A kind of electrical grounding robot and its control method

Abstract

The present invention discloses an electric grounding robot and a control method thereof in the field of automated robot technology, aiming to solve the problems of high labor intensity, high risk factor, low efficiency of existing machines, etc. in the prior art of electric grounding operation. The robot body includes a laser radar, an optoelectronic pod, a gripper mechanism, a hoist, a main chassis, an auxiliary chassis, an electric grounding mechanism, and a four-degree-of-freedom mechanical arm; the first reel of the hoist is sent and hung on the cross arm of the electric pole, and the rotation of the first reel drives the main chassis to rise and fall; the gripper mechanism is used to grasp the cross arm of the electric pole for fixing; the auxiliary chassis is used to store the electric grounding mechanism; the four-degree-of-freedom mechanical arm is used to grasp and place the electric grounding mechanism on the electric grounding ring; the optoelectronic pod observes and cooperates with the laser radar to measure the distance of the grounding ring, the overhead cable and the position of the robot body moving up and down; the present invention is suitable for high-altitude electric grounding, can improve the efficiency of electric grounding, and ensure the personal safety of operators.

Description

Technical Field

[0001] The invention relates to an electrical grounding robot and a control method thereof, belonging to the technical field of automatic robots. Background Art

[0002] During the line maintenance process, the three major technical measures of power outage, power testing, and grounding are the prerequisites for ensuring the safety of the transmission line. Since many people mistakenly believe that it is a familiar job, it is often ignored and becomes a safety loophole. At present, the road inspection of transmission lines mainly relies on manual climbing of poles to complete the power testing work, which has many serious challenges such as high labor intensity, high degree of danger, and low operation efficiency. Therefore, it is inevitable to use intelligent robots to replace manual operations. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an electrical testing and grounding robot and a control method thereof, which can automatically complete the online electrical testing and grounding work through the electrical testing and grounding robot, thereby avoiding the accident risks caused by manual operations and improving work efficiency.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0005] The present invention provides an electrical testing and grounding robot, comprising a robot body; the robot body comprises a laser radar, an optoelectronic pod, a gripper mechanism, a winch, a main chassis, an auxiliary chassis, an electrical testing and grounding mechanism and a four-degree-of-freedom mechanical arm;

[0006] The hoist includes a first rope connected to a first drum; the first rope is hung on the cross arm of the electric pole, and the first drum rotates to drive the main box to rise and fall; the gripping mechanism is connected to the hoist; a portion of the gripping mechanism extends out of the main box to grip the cross arm of the electric pole to fix it;

[0007] The auxiliary machine box is arranged at the front end of the main machine box, and is used to accommodate the electrical test grounding mechanism; the four-degree-of-freedom robotic arm is connected to the main machine box, and is used to grasp and place the electrical test grounding mechanism on the electrical test ring; the laser radar and the optoelectronic pod are respectively arranged on the main machine box; the optoelectronic pod observes and cooperates with the laser radar to measure the distance of the grounding ring, the overhead cable and the up and down movement of the robot body.

[0008] Furthermore, the gripper mechanism includes a gripper bracket, a first gear, a first motor and a first rack; the two first gears are respectively fixed on the gripper bracket; a clip is provided on the first rack; one side of the two first racks is embedded in the track of the gripper bracket, and the other side is respectively meshed with the two first gears; the two first motors respectively drive the two first gears to rotate, driving the two first racks and the clips to move relatively away or closer.

[0009] Furthermore, it also includes a transverse moving platform; the transverse moving platform includes a moving platform base plate, a first / second screw rod, a first / second slider and a second / third motor; both ends of the first / second screw rod are respectively fixed to the moving platform base plate; the first slider is arranged on the first screw rod, and the second motor controls the first screw rod to drive the first slider to move left and right; the second slider is arranged on the second screw rod, and the third motor controls the second screw rod to drive the second slider to move left and right; the two winches are respectively fixed to the first slider and the second slider.

[0010] Furthermore, it also includes a guide rail moving mechanism arranged on the top of the main box; the guide rail moving mechanism includes a guide rail frame, a third screw rod, a fourth motor and a placer; one end of the third screw rod is fixed to the bottom plate of the guide rail frame through the fourth motor, and the other end passes through the placer and is fixed to the top plate of the guide rail frame; the laser radar is arranged on the placer.

[0011] Furthermore, the guide rail moving mechanism is also provided with an optical axis and a limit plate; the limit plate passes through the third screw rod and is fixed to the guide rail frame, one end of the two optical axes is fixed to the partition plate of the guide rail frame, and the other end passes through the limit plate and the placer and is fixed to the top plate of the guide rail frame.

[0012] Furthermore, the robot body is connected to a ground traction device; the traction device includes a frame-type base, a second reel and a second rope; the second reel is arranged on the frame-type base; a connecting ring is provided on the outer bottom of the main box; one end of the second rope is fixed to the second reel, and the other end is fixed to the connecting ring.

[0013] Furthermore, the four-degree-of-freedom robotic arm includes a four-axis robotic arm, a gear placement plate, a gear gripper and a gripper motor; one end of the four-axis robotic arm is connected to the main box, and the other end is connected to the gear placement plate; the gripper motor is connected to the gear placement plate for controlling the opening and closing of the gear gripper.

[0014] Furthermore, the electrical testing and grounding mechanism includes a first tube section, a second tube section, a second rack, a grounding rod and a box base; the grounding rod and the first tube section are respectively fixedly connected to the box base; the second tube section is fixedly connected to the second rack, and is arranged in the first tube section and moves up and down along the axial direction of the first tube section; the fifth motor is connected to the second gear and fixed in the box base; the second rack is meshed with the second gear.

[0015] The present invention provides a control method for an electrical testing and grounding robot. The method for controlling any of the above-mentioned electrical testing and grounding robots comprises:

[0016] The drone carries the first coiled rope and is hung on the cross arm of the electric pole. The first coil drives the robot body to climb along the first coiled rope toward the cross arm of the electric pole. The ground traction device restrains the robot body to prevent shaking.

[0017] When the robot body climbs below the cross arm of the electric pole, the clamp of the gripper mechanism grabs the cross arm of the electric pole to fix it;

[0018] The gear gripper of the four-degree-of-freedom mechanical arm grabs each of the electrical testing and grounding mechanisms, and performs electrical testing on each wire one by one; when a certain wire is without power, the electrical testing and grounding mechanism is hung on the electrical testing ring of the wire; the grabbing and electrical testing action is repeated until all the wires on the cross arm of the pole are tested;

[0019] The clamp of the gripper mechanism releases the cross arm of the electric pole; the first reel drives the robot body to descend to the ground along the first reel in the opposite direction of the cross arm of the electric pole, and the drone carries the first reel away from the cross arm of the electric pole.

[0020] Furthermore, the laser radar and the photoelectric pod perform real-time monitoring during the entire working process of the electrical testing and grounding robot.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The invention provides an electrical testing and grounding robot in which a drone places a first rope on a cross arm of a utility pole, and drives a robot body to rise and fall by rotating the connected first reel; during operation, a gripper mechanism is first used to grip the cross arm of the utility pole to prevent the robot body from shaking during subsequent operations, thereby affecting the operation efficiency; an auxiliary machine box is arranged at the front end of a main machine box to facilitate the storage of multiple electrical testing and grounding mechanisms; a four-degree-of-freedom robotic arm grabs an electrical testing ring placed on an electric wire by the electrical testing and grounding mechanism for electrical testing; during the entire operation of the electrical testing and grounding robot, the position and distance are measured by means of an optoelectronic pod in cooperation with a laser radar, thereby improving the accuracy and efficiency of the work.

[0023] The gripper mechanism provided in the present invention controls the first motor to drive the first gear to rotate, so that the first rack and the clamp on the first rack move closer or farther away from each other to clamp or detach from the cross arm of the electric pole, thereby improving the stability of the operation process. The provided lateral moving platform controls the left and right movement of the first slider and the second slider, driving the winch and the gripper mechanism to perform translational movement, which is used to adjust the position relative to the cross arm of the electric pole or the obstacle on the insulating terminal. The provided guide rail moving mechanism, the laser radar connected to the placer can be raised and lowered under the action of the third screw, and accurately locates the grounding ring, the position of the overhead cable, and the up and down movement position of the electrical grounding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the structure of an electrical testing and grounding robot provided by the present invention;

[0025] Figure 2 for Figure 1 Schematic diagram of the robot body structure in ;

[0026] Figure 3 It is a structural schematic diagram of the winch;

[0027] Figure 4 It is the structural diagram of the gripper mechanism;

[0028] Figure 5 It is a structural schematic diagram of a lateral moving platform;

[0029] Figure 6 It is a half-section diagram of the main chassis structure;

[0030] Figure 7 for Figure 3 , Figure 4 and Figure 5 Schematic diagram of the connection structure;

[0031] Figure 8 It is a structural schematic diagram of the guide rail moving mechanism;

[0032] Fig. 9 It is a structural schematic diagram of a four-degree-of-freedom robotic arm;

[0033] Fig.10 for Fig. 9 A magnified image of point A;

[0034] Fig.11 It is a partial structural schematic diagram of the ground traction device;

[0035] Fig.12 It is a three-dimensional diagram of the ground traction device;

[0036] Fig.13 For testing electrical grounding mechanisms are structural schematic diagrams;

[0037] Fig.14 This is a control principle diagram of the electrical testing and grounding robot of the present invention;

[0038] In the figure: 1. Robot body; 2. Ground traction device; 3. Laser radar; 4. Photoelectric pod; 5. Gripper mechanism; 6. Winch; 7. Electrical test and grounding mechanism; 8. Four-degree-of-freedom robotic arm; 9. Lateral moving platform;

[0039] 11. Main chassis; 12. Auxiliary chassis; 21. Frame base; 22. Second reel; 23. Second rope; 24. Bevel gear shaft; 25. Large bevel gear; 26. Small bevel gear; 27. DC motor frame; 28. Sixth motor; 31. Guide rail moving mechanism; 32. Guide rail frame; 33. Third screw rod; 34. Fourth motor; 35. Placer; 36. Optical axis; 37. Limit plate; 51. Grip bracket; 52. First gear; 53. First motor; 54. First rack; 55. Clip; 61. First reel; 62. First rope; 63. Hoist frame; 64. Hoist motor; 71. First section pipe; 72. Second section pipe; 73. Second rack; 74. Ground rod; 75. Box base; 76. Second gear; 77. Fifth motor; 81. Four-axis robot arm; 82. Gear placement plate; 83. Gripper motor; 84. Gear gripper; 85. Driving gear gripper; 86. Driven gear gripper; 87. Bolt roller needle bearing; 91. Mobile platform bottom plate; 92. First screw rod; 93. Second screw rod; 94. First slider; 95. Second slider; 96. Second motor; 97. Third motor. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0043] Embodiment 1:

[0044] See also Figure 1 , Figure 2 As shown, the present embodiment provides an electrical testing and grounding robot, including a robot body 1. The robot body 1 includes a laser radar 3, an optoelectronic pod 4, a gripper mechanism 5, a winch 6, a main box 11, an auxiliary box 12, an electrical testing and grounding mechanism 7, and a four-degree-of-freedom robotic arm 8. The laser radar 3 and the optoelectronic pod 4 are installed on the main box 11 of the robot body 1. The front end of the main box 11 is equipped with an auxiliary box 12 for accommodating the electrical testing and grounding mechanism 7. The four-degree-of-freedom robotic arm 8 is fixedly connected to the main box 11. When working, it grabs the electrical testing and grounding mechanism 7 and hangs it on the electrical testing ring of the wire for electrical testing.

[0045] The main box 11 is equipped with a winch 6, which includes a first reel 61 and a first rope 62. The first reel 61 is connected to a winch motor 64 and is installed on a winch frame 63. One end of the first rope 62 is fixed on the winch frame 63, and the other end passes through the winch frame 63 and is connected to the first reel 61. The gear on the winch motor 64 is meshed with the gear on the first reel 61. When the winch motor 64 drives the first reel 61 to rotate, the first reel 61 rises or falls along the first rope 62, and drives the robot body 1 to rise or fall. The winch 6 is connected to the gripper mechanism 5, and part of the gripper mechanism 5 extends out of the outside of the main box 11, which is used to grasp the cross arm of the electric pole to ensure the stability of the robot body 1 and prevent shaking. During the process of the robot body 1 rising, working and descending, the photoelectric pod 4 is connected to the remote control by a network cable, and the observed image is transmitted to the remote control end through network communication for display. The laser radar 3 returns the distance measurement information to the main control board, and the main control board then feeds back to the remote control through serial communication. The photoelectric pod 4 and the laser radar 3 cooperate to measure the distance of the grounding ring, the overhead cable and the position of the robot body 1 moving up and down. Ensure that the electrical grounding robot can be accurately controlled by the operator during operation.

[0046] Embodiment 2:

[0047] See also Figure 4As shown, this embodiment provides a gripping mechanism 5, which enables the electrical testing and grounding robot in the first embodiment to grip and fix the cross arm of the electric pole. The gripping mechanism 5 includes a gripping bracket 51, a first gear 52, a first motor 53 and a first rack 54. Figure 7 As shown, the bottom of the grip bracket 51 is fixedly connected to the winch frame 63. Two first motors 53 are installed on the grip bracket 51, and the two first motors 53 are respectively connected to the first gear 52. One side of the two first racks 54 is installed in the track of the grip bracket 51, and the other side of the two first racks 54 is respectively meshed with the two first gears 52. When the two first motors 53 drive their respective first gears 52 to rotate, the corresponding first racks 54 meshed therewith are controlled to move closer or farther away from each other. Clips 55 are respectively fixed on the two first racks 54. When the two first racks 54 move closer, the two clips 55 can grip the cross arm of the pole; when the two first racks 54 move away from each other, the two clips 55 loosen the cross arm of the pole.

[0048] Embodiment three:

[0049] See also Figure 5 , Figure 6 As shown, this embodiment provides a transverse moving platform 9, which is assembled in the main box 11 of the electrical testing and grounding robot described in Example 1, and is connected to two winches 6. The transverse moving platform 9 includes a moving platform bottom plate 91, a first screw rod 92, a second screw rod 93, a first slider 94, a second slider 95, a second motor 96 and a third motor 97. Two groups of partitions are arranged on the moving platform bottom plate 91, and the first screw rod 92 is connected and assembled with the second motor 96 on one group of partitions; the second screw rod 93 is connected and assembled with the third point solution on another group of partitions. A first slider 94 is arranged on the first screw rod 92, and a second slider 95 is arranged on the second screw rod 93. A winch 6 is fixedly connected to the first slider 94 by bolts. Another identical winch 6 is also fixedly connected to the second slider 95 by bolts. The two winches 6 can be respectively equipped with the gripper mechanism 5 in Example 2. When the second motor 96 and / or the third motor 97 drive the first screw rod 92 and / or the second screw rod 93 to rotate, the hoist 6 connected to the first slider 94 and / or the second slider 95 and the gripper mechanism 5 connected thereto are driven to translate, and before the gripper mechanism 5 grips the cross arm of the electric pole, the gripper mechanism 5 can adjust the gripping cross arm position to avoid obstacles such as insulators or bolts on the cross arm, thereby improving the stability of the gripper mechanism 5 gripping the cross arm of the electric pole.

[0050] Embodiment 4:

[0051] See also Figure 8 As shown, this embodiment provides a guide rail moving mechanism 31, such as Figure 1As shown, it is assembled on the main box 11 of the electrical grounding robot in the first embodiment. The guide rail moving mechanism 31 includes a guide rail frame 32, a third screw rod 33, a fourth motor 34 and a placer 35. The fourth motor 34 is placed between the bottom plate and the partition of the guide rail frame 32. One end of the third screw rod 33 is connected to the fourth motor 34 through a plum blossom coupling above the partition, and the other end of the third screw rod 33 passes through the placer 35 and is fixedly connected to the top plate of the guide rail frame 32. The laser radar 3 is installed on the placer 35. When the fourth motor 34 drives the third screw rod 33 to rotate, the placer 35 on the third screw rod 33 moves up or down. At this time, the laser radar 3 installed on the placer 35 also moves up or down. The guide rail moving mechanism 31 can adjust the height of the laser radar 3. On the basis of the fixed connection of the laser radar 3 in the prior art, it effectively improves the accurate positioning of the up and down movement positions of the grounding ring, the position of the overhead cable and the robot body 1 during the operation of the laser radar 3.

[0052] Optionally, a limit plate 37 and two optical axes 36 are provided on the guide rail moving mechanism 31. The limit plate 37 passes through the third screw rod 33 and is fixed on the guide rail frame 32. One end of the two optical axes 36 is fixed on the partition of the guide rail frame 32, and the other end passes through the limit plate 37 and the placement device 35, and is fixed on the top plate of the guide rail frame 32. In this way, it can be ensured that the placement device 35 does not deviate from the moving direction during the up and down movement, further ensuring the positioning accuracy of the laser radar 3 and improving the overall working efficiency of the electrical testing and grounding robot.

[0053] Embodiment five:

[0054] See also Figure 1 , Fig.11 and Fig.12 As shown, this embodiment improves the connection between a ground traction device 2 and the robot body 1 of the electrical grounding robot of the first embodiment, so as to ensure the stability of the robot body 1 when rising or falling. Four connecting rings may be provided on the outer bottom of the main box 11. The ground traction device 2 includes a frame-type base 21, a second reel 22 and a second reel 23. The second reel 22 is connected to a large bevel gear 25 through a bevel gear shaft 24, and the large bevel gear and the small bevel gear 26 are meshed. The DC motor frame 27 fixes the second reel 22 along the axial direction of the second reel 22. The small bevel gear 26 is connected to the sixth motor 28 on the DC motor frame 27 to drive the small bevel gear 26 and the large bevel gear 25 to rotate, thereby driving the second reel 22 to rotate. The sixth motor 28 is a DC motor, and the DC motor frame 27 is fixed on the frame-type base 21.

[0055] The four second reels 22 are arranged in pairs at the front and rear ends of the frame base 21. Each second reel 22 is connected to one end of a corresponding second rope 23, and the other ends of the four second ropes 23 are fixedly connected to the four connections. When the electrical testing and grounding robot is hung on the cross arm of the electric pole through the drone, each sixth motor 28 on the ground traction device 2 controls the corresponding second reel 22 to retract and release the second rope 23 connected to it, so as to stabilize the robot body 1 from shaking left and right. When the winch 6 drives the robot body 1 to rise or fall, the motors of each second reel 22 are adjusted to control the second rope 23 to be in a taut state to prevent the robot body 1 from shaking left and right.

[0056] Embodiment six:

[0057] See also Fig. 9 , Fig.10 As shown, this embodiment provides a four-degree-of-freedom robot 8 for clamping the electrical test and grounding mechanism 7. The robot includes a four-axis robot 81, a gear placement plate 82, a gear gripper 84 and a gripper motor 83. One end of the four-axis robot 81 is fixedly connected to the main box 11 of the electrical test and grounding robot described in Example 1, and the other end is connected to the gear placement plate 82.

[0058] The gear gripper 84 includes a driving gear gripper 85 and a driven gear gripper 86. The driving gear gripper 85 is connected through the gear placement plate 82 and the gripper motor 83, and the driven gear gripper 86 is connected through the gear placement plate 82 and the bolt roller needle bearing 87, and fixed with a locking nut. The driving gear gripper 85 and the driven gear gripper 86 are in a meshing state. When the gripper motor 83 is driven, the grippers at the front ends of the driving gear gripper 85 and the driven gear gripper 86 are driven to open or close, and the electrical test grounding mechanism 7 is clamped or released.

[0059] Embodiment seven:

[0060] Referring to Figure 13, this embodiment provides an electrical testing and grounding mechanism 7, which is placed in the auxiliary machine box 12 of the electrical testing and grounding robot described in the first embodiment. The electrical testing and grounding mechanism 7 includes a first section tube 71, a second section tube 72, a second rack 73, a grounding rod 74 and a box base 75. The second section tube 72 is connected to the second rack 73, and an electrical testing head is provided at the top of the second section tube 72 for electrical testing. The connected second section tube 72 and the second rack 73 are both sleeved in the first section tube 71.

[0061] The box base 75 is connected to the first tube section 71, and the second tube section 72 and the second rack 73 can pass through the box base 75 and move up and down. The ground rod 74 passes through and is fixedly connected to the box base 75. The top of the first tube section 71 is fixedly connected to the ground rod 74 through a connector. The fifth motor 77 is arranged inside the box base 75 and connected to the second gear 76. The second rack 73 and the second gear 76 are in meshing state.

[0062] When the fifth motor 77 drives the second gear 76 to rotate, the second rack 73 drives the second tube 72 to move up or down. When the electrical testing and grounding mechanism 7 tests the electrical power of a relatively far wire, the gripping mechanism 5 grabs the electrical testing and grounding mechanism 7 and turns it to the position of the wire to be tested, and controls the fifth motor 77 to drive the second rack 73 to move upward, thereby increasing the length of the second tube 72 and performing an electrical testing operation on the wire.

[0063] Embodiment eight:

[0064] See also Fig.14 As shown, this embodiment provides a control method for an electrical testing and grounding robot, and the control method controls the electrical testing and grounding robot described in any of the above embodiments. The electrical testing and grounding robot includes a control system. The control system includes a main control board, a motor drive module, serial communication and network communication. The remote control is connected to the main control board through a serial port line, and a control instruction is sent to the main control board to regulate the motor drive module. The motor drive module controls each motor on the winch 6, the gripper mechanism 5, the lateral moving platform 9, the guide rail moving mechanism 31, the ground traction device 2, the four-degree-of-freedom mechanical arm 8 and the electrical testing and grounding mechanism 7 through an encoder. The laser radar 3 is connected to the main control board, and the monitored distance information is fed back to the main control board, and the main control board returns the data to the remote control for display; the optoelectronic pod 4 and the remote control use a network communication method to feed back the monitored image information to the remote control.

[0065] The drone carries the first reel 62 and hangs it on the cross arm of the electric pole. The remote controller controls the main control board through the wireless communication module, and the active board controls the motor drive module, so that the motor that controls the rotation of the first reel 61 drives the first reel 61 to drive the robot body 1 to climb along the first reel 62 toward the cross arm of the electric pole. During the entire climbing process, the motor drive module controls the motor that drives the second reel 22 in the ground traction device 2 to rotate, so that the second reel 23 restrains the robot body 1 to prevent shaking;

[0066] When the robot body 1 climbs below the cross arm of the electric pole, the motor drive module controls the first motor 53 in the gripper mechanism 5 to drive the clamp 55 to grasp the cross arm of the electric pole for fixing;

[0067] The motor drive module controls the joint motors of the four-axis robot arm 81 and the gripper motor 83 of the four-degree-of-freedom robot arm 8, moves to the vicinity of the auxiliary machine box 12, and drives the gear gripper 84 to grab each power testing and grounding mechanism 7, and perform power testing operations on each wire one by one; when a certain wire has no electricity, the joint motor of the four-axis robot arm 81 drives the four-axis robot arm 81 to rotate, and cooperates with the gripper mechanism 5 to hang the power testing and grounding mechanism 7 on the power testing ring of the wire; repeat the grasping and power testing until all the wires on the cross arm of the pole are tested;

[0068] The motor drive module controls the first gear 52 of the gripper mechanism 5 to drive, so that the clamp 55 releases the pole cross arm; and controls the motor of the first reel 61 to rotate the first reel 61, and drives the robot body 1 to descend to the ground in the opposite direction of the pole cross arm along the first reel 62. Then the drone is controlled to carry the first reel 62 and detach from the pole cross arm.

[0069] During the whole process of controlling the electrical testing and grounding robot, the laser radar 3 and the photoelectric pod 4 monitor in real time and feed back their respective information to the remote controller.

[0070] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An electrical grounding robot, characterized in that: The robot body includes a laser radar, an optoelectronic pod, a gripper mechanism, a winch, a main chassis, an auxiliary chassis, an electrical testing and grounding mechanism, a four-degree-of-freedom mechanical arm, a lateral moving platform, and a guide rail moving mechanism provided on the top of the main chassis; The hoist includes a first rope connected to a first drum; the first rope is hung on the cross arm of the electric pole, and the first drum rotates to drive the main box to rise and fall; the gripping mechanism is connected to the hoist; a portion of the gripping mechanism extends out of the main box to grip the cross arm of the electric pole to fix it; The auxiliary machine box is arranged at the front end of the main machine box, and is used to store the electrical test grounding mechanism; the four-degree-of-freedom mechanical arm is connected to the main machine box, and is used to grab and place the electrical test grounding mechanism on the electrical test ring; the laser radar and the photoelectric pod are respectively arranged on the main machine box; the photoelectric pod observes and cooperates with the laser radar to measure the distance of the grounding ring, the overhead cable and the up and down movement position of the robot body; The gripper mechanism comprises a gripper bracket, a first gear, a first motor and a first rack; the two first gears are respectively fixed to the gripper bracket; a clip is provided on the first rack; one side of the two first racks is embedded in the track of the gripper bracket, and the other side is respectively meshed with the two first gears; the two first motors respectively drive the two first gears to rotate, driving the two first racks and the clips to move away from or towards each other; The transverse moving platform comprises a moving platform bottom plate, a first screw rod, a second screw rod, a first slider, a second slider, a second motor and a third motor; both ends of the first screw rod and the second screw rod are respectively fixed to the moving platform bottom plate; the first slider is arranged on the first screw rod, and the second motor controls the first screw rod to drive the first slider to move left and right; the second slider is arranged on the second screw rod, and the third motor controls the second screw rod to drive the second slider to move left and right; the two winches are respectively fixed to the first slider and the second slider; The guide rail moving mechanism includes a guide rail frame, a third screw rod, a fourth motor and a placement device; one end of the third screw rod is fixed to the bottom plate of the guide rail frame through the fourth motor, and the other end passes through the placement device and is fixed to the top plate of the guide rail frame; the laser radar is arranged on the placement device; The robot body is connected to a ground traction device; the ground traction device includes a frame-type base, a second reel and a second rope; the second reel is arranged on the frame-type base; a connecting ring is provided at the outer bottom of the main box; one end of the second rope is fixed to the second reel, and the other end is fixed to the connecting ring.

2. The electrical grounding robot according to claim 1, characterized in that: The guide rail moving mechanism is also provided with an optical axis and a limit plate; the limit plate passes through the third screw rod and is fixed on the guide rail frame, one end of the two optical axes is fixed on the partition plate of the guide rail frame, and the other end passes through the limit plate and the placer and is fixed on the top plate of the guide rail frame.

3. The electrical grounding robot according to claim 1, characterized in that: The four-degree-of-freedom mechanical arm comprises a four-axis mechanical arm, a gear placement plate, a gear gripper and a gripper motor; one end of the four-axis mechanical arm is connected to the main box, and the other end is connected to the gear placement plate; The gripper motor is connected to the gear placement plate and is used to control the opening and closing of the gear gripper.

4. The electrical testing and grounding robot according to claim 1, characterized in that: The electrical testing and grounding mechanism includes a first tube section, a second tube section, a second rack, a grounding rod and a box base; the grounding rod and the first tube section are respectively fixedly connected to the box base; the second tube section is fixedly connected to the second rack and is arranged in the first tube section to move up and down along the axial direction of the first tube section; a fifth motor is arranged in the box base, and the fifth motor is connected to the second gear; the second rack is meshed with the second gear.

5. A control method for an electrical testing and grounding robot applicable to the electrical testing and grounding robot as claimed in any one of claims 1 to 4, characterized in that: include: The drone carries the first coiled rope and is hung on the cross arm of the electric pole. The first coil drives the robot body to climb along the first coiled rope toward the cross arm of the electric pole. The ground traction device restrains the robot body to prevent shaking. When the robot body climbs below the cross arm of the electric pole, the clamp of the gripper mechanism grabs the cross arm of the electric pole to fix it; The gear gripper of the four-degree-of-freedom mechanical arm grabs each of the electrical testing and grounding mechanisms, and performs electrical testing on each wire one by one; when a certain wire is without power, the electrical testing and grounding mechanism is hung on the electrical testing ring of the wire; the grabbing and electrical testing action is repeated until all the wires on the cross arm of the pole are tested; The clamp of the gripper mechanism releases the cross arm of the electric pole; the first reel drives the robot body to descend to the ground along the first reel in the opposite direction of the cross arm of the electric pole, and the drone carries the first reel away from the cross arm of the electric pole.

6. The control method of the electrical testing and grounding robot according to claim 5, characterized in that: The laser radar and the photoelectric pod perform real-time monitoring during the entire working process of the electrical testing and grounding robot.

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