clamp seat, so that the clamp assembly of the test lead of the transformer detection mechanism 100 is clamped on the first clamp seat. This is conducive to the mechanical arm 352 grasping the clamp assembly of the test lead of the transformer detection mechanism 100 next time, and avoids the displacement of the clamp assembly due to the gravity of the test lead of the transformer detection mechanism 100 being greater than the clamping force of the clamp assembly, so that the positioning point of the clamp assembly cannot be found when the clamp assembly is retrieved.

[0060] In order to enable the mechanical arm 352 to better grasp the test lead, in one embodiment, the arrester detection mechanism 200 is provided with a second clamp seat (not shown), and the second clamp seat is used to place the clamp assembly of the test lead of the arrester detection mechanism 200. Each time the arrester detection mechanism 200 completes the detection of the arrester 30, the mechanical arm 352 grasps the clamp assembly and releases it to the position of the second clamp seat, so that the clamp assembly of the test lead of the arrester detection mechanism 200 is clamped on the second clamp seat. This is conducive to the next time the mechanical arm 352 grasps the clamp assembly of the test lead of the arrester detection mechanism 200, and avoids the displacement of the clamp assembly due to the gravity of the test lead of the arrester detection mechanism 200 being greater than the clamping force of the clamp assembly, so that the positioning point of the clamp assembly cannot be found when the clamp assembly is retrieved.

[0061] like Figure 1 and Figure 5 As shown, in order to quickly and accurately place the transformer 20 on the carrier 320, in one embodiment, the detection auxiliary device 300 further includes a limiting mechanism 360, which is disposed on the carrier 320. The limiting mechanism is used to position the transformer 20, so that the transformer 20 is quickly and accurately placed on the carrier 320, and ensures that the grabbing mechanism 350 can accurately connect the transformer 20 with the wiring of the transformer detection mechanism 100.

[0062] like Figure 5 As shown, in one embodiment, the limiting mechanism 360 includes two limiting components 362 arranged opposite to each other, and both limiting components are arranged on the bearing member 320. The two limiting components are respectively positioned on both sides of the transformer 20, so that the limiting mechanism can better position the transformer 20. In one embodiment, each limiting component 362 includes a limiting guide plate 3622 and a fixing seat 3624 connected to each other, the limiting guide plate is positioned on the transformer 20, and the fixing seat is connected to the bearing member 320, so that each limiting component is positioned on the transformer 20. In one embodiment, the fixing seat is detachably connected to the bearing member 320. In this embodiment, the fixing seat is locked on the bearing member 320 by screws, so that the fixing seat is detachably connected to the bearing member 320. It can be understood that in other embodiments, the fixing seat can also be snap-connected to the bearing member 320 so that the transformer 20 can be quickly positioned on the bearing member 320.

[0063] In one of the embodiments, each limit assembly includes a locking screw. The fixing seat is provided with a waist-shaped hole, and the supporting member 320 is provided with a threaded hole. The locking screws are respectively inserted into the waist-shaped hole and the threaded hole, so that the fixing seat is reliably connected to the supporting member 320, so as to adjust the position of the fixing seat connected to the supporting member 320, and the position of the limit assembly connected to the supporting member 320 can be adjusted, so as to realize the positioning of transformers 20 of different models, thereby improving the applicability of the limit assembly. In one of the embodiments, the limit guide plate of each limit assembly is L-shaped, so that one end of the limit guide plate is respectively positioned on the adjacent two side edges of the transformer 20, so that the limit guide plate is better positioned on the transformer 20. Figure 5 As shown, in one embodiment, each limiting assembly 362 further includes a guide plate 3626, which is connected to one end of the limiting guide plate, and the angle between the guide plate and the limiting guide plate is 150 degrees to 175 degrees. Since the guide plate plays a guiding role, the limiting guide plate is quickly positioned on the transformer 20, thereby improving the positioning efficiency of the limiting mechanism. In this embodiment, the angle between the guide plate and the limiting guide plate is 170 degrees.

[0064] like Figure 6 As shown, in one embodiment, the detection auxiliary device 300 also includes a CCD camera 370. Figure 1, the CCD camera is connected to the control end of the walking mechanism 340. The CCD camera is used to shoot the current position of the grabbing mechanism 350, and compare the current position of the grabbing mechanism 350 with the reference position to adjust the position of the grabbing mechanism 350, so that the grabbing mechanism 350 can accurately complete the connection and disconnection operations of the transformer 20 or the lightning arrester 30. The position coordinates after the CCD camera takes pictures are compared with the reference position to improve the automatic and reliable grasping of the gripper of the mechanical arm 352 and meet the reliability of the contact of the terminal. The transformer 20 and the lightning arrester 30 are positioned in the horizontal direction and height by visual positioning. Due to the deviation in installation, assembly and positioning, the problem of inconsistency in the front and rear directions is caused, and the angle error of the transformer 20 is corrected by taking pictures at two points of high voltage and low voltage to compare with the existing size of this specification, and the accuracy of detection is improved.

[0065] like Figure 3 As shown, in one embodiment, the grasping mechanism 350 further includes a mechanical arm cabinet 353, which is in communication connection with the control end of the mechanical arm 352, and the mechanical arm cabinet controls the movement of the mechanical arm 352. Figure 1 In one embodiment, the detection auxiliary device 300 further includes a mounting seat (not shown), which is connected to the walking mechanism 340 so that the mounting seat slides with the walking mechanism 340 relative to the slide bar 313. The mechanical arm cabinet is arranged on the mounting seat, and the projections of the mechanical arm cabinet and the mechanical arm 352 in the vertical direction are respectively located on both sides of the projection of the slide bar 313 in the vertical direction, playing a counterweight role, so that the walking mechanism 340 is relatively stable during the sliding process relative to the slide bar 313.

[0066] like Figure 1 and Figure 2 As shown, in one embodiment, the transformer detection mechanism 100 is provided with a transformer grounding terminal 110, a plurality of high-voltage terminals 120 and a plurality of low-voltage terminals 130. The grasping mechanism 350 respectively connects the grounding terminal of the transformer 20, the plurality of high-voltage terminals and the plurality of high-voltage terminals when the walking mechanism 340 slides to the first target position of the slide bar 313, and respectively disconnects the grounding terminal of the transformer 20, the plurality of high-voltage terminals and the plurality of high-voltage terminals after the detection of the transformer 20 is completed, so that the grasping mechanism 350 connects the wiring of the transformer 20 and the wiring of the transformer detection mechanism 100 when the walking mechanism 340 slides to the first target position of the slide bar 313, and disconnects the wiring of the transformer 20 and the transformer detection mechanism 100 after the detection of the transformer 20 is completed. In this embodiment, the number of the grounding terminal of the transformer 20 is one, the number of the high-voltage terminals is three, and the number of the low-voltage terminals is four.

[0067] like Figure 1 and Figure 3 As shown, in one embodiment, the arrester detection mechanism 200 is provided with an AC high voltage terminal 210, a DC high voltage terminal 220 and a detection ground terminal 230. The grabbing mechanism 350 connects the arrester 30 with the AC high voltage terminal and the DC high voltage terminal respectively when the walking mechanism 340 slides to the second target position of the slide bar 313, and connects the rotating platform 330 with the detection ground terminal. After the arrester 30 is detected, the arrester 30 is disconnected from the AC high voltage terminal and the DC high voltage terminal, and the rotating platform 330 is disconnected from the detection ground terminal, so that the grabbing mechanism 350 connects the arrester 30 with the arrester detection mechanism 200, the rotating platform 330 and the arrester detection mechanism 200 when the walking mechanism 340 slides to the second target position of the slide bar 313, and disconnects the arrester 30 with the arrester detection mechanism 200, the rotating platform 330 and the arrester detection mechanism 200 after the arrester 30 is detected. Wiring between the arrester 30 and the arrester detection mechanism 200, the rotating platform 330 and the arrester detection mechanism 200. Wiring between. In this embodiment, the detection ground terminal includes a detection terminal and a ground terminal, and the detection terminal and the ground terminal are overlapped. Each lifting mechanism is electrically connected to the detection ground terminal and the negative pole of the lightning arrester 30, so that the detection ground terminal is electrically connected to the negative pole of the corresponding lightning arrester 30 through the corresponding lifting mechanism.

[0068] like Figure 6 As shown, in one embodiment, the detection system 10 also includes a controller 500, which is respectively connected to the control end of the grabbing mechanism 350, the control end of the walking mechanism 340, the control end of the rotating table 330, the control end of the transformer detection mechanism 100 and the control end of the lightning arrester detection mechanism 200.

[0069] In one embodiment, when the gripping mechanism 350 slides to the first target position with the walking mechanism 340, that is, when the gripping mechanism 350 slides to the detection position of the transformer 20 with the walking mechanism 340, the controller controls the gripping mechanism 350 to clamp the wiring terminal and move it to the terminal position of the transformer 20; when the wiring connection of the transformer 20 is completed, the gripping mechanism 350 sends an instruction to the transformer detection mechanism 100, and the transformer testing mechanism tests the wiring result of the transformer 20 to check whether the wiring meets the specification requirements; if the wiring does not meet the specification requirements, it is transferred to manual processing. If the wiring meets the specification requirements, the controller controls the transformer testing mechanism to perform a detection test on the transformer 20. After the detection of the transformer 20 is completed, the transformer testing mechanism sends an instruction to the gripping mechanism 350, and the gripping mechanism 350 acts and disconnects the wiring of the transformer 20 until the wiring of the transformer 20 is disconnected.

[0070] In one of the embodiments, when the grabbing mechanism 350 slides to the second target position with the walking mechanism 340, that is, when the grabbing mechanism 350 slides to the inspection station of the transformer 20 with the walking mechanism 340, the controller controls the grabbing mechanism 350 to clamp the high-voltage DC terminal; the controller controls the lightning arrester detection mechanism 200 to detect the lightning arrester 30; after the lightning arrester 30 is detected, the lightning arrester detection mechanism 200 sends an instruction to the grabbing mechanism 350, and the grabbing mechanism 350 disconnects the wiring until the wiring is removed.

[0071] like Figure 6 As shown, in one embodiment, the detection system 10 further includes an audible and visual alarm device 600, which is connected to the controller and is used to prompt that the detection of the transformer 20 or the lightning arrester 30 is completed. When the transformer 20 test is completed, the audible and visual alarm device gives an audible and visual alarm and prompts that the detection is completed. Similarly, when the lightning arrester 30 test is completed, the audible and visual alarm device gives an audible and visual alarm and prompts that the detection is completed.

[0072] The above-mentioned detection system is based on the intelligent control of the test process of the TCP / IP protocol. It is developed using "one-click" centralized control software and PLC control networking. It only needs to configure the test items and their parameters to be completed before the experiment. The system automatically completes the automatic wiring of the robot arm 352, the selection of test items, the switching of test wiring, the adjustment of test voltage and data measurement, and completes all test items one by one. There is no need to change the test wiring during the test process. The software control part has a configurable parameter setting function, which can customize the test parameters and import standard test templates. The detection system has a wiring self-check function, which can complete the wiring self-check of the high-voltage and low-voltage parts respectively. It also has a fully automatic measurement function, which can automatically complete the detection of each project according to the set parameters.

[0073] In one embodiment, the detection system can check the detection report and play the three-dimensional animation on the touch screen LCD screen through the report module of the centralized control center in the human-computer interaction unit. The voice module attached to the human-computer interaction unit can realize human-computer dialogue, broadcast the laboratory function introduction, current test environment and other functions. The functions and control requirements of the above detection system can be adopted in various forms. In this embodiment, Ethernet is used through the TCP / IP communication protocol to realize the interaction between the detection device, the actuator and the human-computer interaction unit.

[0074] The specific control structure of the detection system integrates the centralized control software, which has a login module, process control, data processing and auxiliary modules. The centralized control software can communicate the safety interlock signal, status signal and detection product model with the control system of the actuator through the interface module. The control of the detection equipment and the actuator adopts two independent control structures, which can be completed by two people or one person. The working states of the two independent control structures do not interfere with each other, making the operation and maintenance of the detection system simpler.

[0075] The present application also provides a detection method, using the detection system described in any of the above embodiments to detect the transformer 20 and the lightning arrester 30 respectively. In one embodiment, the detection method includes:

[0076] Placing the transformer 20 on the carrier 320;

[0077] Installing the lightning arrester 30 on the rotating platform 330;

[0078] The walking mechanism 340 slides to the first target position, so that the grabbing mechanism 350 moves with the walking mechanism 340 to a position corresponding to the transformer 20;

[0079] Connecting the transformer 20 to the transformer detection mechanism 100 through the grabbing mechanism 350;

[0080] The transformer 20 is detected by the transformer detection mechanism 100;

[0081] Disconnecting the connection between the transformer 20 and the transformer detection mechanism 100 through the grabbing mechanism 350;

[0082] The walking mechanism 340 slides to the second target position, so that the grabbing mechanism 350 moves with the walking mechanism 340 to a position corresponding to the arrester 30;

[0083] Connecting the arrester 30 and the arrester detection mechanism 200 via the grabbing mechanism 350;

[0084] Detecting the lightning arrester 30 by the lightning arrester detection mechanism 200;

[0085] The connection between the arrester 30 and the arrester detection mechanism 200 is disconnected by the grabbing mechanism 350 .

[0086] like Figure 1 and Figure 6 As shown, the detection system detects the wiring of the transformer 20 in the following process:

[0087] 1) Preparation of transformer 20. As preparation for the wiring test of transformer 20, the transformer 20 to be tested needs to be manually placed on a pallet using a lifting device. Then the transformer 20 to be tested is connected to the grounding terminal of the pallet to ensure that the transformer 20 to be tested is reliably grounded. After that, the pallet is manually moved to the storage area AR000 of the transformer 20 to be tested.

[0088] 2) AGV transports pallets. The AGV mobile platform is centrally controlled by the AGV control system. The platform is equipped with wireless communication terminal equipment to receive control instructions from the AGV control system. After the operator issues instructions to the AGV control system through the call terminal, the AGV (AG001) will take materials from the storage area AR000 of the transformer 20 to be inspected and deliver the test samples to the transformer inspection station AR001. Then the inspection equipment JC001 / 02 starts the inspection. After the inspection is completed, the operator will transport the inspected transformer 20 pallet to the inspected area through the call terminal AGV (AG001).

[0089] 3) Robot arm JX001 automatically connects the wires at transformer inspection station AR001. After AGV (AG001) delivers the test sample to the site, the transformer 20 model is manually confirmed and the start button is pressed. The station detection sensor JC001 automatically detects; if the test sample is not in place, an alarm is manually processed; if the test sample is in place, the robot arm JX001 starts automatic wiring. The robot arm JX001 moves to the inspection station AR001, grabs the wiring terminal, and moves to the transformer 20 terminal position, and the cycle is repeated 7 times.

[0090] 4) After the wiring is completed, the robot arm JX001 sends a command to the transformer detection mechanism JC001, and the detection device JC001 tests the wiring results to check whether the wiring meets the specification requirements. If the wiring does not meet the specification requirements, an alarm is manually processed; if the wiring meets the specification requirements, the distribution transformer automatic detection device JC001 performs a transformer 20 detection test.

[0091] 5) After the transformer inspection mechanism JC001 completes the inspection, it sends a command to the robot arm system, and the robot arm JX001 moves to the inspection station AR001 to automatically remove the wires, and the cycle is repeated 7 times until the removal work is completed. After the robot arm JX001 completes the wire removal, it moves to the rest position, and the sound and light alarm BJ001 indicates that the inspection is completed. Then the transformer tray will be delivered to the inspected area by AGV (AG001) or manual handling.

[0092] Among them, the automatic detection process of the transformer is as follows: after the robot arm JX001 completes the wiring, the transformer detection mechanism JC001 receives the signal from the robot arm JX001 and starts self-testing. If the wiring is incorrect, a command is sent to the robot arm JX001 to rewire. If the wiring is correct, the branch reference voltage test, branch 0.75UmA leakage current test, partial discharge automatic calibration, power frequency reference voltage test, continuous current automatic test, partial discharge automatic test and other items are automatically performed one by one. After the detection is completed, a command is sent to the robot arm software to let the robot arm JX001 start to automatically remove the wires. After the robot arm JX001 completes the removal of the wires, a command is sent to the AGV transportation system to transport the distribution transformer to the inspected area.

[0093] like Figure 1 and Figure 6 As shown, the detection system detects the wiring of the lightning arrester 30 as follows:

[0094] 1) First, 8 identical arresters 30 to be inspected will be manually installed on the inspection table (i.e., rotating table 330) JT001. After manually confirming the transformer model and pressing the start button, the robot arm JX001 will move to the inspection station AR002. If the inspection sample is not in place, the inspection table JT001 will rotate one station. If there is no inspection sample at any of the 8 stations, an alarm will be manually processed; if the inspection sample is in place, the robot arm JX001 will start automatic wiring work.

[0095] 2) The robot arm JX001 clamps the high-voltage DC terminal and completes the wiring of the 1# arrester 30, then clamps the high-voltage branch terminal and completes the wiring of the 4# arrester 30. After the wiring connection is completed, the robot arm JX001 resets to the rest position, and the automatic arrester detection device JC002 is used to perform the inspection items. After the inspection is completed, the arrester detection mechanism JC002 sends a command to the robot arm system, and the robot arm JX001 performs the wire removal operation until the wire removal is completed. Then the inspection table JT001 rotates one station and repeats the previous operation until all 8 products have completed the inspection.

[0096] 3) After the test is completed, the sound and light alarm BJ001 prompts that the test is completed, and the staff removes the tested lightning arrester 30 from the test bench JT001.

[0097] Among them, the automatic detection process of the lightning arrester 30 is as follows: after the wiring of the robot arm JX001 is completed, it starts to automatically perform the DC reference voltage test, automatic test of the DC resistance of the high and low voltage sides, automatic test of the high and low transformation ratio, automatic measurement of the insulation resistance, and automatic test of the external withstand voltage. After the detection is completed, a command is sent to the robot arm software to let the robot arm JX001 start to automatically remove the wires. Then the inspection table JT001 rotates one station and repeats the same operation for more than 8 times. After all the lightning arresters 30 are inspected, the staff will remove them from the inspection table JT001.

[0098] The above-mentioned detection auxiliary device 300, detection system and detection method place the transformer on the carrier 320, and install the lightning arrester 30 on the rotating table 330 so that the negative pole of the lightning arrester 30 is electrically connected to the rotating table 330. The walking mechanism 340 drives the grasping mechanism 350 to slide relative to the slide bar 313, so that the grasping mechanism 350 slides relative to the slide bar 313 with the walking mechanism 340, so that the walking mechanism 340 can slide to the first target position or the second target position relative to the slide bar 313. When the grasping mechanism 350 slides to the first target position with the walking mechanism 340, the grasping mechanism 350 automatically connects the wiring between the transformer and the transformer detection mechanism, so that the transformer detection mechanism detects the transformer. After the transformer detection is completed, the grasping mechanism 350 automatically disconnects the wiring between the transformer and the transformer detection mechanism. When the grabbing mechanism 350 slides to the second target position with the walking mechanism 340, the grabbing mechanism 350 automatically connects the wiring between the arrester 30 and the arrester detection mechanism 200, and connects the wiring between the rotating platform 330 and the arrester detection mechanism 200, so that the arrester detection mechanism 200 detects the arrester 30. After the arrester 30 is detected, the grabbing mechanism 350 automatically disconnects the wiring between the arrester 30 and the arrester detection mechanism 200, and the wiring between the rotating platform 330 and the arrester detection mechanism 200.

[0099] The above-mentioned detection auxiliary device, detection system and detection method avoid the traditional test monitoring based on the installation of the arrester 30 on site. In this way, all test items are completed in the process of detecting the arrester 30 without multiple different test instruments. At the same time, the connection or disconnection of the wiring by the grabbing mechanism 350 solves the problem that the test process of the arrester 30 is relatively cumbersome and easy to cause unsafe factors. The above-mentioned detection system and detection method have detection functions such as insulation resistance test, DC reference voltage test and leakage current test under 0.75 times DC reference voltage, can automatically complete the wiring, and automatically complete the detection of all items of the arrester 30 and transformer, automatically complete data analysis and report generation, and the whole process does not require manual intervention, which greatly improves the test efficiency of the detection system.

[0100] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A detection auxiliary device, characterized in that: include: A fixed bracket comprises a frame body and a slide bar arranged on the frame body, wherein the slide bar is provided with a first target position and a second target position, and the first target position and the second target position are arranged at an interval; A bearing member, the bearing member is arranged opposite to the first target position, and the bearing member is used to bear the transformer; A rotating table, the rotating table is arranged opposite to the second target position, the rotating table is used to install the lightning arrester and is electrically connected to the negative pole of the lightning arrester; the rotating table includes a rotating table body and a plurality of lifting mechanisms arranged on the rotating table body, the rotating table body is provided with a plurality of positioning grooves, the plurality of the lifting mechanisms are arranged in a one-to-one correspondence in the plurality of positioning grooves, and each positioning groove is used to position and install the lightning arrester; A walking mechanism, wherein the walking mechanism is slidably connected to the slide bar; the walking mechanism comprises a walking shaft and a driving assembly; A gripping mechanism connected to the walking mechanism; the gripping mechanism is used to connect a first connection when the walking mechanism slides to a first target position of the slide bar, and disconnect the first connection after the transformer detection is completed; the gripping mechanism is used to connect a second connection when the walking mechanism slides to a second target position of the slide bar, and disconnect the second connection after the arrester detection is completed; wherein the first connection is the connection between the transformer and the transformer detection mechanism, and the second connection is the connection between the arrester and the arrester detection mechanism, and between the rotating table and the arrester detection mechanism; The grasping mechanism comprises a mechanical arm and a clamping mechanism, the mechanical arm is connected to the walking mechanism, and the clamping mechanism is arranged on the power output shaft of the mechanical arm; the mechanical arm is a six-degree-of-freedom mechanism, and the mechanical arm is arranged on the walking shaft in an inverted manner.

2. The detection auxiliary device according to claim 1, characterized in that: The detection auxiliary device further includes a limiting mechanism, which is disposed on the bearing member and is used to position the transformer.

3. The detection auxiliary device according to claim 1, characterized in that: The detection auxiliary device also includes a CCD camera, which is connected to the control end of the walking mechanism. The CCD camera is used to photograph the current position of the grasping mechanism and compare the current position of the grasping mechanism with a reference position to adjust the position of the grasping mechanism.

4. The detection auxiliary device according to claim 1, characterized in that: The clamping mechanism is used to connect the first connection when the walking mechanism slides to the first target position of the slide bar, and disconnect the first connection after the transformer detection is completed. The clamping mechanism is used to connect the second connection when the walking mechanism slides to the second target position of the slide bar, and disconnect the second connection after the lightning arrester detection is completed.

5. A detection system, characterized in that: It comprises a transformer detection mechanism, a lightning arrester detection mechanism and a detection auxiliary device as described in any one of claims 1 to 4; The transformer detection mechanism is disposed adjacent to the carrier; the grabbing mechanism connects the first connection when the walking mechanism slides to the first target position of the slide bar, and disconnects the first connection after the transformer detection is completed; The arrester detection mechanism is arranged adjacent to the rotating platform; the grabbing mechanism connects the second connection when the walking mechanism slides to the second target position of the slide bar, and disconnects the second connection after the arrester detection is completed.

6. The detection system according to claim 5, characterized in that: The transformer detection mechanism is provided with a transformer grounding terminal, a plurality of high-voltage terminals and a plurality of low-voltage terminals. The grasping mechanism respectively connects the transformer grounding terminal, the plurality of high-voltage terminals and the plurality of high-voltage terminals when the walking mechanism slides to the first target position of the slide bar, and respectively disconnects the transformer grounding terminal, the plurality of high-voltage terminals and the plurality of high-voltage terminals after the transformer detection is completed.

7. The detection system according to claim 5, characterized in that: The lightning arrester detection mechanism is provided with an AC high-voltage terminal, a DC high-voltage terminal and a detection grounding terminal. The grasping mechanism respectively connects the lightning arrester with the AC high-voltage terminal, the DC high-voltage terminal, and the connection between the rotating platform and the detection grounding terminal when the walking mechanism slides to the second target position of the sliding rod, and disconnects the lightning arrester with the AC high-voltage terminal, the DC high-voltage terminal, and the connection between the rotating platform and the detection grounding terminal after the lightning arrester detection is completed.

8. The detection system according to any one of claims 5 to 7, characterized in that: The detection system also includes a controller, which is respectively connected to a control end of the grabbing mechanism, a control end of the walking mechanism, a control end of the rotating platform, a control end of the transformer detection mechanism, and a control end of the arrester detection mechanism.

9. The detection system according to claim 8, characterized in that: The detection system further comprises an audible and visual alarm device, which is connected to the controller and is used to prompt that the detection of the transformer or the arrester is completed.

10. A detection method, characterized in that: The transformer and the arrester are detected respectively using the detection system described in any one of claims 5 to 9, and the detection method comprises: placing the transformer on the carrier; Installing the lightning arrester on the rotating platform; The walking mechanism slides to the first target position, so that the grabbing mechanism moves with the walking mechanism to a position corresponding to the transformer; connecting the transformer to the transformer detection mechanism through the grabbing mechanism; Testing the transformer by the transformer testing mechanism; disconnecting the connection between the transformer and the transformer detection mechanism by means of the grabbing mechanism; The walking mechanism slides to the second target position, so that the grabbing mechanism moves with the walking mechanism to a position corresponding to the arrester; Connecting the arrester to the arrester detection mechanism through the grabbing mechanism; Detecting the arrester by the arrester detection mechanism; The connection between the arrester and the arrester detection mechanism is disconnected by the grabbing mechanism.

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