Automatic wire connecting and disconnecting robot for high-voltage mutual inductor test

Abstract

The invention provides an automatic wire connecting and disconnecting robot for a high-voltage mutual inductor test, and relates to the technical field of industrial robots, the automatic wire connecting and disconnecting robot for the high-voltage mutual inductor test structurally comprises a mobile platform, a frame and a robot control system; the frame is located above the movable platform. A primary end wiring mechanism and a secondary end wiring mechanism are arranged on the frame; the robot control system controls the moving platform, the primary end wiring mechanism and the secondary end wiring mechanism to move. The robot is a robot system specially used for high-voltage mutual inductor tests, can automatically carry out operations such as wire connection and wire removal, reduces the risk of manual operation, can improve the working efficiency and accuracy, can greatly improve the working efficiency in the high-voltage mutual inductor tests, and reduces the labor intensity of workers in the high-voltage mutual inductor tests. And meanwhile, the operation safety and accuracy are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, and in particular provides an automatic wire connection and disconnection robot for high-voltage transformer testing. Background Art

[0002] High-voltage transformers are transformers that are suitable for converting high voltage into low voltage or high current into low current in 1kv to 220kv power systems for measurement, protection, and use. They are generally divided into 3kv, 6kv, 10kv, 35kv, 66kv, 110kv, and 220kv. They are mainly used to monitor the operation of electrical equipment and control systems in AC circuits (usually the primary winding is called the primary winding or primary winding, and the secondary winding is called the secondary winding or secondary winding). They are used to supply power to the voltage coil and current coil of the measuring instrument and relay, respectively, to correctly reflect the normal operation and fault conditions of the electrical equipment. The accuracy of the measuring instrument and the reliability of the relay protection action are largely related to the performance of the transformer.

[0003] In actual applications, high-voltage transformers have a wide range of applications, large annual purchase volumes, and numerous model parameters. The quality of transformers currently used in distribution network lines varies greatly. If full performance quality inspection is not carried out before commissioning, the quality is difficult to guarantee.

[0004] At present, the full performance test of high-voltage transformers is still in a manual state, and the test connection and disconnection are completed manually. The test process requires repeated disconnection and connection according to different test items. There are problems such as large workload, high professional requirements, and great safety hazards. Due to the different wiring methods of different experimental sub-items and the thicker and heavier cables, the operation is cumbersome, time-consuming and labor-intensive, with high labor intensity and low efficiency. The current test equipment cannot meet the needs of various tests and has low integration. Summary of the invention

[0005] The technical task of the present invention is to provide an automatic wire connection and disconnection robot for high-voltage transformer testing in view of the above-mentioned problems.

[0006] An automatic wire connection and disconnection robot for high-voltage transformer testing, the structure of the robot comprising a mobile platform, a frame, and a robot control system;

[0007] The frame is located above the mobile platform;

[0008] The frame is provided with a primary terminal wiring mechanism and a secondary terminal wiring mechanism;

[0009] The robot control system controls the mobile platform, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism to move respectively;

[0010] The primary terminal wiring mechanism comprises: a high voltage line wiring mechanism and a terminal pressing mechanism;

[0011] The secondary terminal wiring mechanism includes a secondary terminal mechanical arm and a secondary terminal wiring terminal.

[0012] Furthermore, the structure of the high-voltage wire connection mechanism includes a primary end mechanical arm, a high-voltage wire and a connection terminal, wherein one end of the high-voltage wire is connected to a high-voltage power supply, and the other end is fixed to the primary end mechanical arm, the connection terminal is connected to the end of the high-voltage wire, and the connection terminal extends out of the primary end mechanical arm;

[0013] The primary end mechanical arm can perform three-dimensional movement under the control of the robot control system.

[0014] Furthermore, the terminal pressing mechanism includes a horizontal moving mechanism, a vertical lifting mechanism, and an insulating terminal, wherein the insulating terminal is installed at the lower end of the vertical lifting mechanism;

[0015] The horizontal moving mechanism can perform two-dimensional movement in the horizontal direction under the control of the robot control system;

[0016] The vertical lifting mechanism can perform one-dimensional movement in the vertical direction under the control of the robot control system.

[0017] Furthermore, the robot also includes a video positioning module, which uses a camera (11) and image processing technology to locate and control the high-voltage transformer connection terminal, the primary terminal connection mechanism, and the secondary terminal connection mechanism carried by the mobile platform, and analyzes the real-time video of the surrounding environment to identify the position and posture of the target object, and feeds back the acquired information to the robot control system to achieve the positioning and movement of the target object;

[0018] The camera positioning process is as follows:

[0019] The camera position is taken as the origin to establish the camera coordinate system, and the spatial coordinates of the high-voltage transformer terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism are identified and converted into the robot arm coordinate system. The corresponding spatial coordinates are generated for the positions of the high-voltage transformer terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism according to the spatial coordinates of the robot arm coordinate system; the current positions of the primary terminal wiring mechanism and the secondary terminal wiring mechanism are taken as the current point, and the position of the high-voltage transformer terminal is taken as the target point; the RRT algorithm is used to plan the trajectory of the primary terminal wiring mechanism and the secondary terminal wiring mechanism from the current point to the target point.

[0020] Furthermore, the video positioning module adopts dual-camera positioning, using two cameras to determine the position and direction of the object, and by comparing the position, size and angle of the object captured by the two cameras, calculates the distance and direction of the object relative to the camera;

[0021] The camera positioning process is as follows:

[0022] Taking the position of the camera (11) as the origin, a coordinate system is established to identify the spatial coordinates of the high-voltage transformer connection terminal, the primary terminal connection mechanism, and the secondary terminal connection mechanism;

[0023] The current positions of the primary terminal wiring mechanism and the secondary terminal wiring mechanism are respectively used as the current point, and the position of the high-voltage transformer wiring terminal is used as the target point; the trajectory of the primary terminal wiring mechanism and the secondary terminal wiring mechanism from the current point to the target point is planned, including the following steps:

[0024] 1) Obtain coordinates: coordinates of the high-voltage transformer terminal, including the primary terminal (x1, y1, z1) of the high-voltage transformer, the secondary terminal (x2, y2, z2) of the high-voltage transformer, and the primary terminal connection mechanism (x 11 y 11 ,z 11 ), secondary terminal connection mechanism (x 22 ,y 22 ,z 22 )

[0025] 2) Control the primary terminal wiring mechanism (x 11 y 11 ,z 11 ) moves to the primary terminal (x1, y1, z1) of the high-voltage transformer. The path planning process is as follows:

[0026] X direction movement: Control the primary terminal wiring mechanism from position (x 11 y 11 ,z 11 ) moves to position (x 1， y 11 ,z 11 );

[0027] Movement in the Y direction: Control the primary terminal wiring mechanism to move to position (x 1， y1,z 11 );

[0028] Movement in Z direction: Control the primary terminal wiring mechanism to move to position (x 1， y1,z1);

[0029] 3) Control the secondary terminal connection mechanism (x 22 ,y 22 ,z 22 ) moves to the secondary terminal (x2, y2, z2) of the high-voltage transformer. The path planning process is as follows:

[0030] X direction movement: Control the primary terminal wiring mechanism from position (x 22 y 22 ,z22 ) moves to position (x 2， y 22 ,z 22 );

[0031] Y direction movement: Control the primary terminal wiring mechanism to move to the position (x2, y2, z 22 );

[0032] Movement in Z direction: Control the primary terminal wiring mechanism to move to position (x 2， y2,z2).

[0033] Furthermore, the video positioning module adopts dual-camera positioning, using two cameras to determine the position and direction of the object, and by comparing the position, size and angle of the object captured by the two cameras, calculates the distance and direction of the object relative to the camera;

[0034] The dual-camera positioning process is as follows:

[0035] Taking one of the camera positions as the origin, a camera coordinate system is established to identify the spatial coordinates of the high-voltage transformer wiring terminal, the primary wiring mechanism, and the secondary wiring mechanism;

[0036] Taking the position of another camera as the origin, establishing the camera coordinate system, and identifying the spatial coordinates of the high-voltage transformer terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism;

[0037] The above two camera coordinate systems are merged into a camera coordinate system with the position of one of the cameras as the origin, and the positions of the high-voltage transformer terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism are identified to generate corresponding spatial coordinates; the current positions of the primary terminal wiring mechanism and the secondary terminal wiring mechanism are respectively used as the current point, and the position of the high-voltage transformer terminal is used as the target point; the trajectory of the primary terminal wiring mechanism and the secondary terminal wiring mechanism from the current point to the target point is planned.

[0038] Furthermore, after the robot control system locates the primary terminal of the high-voltage transformer to be tested through the video positioning module, it controls the primary end mechanical arm of the high-voltage wire connection mechanism to operate and move the terminal to the primary terminal of the high-voltage transformer to be tested;

[0039] The robot control system controls the terminal pressing mechanism to move to the terminal position, and connects the terminal of the high-voltage line terminal mechanism with the primary terminal of the high-voltage transformer to be tested.

[0040] Furthermore, after the robot control system locates the secondary terminal of the high-voltage transformer to be tested through the video positioning module, it controls the secondary terminal wiring mechanism to operate and connect to the secondary terminal of the high-voltage transformer to be tested.

[0041] Furthermore, the robot also includes a data acquisition and analysis module, which collects, summarizes and analyzes the parameters of the high-voltage transformer by collecting the voltage and current signals at the primary and secondary ends of the high-voltage transformer.

[0042] Furthermore, the primary terminal wiring mechanism is composed of two or more independent sets of mechanisms, which can adapt to a high-voltage transformer having two or more wiring terminals at the primary end.

[0043] Furthermore, the workflow of the robot control system is as follows:

[0044] After the high-voltage transformer to be tested is placed on the mobile platform, the robot control system controls the mobile platform to operate;

[0045] When the high-voltage transformer carried by the mobile platform moves to the bottom of the primary terminal wiring mechanism, the robot control system controls the mobile platform to stop, and controls the wiring terminal of the high-voltage wire wiring mechanism of the primary terminal wiring mechanism to move to the primary wiring terminal position of the high-voltage transformer;

[0046] The robot control system controls the terminal pressing mechanism to move to the top of the terminal of the high-voltage wire connection mechanism, and after positioning, moves downward to press the terminal of the high-voltage wire connection mechanism and the primary terminal of the high-voltage transformer tightly through the insulating terminal;

[0047] The robot control system controls the secondary terminal wiring mechanism to move to the secondary terminal position of the high-voltage transformer and press it;

[0048] The high-voltage line connection mechanism is energized for testing;

[0049] The data acquisition and analysis module collects the voltage and current signals of the primary and secondary ends of the high-voltage transformer, and summarizes and analyzes them;

[0050] After the analysis is completed, the high-voltage wire connection mechanism is powered off, and the robot control system controls the terminal pressing mechanism, so that the high-voltage wire connection mechanism and the secondary terminal connection mechanism are raised, and the connection with the primary terminal and the secondary terminal of the high-voltage transformer is disconnected;

[0051] The mobile platform continues to operate and test the next high-voltage transformer.

[0052] Compared with the prior art, the backup power management circuit for the HDC dual-mode module of the present invention has the following outstanding beneficial effects:

[0053] The automatic connection and disconnection robot for high-voltage transformer testing of the present invention is a robot system specially used for high-voltage transformer testing. It can automatically perform operations such as connection and disconnection, reduces the risk of manual operation, and can improve work efficiency and accuracy. In high-voltage transformer testing, this robot system can greatly improve work efficiency while ensuring the safety and accuracy of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of the automatic wire connecting and removing robot of the present invention. DETAILED DESCRIPTION

[0055] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0056] like Figure 1 As shown, an automatic wire connection and disconnection robot for high-voltage transformer testing, the structure of the robot includes a mobile platform 1, a frame 2, and a robot control system;

[0057] The frame 2 is located above the mobile platform 2;

[0058] The frame is provided with a primary terminal wiring mechanism and a secondary terminal wiring mechanism;

[0059] The robot control system controls the mobile platform, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism to move respectively;

[0060] The primary terminal wiring mechanism comprises: a high voltage line wiring mechanism and a terminal pressing mechanism;

[0061] The secondary terminal wiring mechanism includes a secondary terminal mechanical arm 3 and a secondary terminal wiring terminal 4.

[0062] By decomposing the primary terminal wiring mechanism into two parts, the high-voltage line wiring mechanism and the terminal pressing mechanism, the high-voltage terminal is only responsible for connecting to the primary end of the high-voltage transformer, and the clamping action is performed by the terminal pressing mechanism, which improves the safety of operation and can effectively improve the efficiency of wiring and disconnection.

[0063] The structure of the high-voltage line connection mechanism includes a primary-end mechanical arm 5, a high-voltage line 6 and a connection terminal 7, wherein one end of the high-voltage line 6 is connected to a high-voltage power supply, and the other end is fixed to the primary-end mechanical arm 5 through an insulator, and the connection terminal 7 is connected to the end of the high-voltage line 5, and the connection terminal 7 extends out of the primary-end mechanical arm 5; wherein the shape of the connection terminal 7 matches the shape of the primary end of the high-voltage transformer.

[0064] The primary end robot arm 5 can perform three-dimensional movement under the control of the robot control system.

[0065] The terminal pressing mechanism includes a horizontal moving mechanism 8, a vertical lifting mechanism 9, and an insulating terminal 10, wherein the insulating terminal 10 is installed at the lower end of the vertical lifting mechanism 9; wherein the shape of the insulating terminal 10 matches the shape of the primary end of the high voltage transformer.

[0066] The horizontal moving mechanism 8 can perform two-dimensional movement in the horizontal direction under the control of the robot control system;

[0067] The vertical lifting mechanism 9 can perform one-dimensional movement in the vertical direction under the control of the robot control system.

[0068] The robot also includes a video positioning module, which uses image processing technology through the camera 11 to locate and control the high-voltage transformer terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism carried by the mobile platform 1, and identifies the position and posture of the target object by analyzing the real-time video of the surrounding environment, and feeds back the acquired information to the robot control system to achieve the positioning and movement of the target object.

[0069] The video positioning module adopts dual-camera positioning, using two cameras 11 to determine the position and direction of the object, and calculates the distance and direction of the object relative to the camera by comparing the position, size and angle of the object captured by the two cameras.

[0070] Dual-camera positioning can improve the accuracy and stability of positioning because it can use information from multiple angles to perform positioning, avoiding errors and obstacles that may occur with a single camera. The implementation process is as follows:

[0071] The position of one of the cameras 11 - 1 is used as the origin to establish a camera coordinate system, and the spatial coordinates of the high-voltage transformer terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism are identified;

[0072] A high-voltage transformer primary wiring terminal (25, 33, 10), a high-voltage transformer secondary wiring terminal (20, 28, 8), a primary terminal wiring mechanism (13, 24, 20), and a secondary terminal wiring mechanism (11, 20, 16);

[0073] The position of another camera 11-2 is used as the origin to establish a camera coordinate system, and the spatial coordinates of the high-voltage transformer terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism are identified;

[0074] A primary wiring terminal (15, 23, 10) of a high-voltage transformer, a secondary wiring terminal (10, 18, 8) of a high-voltage transformer, a primary wiring mechanism (3, 14, 20), and a secondary wiring mechanism (1, 10, 16);

[0075] Merge the above two camera coordinate systems into one camera coordinate system with the position of one of the cameras as the origin;

[0076] A primary wiring terminal (20, 28, 10) of a high-voltage transformer, a secondary wiring terminal (15, 23, 8) of a high-voltage transformer, a primary wiring mechanism (8, 19, 20), and a secondary wiring mechanism (6, 15, 16);

[0077] The current positions of the primary terminal wiring mechanism and the secondary terminal wiring mechanism are respectively taken as the current point, and the position of the high-voltage transformer wiring terminal is taken as the target point; the trajectory of the primary terminal wiring mechanism and the secondary terminal wiring mechanism from the current point to the target point is planned.

[0078] After the robot control system locates the primary terminal of the high-voltage transformer to be tested through the video positioning module, it controls the primary end mechanical arm 5 of the high-voltage wire connection mechanism to operate and move the terminal 7 to the primary terminal of the high-voltage transformer to be tested;

[0079] The robot control system controls the terminal pressing mechanism to move to the terminal 7 position, and connects the terminal 7 of the high-voltage line connection mechanism with the primary terminal of the high-voltage transformer to be tested.

[0080] After the robot control system locates the secondary terminal of the high-voltage transformer to be tested through the video positioning module, it controls the secondary terminal connection mechanism 4 to operate and connect to the secondary terminal of the high-voltage transformer to be tested.

[0081] The robot also includes a data acquisition and analysis module, which collects, summarizes and analyzes the parameters of the high-voltage transformer by acquiring the voltage and current signals at the primary and secondary ends of the high-voltage transformer.

[0082] The primary terminal wiring mechanism is composed of two or three independent mechanisms, which can adapt to a high-voltage transformer with two or three wiring terminals at the primary end. The setting of the primary terminal wiring mechanism is determined according to the number of terminals at the primary end of the high-voltage transformer. When the number of primary terminal wiring mechanisms exceeds the number of terminals at the primary end of the high-voltage transformer, the number of primary terminal wiring mechanisms in use can be controlled by the robot control program.

[0083] The workflow of the robot control system is as follows:

[0084] After the high-voltage transformer to be tested is placed on the mobile platform 1, the robot control system controls the mobile platform to operate;

[0085] When the high-voltage transformer carried by the mobile platform 1 moves to the bottom of the primary terminal wiring mechanism, the robot control system controls the mobile platform to stop, and controls the wiring terminal 7 of the high-voltage wire wiring mechanism of the primary terminal wiring mechanism to move to the primary wiring terminal position of the high-voltage transformer;

[0086] The robot control system controls the terminal pressing mechanism to move to the top of the terminal 7 of the high-voltage wire connection mechanism, and after positioning, moves downward to press the terminal 7 of the high-voltage wire connection mechanism and the primary terminal of the high-voltage transformer tightly through the insulating terminal 10;

[0087] The robot control system controls the secondary terminal wiring mechanism to move to the secondary terminal position of the high-voltage transformer and press it;

[0088] The high-voltage line connection mechanism is energized for testing;

[0089] The data acquisition and analysis module collects the voltage and current signals of the primary and secondary ends of the high-voltage transformer, and summarizes and analyzes them;

[0090] After the analysis is completed, the high-voltage wire connection mechanism is powered off, and the robot control system controls the terminal pressing mechanism, so that the high-voltage wire connection mechanism and the secondary terminal connection mechanism are raised, and the connection with the primary terminal and the secondary terminal of the high-voltage transformer is disconnected;

[0091] The mobile platform continues to operate and test the next high-voltage transformer.

[0092] The embodiments described above are only preferred specific implementations of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic wire connection and disconnection robot for high-voltage transformer testing, characterized in that: The structure of the robot includes a mobile platform (1), a frame (2), and a robot control system; The frame (2) is located above the mobile platform (2); The frame is provided with a primary terminal wiring mechanism and a secondary terminal wiring mechanism; The robot control system controls the mobile platform, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism to move respectively; The primary terminal wiring mechanism comprises: a high voltage line wiring mechanism and a terminal pressing mechanism; The secondary terminal wiring mechanism comprises a secondary terminal mechanical arm (3) and a secondary terminal wiring terminal (4).

2. The automatic wire connection and disconnection robot for high-voltage transformer testing according to claim 1, characterized in that: The structure of the high-voltage line connection mechanism comprises a primary end mechanical arm (5), a high-voltage line (6) and a connection terminal (7), wherein one end of the high-voltage line (6) is connected to a high-voltage power supply, and the other end is fixed to the primary end mechanical arm (5), the connection terminal (7) is connected to the end of the high-voltage line (5), and the connection terminal (7) extends out of the primary end mechanical arm (5); The primary end mechanical arm (5) can perform three-dimensional movement under the control of the robot control system.

3. The automatic wire connection and disconnection robot for high-voltage transformer testing according to claim 1, characterized in that: The terminal pressing mechanism comprises a horizontal moving mechanism (8), a vertical lifting mechanism (9), and an insulating terminal (10), wherein the insulating terminal (10) is installed at the lower end of the vertical lifting mechanism (9); The horizontal moving mechanism (8) can perform two-dimensional movement in the horizontal direction under the control of the robot control system; The vertical lifting mechanism (9) can perform one-dimensional movement in the vertical direction under the control of the robot control system.

4. The automatic wire connection and disconnection robot for high-voltage transformer testing according to claim 1, characterized in that: The robot also includes a video positioning module, which uses a camera (11) and image processing technology to locate and control the high-voltage transformer connection terminal, the primary terminal connection mechanism, and the secondary terminal connection mechanism carried by the mobile platform (1), and recognizes the position and posture of the target object by analyzing the real-time video of the surrounding environment, and feeds back the acquired information to the robot control system to realize the positioning and movement of the target object; The camera positioning process is as follows: Taking the position of the camera (11) as the origin, a coordinate system is established to identify the spatial coordinates of the high-voltage transformer connection terminal, the primary terminal connection mechanism, and the secondary terminal connection mechanism; The current positions of the primary terminal wiring mechanism and the secondary terminal wiring mechanism are respectively used as the current point, and the position of the high-voltage transformer wiring terminal is used as the target point; the trajectory of the primary terminal wiring mechanism and the secondary terminal wiring mechanism from the current point to the target point is planned, including the following steps: 1) Obtain coordinates: coordinates of the high-voltage transformer terminal, including the primary terminal (x1, y1, z1) of the high-voltage transformer, the secondary terminal (x2, y2, z2) of the high-voltage transformer, and the primary terminal connection mechanism (x 11 y 11 ,z 11 ), secondary terminal connection mechanism (x 22 ,y 22 ,z 22 ) 2) Control the primary terminal wiring mechanism (x 11 y 11 ,z 11 ) moves to the primary terminal (x1, y1, z1) of the high-voltage transformer. The path planning process is as follows: X direction movement: Control the primary terminal wiring mechanism from position (x 11 y 11 ,z 11 ) moves to position (x 1， y 11 ,z 11 ); Movement in the Y direction: Control the primary terminal wiring mechanism to move to position (x 1， y1,z 11 ); Movement in Z direction: Control the primary terminal wiring mechanism to move to position (x 1， y1,z1); 3) Control the secondary terminal connection mechanism (x 22 ,y 22 ,z 22 ) moves to the secondary terminal (x2, y2, z2) of the high-voltage transformer. The path planning process is as follows: X direction movement: Control the primary terminal wiring mechanism from position (x 22 ,y 22 , z 22 ) moves to position (x 2， y 22 , z 22 ); Y direction movement: Control the primary terminal wiring mechanism to move to the position (x2, y2, z 22 ); Movement in Z direction: Control the primary terminal wiring mechanism to move to position (x 2， y2,z2).

5. The automatic wire connection and disconnection robot for high-voltage transformer testing according to claim 4, characterized in that: The video positioning module adopts dual-camera positioning, using two cameras (11) to determine the position and direction of the object, and by comparing the position, size and angle of the object captured by the two cameras, calculates the distance and direction of the object relative to the cameras; The dual-camera positioning process is as follows: The position of one of the cameras (11-1) is used as the origin to establish a camera coordinate system, and the spatial coordinates of the high-voltage transformer wiring terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism are identified; Taking the position of another camera (11-2) as the origin, establishing a camera coordinate system, and identifying the spatial coordinates of the high-voltage transformer wiring terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism; The above two camera coordinate systems are merged into a camera coordinate system with the position of one of the cameras as the origin, and the positions of the high-voltage transformer terminal, the primary terminal wiring mechanism, and the secondary terminal wiring mechanism are identified to generate corresponding spatial coordinates; the current positions of the primary terminal wiring mechanism and the secondary terminal wiring mechanism are respectively used as the current point, and the position of the high-voltage transformer terminal is used as the target point; the trajectory of the primary terminal wiring mechanism and the secondary terminal wiring mechanism from the current point to the target point is planned.

6. An automatic wire connection and disconnection robot for high-voltage transformer testing according to claim 4 or 5, characterized in that: After the robot control system locates the primary wiring terminal of the high-voltage transformer to be tested through the video positioning module, it controls the primary end mechanical arm (5) of the high-voltage wire connection mechanism to operate and moves the wiring terminal (7) to the primary wiring terminal of the high-voltage transformer to be tested; The robot control system controls the terminal pressing mechanism to move to the position of the terminal (7), and connects the terminal (7) of the high-voltage line terminal mechanism to the primary terminal of the high-voltage transformer to be tested.

7. The automatic wire connection and disconnection robot for high-voltage transformer testing according to claim 6, characterized in that: After the robot control system locates the secondary wiring terminal of the high-voltage transformer to be tested through the video positioning module, it controls the secondary terminal wiring mechanism (4) to operate and connect to the secondary wiring terminal of the high-voltage transformer to be tested.

8. An automatic wire connection and disconnection robot for high-voltage transformer testing according to any one of claims 1 to 4, characterized in that: The robot also includes a data acquisition and analysis module, which collects, summarizes and analyzes the parameters of the high-voltage transformer by acquiring the voltage and current signals at the primary and secondary ends of the high-voltage transformer.

9. The automatic wire connection and disconnection robot for high-voltage transformer testing according to claim 8, characterized in that: The primary terminal wiring mechanism is composed of two or more independent sets of mechanisms, which can adapt to a high-voltage transformer with two or more wiring terminals at the primary end.

10. The automatic wire connection and disconnection robot for high-voltage transformer testing according to claim 8, characterized in that: The workflow of the robot control system is as follows: After the high-voltage transformer to be tested is placed on the mobile platform (1), the robot control system controls the mobile platform to operate; When the high-voltage transformer carried by the mobile platform (1) moves to the bottom of the primary terminal wiring mechanism, the robot control system controls the mobile platform to stop, and controls the wiring terminal (7) of the high-voltage wire wiring mechanism of the primary terminal wiring mechanism to move to the primary terminal position of the high-voltage transformer; The robot control system controls the terminal pressing mechanism to move to the top of the terminal (7) of the high-voltage wire connection mechanism, and after positioning, moves downward to press the terminal (7) of the high-voltage wire connection mechanism and the primary terminal of the high-voltage transformer tightly together through the insulating terminal (10); The robot control system controls the secondary terminal wiring mechanism to move to the secondary terminal position of the high-voltage transformer and press it; The high-voltage line connection mechanism is energized for testing; The data acquisition and analysis module collects the voltage and current signals of the primary and secondary ends of the high-voltage transformer, and summarizes and analyzes them; After the analysis is completed, the high-voltage wire connection mechanism is powered off, and the robot control system controls the terminal pressing mechanism, so that the high-voltage wire connection mechanism and the secondary terminal connection mechanism are raised, and the connection with the primary terminal and the secondary terminal of the high-voltage transformer is disconnected; The mobile platform continues to operate and test the next high-voltage transformer.

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