A safe operation method and equipotential system for aerial operation robots

Abstract

The present invention discloses a safe operation method and an equipotential system for an aerial work robot, which has the advantage that the safe operation method comprises the following steps: a drainage guide rod of the equipotential system is arranged at the bottom of a tripod and is first connected to the overhead line when approaching the overhead line, a tensioning and resetting mechanism keeps the drainage guide rod in contact with the overhead line during landing, ensuring that the aerial work robot and the overhead line are in an equipotential state during landing, avoiding arc discharge that causes damage to the parts on the aerial work robot body; a stable equipotential is formed after the walking wheels ride on the overhead line, a driving mechanism drives the drainage guide rod to separate from the overhead line, and the limiting device limits it, avoiding the drainage guide rod and the overhead line from rubbing for a long time during operation and moving, thereby avoiding arcing and causing fire; after the operation, the limit is released, the tensioning and resetting mechanism restores the connection between the drainage guide rod and the overhead line and maintains it, so that the aerial work robot and the overhead line are in an equipotential state during flying, and the equipotential system is closed or dormant after separating from the overhead line.

Description

Technical Field

[0001] The present invention relates to the field of aerial working robots, and in particular to a safe operation method and an equipotential system for aerial working robots. Background Art

[0002] Aerial robots often need to perform live operations in complex environments, such as high-voltage transmission lines. In such environments, potential differences between the robot and the transmission lines can easily cause arcing, potentially damaging equipment and endangering the safety of operators. Therefore, an equipotential system is crucial for aerial robots. It aligns the potential of the robot and target equipment (such as overhead lines) to the same level, preventing dangerous situations caused by potential differences. During live equipotential operations, it is crucial to ensure that the robot and the transmission lines maintain good contact and equipotentiality.

[0003] However, as an aerial work robot approaches overhead power lines, the electric field strength between them gradually increases as the distance decreases. In this case, arc discharge may occur, which not only seriously damages the aerial work robot's components but also poses other safety hazards that need to be addressed urgently. Summary of the Invention

[0004] A technical problem to be solved by this application is to overcome the defects of the above-mentioned related technologies and provide a safe operation method and equipotential system for an aerial work robot. When the aerial work robot lands or flies away from the overhead line, its equipotential system always keeps the aerial work robot and the overhead line in an equipotential state.

[0005] The technical solution adopted by the present safe operation method to solve the technical problem is as follows: a safe operation method for an aerial operation robot, the aerial operation robot comprising a control module, a detection module, a flight mechanism, a walking mechanism, a tripod, and an equipotential system, wherein the detection module, the flight mechanism, the walking mechanism, and the equipotential system are respectively connected to the control module, and the detection module is used to detect the positional relationship between the aerial operation robot and the overhead line and the position information of the drainage guide rod of the equipotential system and feed back the information to the control module;

[0006] The specific steps include:

[0007] Initialization phase: The control module performs self-inspection on each component. After confirming that all components are in normal condition, the equipotential system enters the standby state.

[0008] Contact phase: Based on the feedback from the detection module regarding the positional relationship between the aerial work robot and the overhead line, as well as the position of the drainage guide rod, the flight mechanism is controlled during descent so that the drainage guide rod, which is placed horizontally on the tripod, first contacts the overhead line to form an equipotential. During continued descent, the drainage guide rod gradually rotates upward under the tension of the tensioning and resetting mechanism, maintaining stable contact with the overhead line.

[0009] Release stage: After the traveling wheel rides on the overhead line, the control module controls the pressing wheel to flip to the bottom of the overhead line and cooperate with the traveling wheel to press the overhead line to form an equal potential. At the same time, the driving mechanism is controlled to drive the drainage guide rod to continue rotating to separate from the overhead line. When the set rotation angle is reached, the limit device is activated to limit the drainage guide rod. The control module controls the travel and operation.

[0010] Disengagement stage: After the operation, the control module controls the rotation of the compression wheel to release the overhead line, and releases the limit device. Under the reset action of the tensioning and resetting mechanism, the drainage guide rod rotates and restores the connection with the overhead line to form an equal potential; during the ascent and departure of the aerial work robot, the drainage guide rod maintains stable contact with the overhead line under the reset action of the tensioning and resetting mechanism; after receiving feedback from the detection module that the drainage guide rod is detached from the overhead line, the control module shuts down or puts the equal potential system into hibernation.

[0011] Preferably, in the initialization stage, the limiting device limits the position or the driving mechanism drives the drainage guide rod to be horizontal.

[0012] Preferably, in the disengagement stage, the drainage guide rod rotates under the resetting action of the tensioning and resetting mechanism or driven by the driving mechanism.

[0013] The technical solution adopted by the present equipotential system to solve the technical problem is: an equipotential system for realizing the above-mentioned safe operation method, comprising a connecting frame, a drainage guide rod, a tensioning and resetting mechanism, a driving mechanism, and a limiting device, wherein the driving mechanism and the limiting device are respectively electrically connected to a control module; the connecting frame is mounted on the bottom of the tripod, the drainage guide rod is pivotally connected to the connecting frame, and the tensioning and resetting mechanism, the driving mechanism, and the limiting device are mounted on the connecting frame;

[0014] The diversion guide rod is arranged horizontally so as to contact the overhead line first when the aerial working robot approaches the overhead line so as to form an equal potential between the aerial working robot and the overhead line;

[0015] The tensioning and resetting mechanism is in transmission connection with the drainage guide rod and is used to provide tensioning force to the drainage guide rod;

[0016] The driving mechanism is in transmission connection with the drainage guide rod and is used to drive the drainage guide rod to rotate;

[0017] The limiting device is used to limit the diversion guide rod or release the limiting device of the diversion guide rod.

[0018] Preferably, the connecting frame includes a frame body and a pipe clamp, the upper end of the frame body is a pipe clamp seat, the pipe clamp and the pipe clamp seat are fixed to form a pipe clamp hole, and the pipe section of the tripod is fixed in the pipe clamp hole, so as to facilitate the connection and fixation of the connecting frame and the tripod.

[0019] Preferably, the pivotal end of the drainage guide rod is pivotally connected to the frame of the connecting frame via a rod-shaft connector and a rotating shaft, and the rod-shaft connector is sleeved onto the rotating shaft and fixed to each other. This facilitates installation of the drainage guide rod. After the other components of the equipotential system are installed, the drainage guide rod can be plugged into the rod-shaft connector and secured with bolts, which is simple to operate.

[0020] Preferably, the tensioning and resetting mechanism includes a torsion spring mounted on the rotating shaft, one end of which is connected to the rod-shaft connector or the rotating shaft, and the other end of which is connected to the frame. The torsion spring provides a damping effect, absorbing shock during the aerial working robot's landing and maintaining a stable equipotential state between the drainage guide rod and the overhead line.

[0021] Furthermore, the rotating shaft is provided with a raised ring, and the torsion spring and the shaft connecting member are provided on either side of the raised ring, with one end of the torsion spring connected to the raised ring. The torsion spring undergoes axial displacement during tensioning or restoring, and the raised ring separates the torsion spring and the shaft connecting member, thereby preventing interference between the torsion spring and the shaft connecting member.

[0022] Preferably, the drive mechanism includes a drive motor, a motor mounting plate, a wheel disc, a lever, and a limit plate. The drive motor is secured to the side of the frame via the motor mounting plate. The wheel disc is secured to the main shaft of the drive motor. The lever is mounted on the edge of the wheel disc and inserted into the middle of the arc hole of the limit plate. The limit plate is in transmission connection with the rotating shaft. During the initialization phase, the lever abuts against one end of the arc hole to maintain the diversion guide rod in a horizontal position. During descent, the lever separates from the arc hole, preventing the diversion guide rod from rotating and driving the drive motor via the rod-shaft connector, the rotating shaft, and the limit plate.

[0023] Preferably, the limiting device is an electromagnet, which is used to limit the drainage guide rod when it cooperates with the limiting disk and release the drainage guide rod when it is released from the limiting disk.

[0024] As an improvement, the frame is hollowed out, the electromagnet is installed at the bottom of the frame, and the iron core of the electromagnet passes through the frame and cooperates with the limit plate. The frame is hollowed out to reduce weight.

[0025] As an improvement, the device further includes a micro switch mounted between the motor mounting plate and the frame. The micro switch is in communication with the control module and is configured to provide a feedback signal to the control module when the limit plate touches the micro switch. The control module controls the electromagnet and the limit plate to cooperate with the limit plate to limit the guide rod, thereby limiting the rotation angle of the guide rod and preventing it from over-rotating.

[0026] As an improvement, the limiting plate is provided with two protrusions on its outer circumference. When the electromagnet and limiting plate cooperate to limit the flow guide rod, the electromagnet's iron core is inserted between the two protrusions. This insertion of the iron core between the two protrusions prevents the limiting plate, and thus the shaft, from rotating, thereby maintaining the stability of the flow guide rod's position.

[0027] Compared with the related technologies, the safe operation method and equipotential system of the aerial work robot of the present invention have the following advantages: the equipotential system is provided with a drainage guide rod, a tensioning and resetting mechanism, a driving mechanism and a limiting device, wherein the drainage guide rod is arranged at the bottom of the tripod through a connecting frame and is arranged horizontally. When the aerial work robot approaches the overhead line, it is first connected to the overhead line so that the aerial work robot and the overhead line form an equipotential. The tensioning and resetting mechanism keeps the drainage guide rod in contact with the overhead line during the landing of the aerial work robot. Before the walking wheels of the aerial work robot ride on the overhead line, it ensures that the aerial work robot and the overhead line always maintain good contact and are in an equipotential state, avoiding arc discharge and damage to the components of the aerial work robot; after the walking wheels ride on the overhead line, the walking wheels and the pressure wheels form a stable equipotential with the overhead line. Before the operation, the driving mechanism drives the drainage guide rod to separate from the overhead line, and uses the limiting device to limit the drainage guide rod that is separated from the overhead line during the operation, so as to avoid the drainage guide rod and the overhead line from rubbing for a long time when the walking wheels drive the aerial working robot to move, thereby causing an arc and causing a fire; the limiting device releases the limit on the drainage guide rod after the operation, and the drainage guide rod rotates under the drive of the driving mechanism or the action of the tensioning and resetting mechanism, and restores the connection with the overhead line before flying away and remains connected until the aerial working robot is separated from the overhead line, keeping the aerial working robot and the overhead line in an equipotential state during the flight; the equipotential system is turned off or hibernated after the aerial working robot is separated from the overhead line; thereby effectively protecting the components of the aerial working robot from damage by arc discharge, and ensuring the safety and reliability of the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional diagram of the aerial working robot of the present invention.

[0029] Figure 2 It is a perspective view of the aerial working robot and the overhead wires of the present invention during landing or taking off.

[0030] Figure 3It is a perspective view of the aerial working robot and the overhead wire when riding the wire or preparing to fly away.

[0031] Figure 4 It is a three-dimensional diagram of the aerial working robot and the overhead line during operation of the present invention.

[0032] Figure 5 It is a stereogram of the equipotential system of the present invention.

[0033] Figure 6 It is an enlarged stereoscopic diagram of the equipotential system of the present invention (the drainage guide rod is omitted).

[0034] Figure 7 It is a three-dimensional diagram of the driving mechanism of the present invention (omitting the limit plate and the motor mounting plate).

[0035] Figure 8 It is a three-dimensional diagram of the equipotential system of the present invention (part of the driving mechanism is omitted).

[0036] Figure 9 This is another stereoscopic diagram of the equipotential system of the present invention (part of the driving mechanism is omitted).

[0037] As shown in the figure:

[0038] 1. Fuselage, 2. Flight mechanism, 3. Tripod, 4. Walking and holding system,

[0039] 5. Equipotential system, 51. Connecting frame, 511. Frame, 512. Pipe clamp, 513. Pipe clamp hole, 52. Drain guide rod, 53. Rotating shaft, 531. Raised ring, 54. Rod-shaft connecting piece, 55. Torsion spring, 56. Driving mechanism, 561. Driving motor, 562. Wheel, 563. Driving lever, 564. Limiting plate, 5641. Arc hole, 5642. Bump, 57. Micro switch, 58. Limiting device,

[0040] 100. Overhead lines. DETAILED DESCRIPTION

[0041] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Those skilled in the art may adjust them as needed to suit specific application scenarios.

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] This embodiment is a method for safe operation of an aerial working robot. Figure 1The figure includes a robot body 1, a flight mechanism 2, a footrest 3, a walking and clamping system 4, a counterweight, a power supply system, an avionics system, a communication system, a perception and obstacle avoidance system, an operating terminal and an equipotential system 5, etc.; the avionics system includes a control module, and the perception and obstacle avoidance system includes a detection module, which is communicatively connected to the control module, and the detection module includes multiple visual sensors. The detection module is used to detect the position relationship between the aerial working robot and the overhead line 100 and the position information of the drainage guide rod 52 and feed it back to the control module. The control module controls the flight mechanism 2, the walking and clamping system 4, the operating terminal and the equipotential system 5 to perform related actions according to the feedback information.

[0044] The specific steps include:

[0045] Initialization phase: The control module performs self-inspection on each component. After confirming that all components are in normal condition, the equipotential system enters the standby state.

[0046] Contact phase: Based on the feedback of the positional relationship between the aerial working robot and the overhead line 100 and the position information of the drainage guide rod 52 detected by the detection module, the flight mechanism 2 is controlled during landing so that the drainage guide rod 52 arranged horizontally on the foot frame 3 first contacts the overhead line 100 to form an equipotential. Figure 2 As shown, the drainage guide rod 52 gradually rotates upward under the tensioning action of the tensioning and resetting mechanism and maintains stable contact with the overhead line 100; the detection module detects the positional relationship between the aerial working robot and the overhead line 100 and the position information of the drainage guide rod 52, and confirms that the walking wheel rides on the overhead line 100, and the control module determines that the contact stage is completed;

[0047] Release stage: After the traveling wheel rides on the overhead line 100, Figure 3 As shown, the control module controls the pinch wheel to flip to the bottom of the overhead line 100 and cooperates with the travel wheel to pinch the overhead line 100 to form an equipotential, and at the same time controls the drive mechanism 56 to drive the diversion guide rod 52 to continue rotating to separate from the overhead line 100, and when the set rotation angle is reached, the limit device acts to limit the diversion guide rod 52, as shown in FIG. Figure 4 As shown; the detection module detects the position information of the diversion guide rod 52, the control module confirms that the diversion guide rod 52 is out of the overhead line 100, and the control module controls walking and operation;

[0048] Disengagement stage: After the operation, the control module controls the compression wheel to rotate and release the overhead line 100, and releases the limit device. Under the driving action of the driving mechanism 56 or the reset action of the tension reset mechanism, the diversion guide rod 52 rotates and restores the connection with the overhead line 100 to form an equal potential, such as Figure 3As shown; the detection module detects the position information of the diversion guide rod 52, the control module confirms that the diversion guide rod 52 is restored to the overhead line 100, and controls the flight mechanism 2 to make the aerial working robot rise and fly away. During the flight, the diversion guide rod 52 maintains stable contact with the overhead line 100 under the reset action of the tensioning reset mechanism, as shown Figure 2 After receiving feedback from the detection module that the diversion guide rod 52 is separated from the overhead line 100, the control module shuts down or puts the equipotential system into hibernation.

[0049] Among them, the equipotential system 5 is as follows Figure 5 and Figure 6 As shown, it includes a connecting frame 51, a drainage guide rod 52, a tensioning and resetting mechanism, a driving mechanism 56 and a limiting device 58, and the driving mechanism 56 and the limiting device 58 are electrically connected to the control module respectively; the connecting frame 51 is installed at the bottom of the tripod 3, the drainage guide rod 52 is pivotally connected to the connecting frame 51, and the tensioning and resetting mechanism, the driving mechanism 56 and the limiting device 58 are installed on the connecting frame 51; the drainage guide rod 52 is arranged horizontally to contact the overhead line 100 when the aerial working robot approaches the overhead line 100 so that the aerial working robot and the overhead line 100 form an equipotential; the tensioning The reset mechanism is connected to the drainage guide rod 52. The tension reset mechanism is used to keep the drainage guide rod 52 in contact with the overhead line 100 when the aerial working robot is landing, and to restore the connection between the drainage guide rod 52 and the overhead line 100 before flying off after the operation and maintain the connection until the aerial working robot is detached from the overhead line 100; the driving mechanism 56 is used to drive the drainage guide rod 52 to detach from the overhead line 100 after the robot's walking wheels ride on the overhead line 100 before the operation; the limiting device 58 is used to limit the drainage guide rod 52 that is detached from the overhead line 100 during the operation, and to release the limitation of the drainage guide rod 52 after the operation. In addition, the limiting device 58 can also limit the drainage guide rod 52 in the initialization stage, so that the drainage guide rod 52 is as follows: Figure 1 Shown in a horizontal position.

[0050] In some embodiments, the middle sections of the crossbars on both sides of the tripod 3 are raised upward. The connecting frame 51 is circumferentially and axially constrained by screws and the protruding pipe sections of the crossbars of the tripod 3. This allows the equipotential system 5 to be elevated above the bottom of the tripod 3, preventing the equipotential system 5 from colliding with the ground when the tripod 3 is landed. Specifically, the connecting frame 51 includes a frame body 511 and a pipe clamp 512. The upper end of the frame body 511 forms a pipe clamp seat. The pipe clamp 512 is secured to the pipe clamp seat via four pairs of lugs and bolts on either side, forming a pipe clamp hole 513. Both the pipe clamp 512 and the pipe clamp seat are provided with screw holes, and the protruding pipe sections of the crossbars of the tripod 3 are secured within the pipe clamp holes 513.

[0051] In some embodiments, the pivotal end of the diversion guide rod 52 is pivotally connected to the frame 511 of the connecting frame 51 via a rod-shaft connector 54 and a rotating shaft 53. The rod-shaft connector 54 is mounted on the rotating shaft 53 and fixedly connected via bolts. The tensioning and resetting mechanism includes a torsion spring 55, which is mounted on the rotating shaft 53. One end of the torsion spring 55 is connected to the rod-shaft connector 54 or the rotating shaft 53, and the other end of the torsion spring 55 is connected to the frame 511. The rotating shaft 53 is provided with a raised ring 531. The torsion spring 55 and the rod-shaft connector 54 are disposed on either side of the raised ring 531, with one end of the torsion spring 55 connected to the raised ring 531. The diversion guide rod 52 is inserted into the rod-shaft connector 54 and fixed via bolts, such that the diversion guide rod 52 is perpendicular to the axis of the rotating shaft 53.

[0052] In some embodiments, the drive mechanism 56 includes: Figure 7 The driving motor 561, the wheel 562 and the lever 563, as well as the limit plate 564 and the motor mounting plate, the motor mounting plate is as shown Figure 6 The top end is fixed to the pipe clamp seat by bolts, the driving motor 561 is fixed to the side of the frame 511 through the motor mounting plate, the wheel 562 is fixed to the main shaft of the driving motor 561, the lever 563 is installed on the edge of the wheel 562, and the lever 563 is inserted into the middle of the arc hole 5641 of the limiting plate 564. Figure 8 As shown, the D-shaped shaft hole at the center of the limit plate 564 is fixedly connected to the end of the rotating shaft 53. In the initialization stage, the lever 563 can also be pressed against one end of the arc hole 5641 to keep the diversion guide rod 52 in a horizontal state.

[0053] In some embodiments, the limiting device 58 is as follows Figure 9 Shown is an electromagnet, which is used to limit the diversion guide rod 52 when it is engaged with the limiting disk 564, and release the diversion guide rod 52 when it is released from the limiting disk 564.

[0054] In some embodiments, the frame 511 is hollowed out, the electromagnet is installed at the bottom of the frame 511 , and the iron core of the electromagnet passes through the frame 511 and cooperates with the limiting plate 564 .

[0055] In some embodiments, as Figure 5 and Figure 6As shown, the motor further includes a micro switch 57 and a micro fixing plate. The micro switch 57 is mounted between the motor mounting plate and the frame 511 via the micro fixing plate. The micro switch 57 is in communication with the control module. The micro switch 57 is used to feedback a signal to the control module when it is touched by the limit plate 564. The control module controls the electromagnet and the limit plate 564 to cooperate with the limit guide rod 52 based on the feedback signal. The limit plate 564 is provided with two protrusions 5642 on the outer periphery. When the outer side of the protrusions 5642 contacts the micro switch 57, the iron core of the electromagnet is inserted between the two protrusions 5642.

[0056] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for safe operation of an aerial work robot, the aerial work robot comprising a control module, a detection module, a flight mechanism, a walking mechanism, a foot frame, and an equipotential system, wherein the detection module, the flight mechanism, the walking mechanism, and the equipotential system are respectively connected to the control module, characterized in that: The detection module is used to detect the positional relationship between the aerial working robot and the overhead line and the position information of the drainage guide rod of the equipotential system and feed it back to the control module; The equipotential system includes a connecting frame, a drainage guide rod, a tensioning and resetting mechanism, a driving mechanism, and a limiting device, wherein the driving mechanism and the limiting device are respectively electrically connected to the control module; the connecting frame is mounted on the bottom of the tripod, the drainage guide rod is pivotally connected to the connecting frame, and the tensioning and resetting mechanism, the driving mechanism, and the limiting device are mounted on the connecting frame; The diversion guide rod is arranged horizontally so as to contact the overhead line first when the aerial working robot approaches the overhead line so as to form an equal potential between the aerial working robot and the overhead line; The tensioning and resetting mechanism is in transmission connection with the drainage guide rod and is used to provide tensioning force to the drainage guide rod; The driving mechanism is in transmission connection with the drainage guide rod and is used to drive the drainage guide rod to rotate; The limiting device is used to limit the drainage guide rod or release the limitation of the drainage guide rod; The specific steps include: Initialization phase: The control module performs self-inspection on each component. After confirming that all components are in normal condition, the equipotential system enters the standby state. Contact phase: Based on the feedback from the detection module regarding the positional relationship between the aerial work robot and the overhead line, as well as the position of the drainage guide rod, the flight mechanism is controlled during descent so that the drainage guide rod, which is placed horizontally on the tripod, first contacts the overhead line to form an equipotential. During continued descent, the drainage guide rod gradually rotates upward under the tension of the tensioning and resetting mechanism, maintaining stable contact with the overhead line. Release stage: After the traveling wheel rides on the overhead line, the control module controls the pressing wheel to flip to the bottom of the overhead line to cooperate with the traveling wheel to press the overhead line and form an equal potential. At the same time, the driving mechanism is controlled to drive the drainage guide rod to continue rotating to separate from the overhead line. When the set rotation angle is reached, the limit device is activated to limit the drainage guide rod. The control module controls the travel and operation. Disengagement stage: After the operation, the control module controls the rotation of the compression wheel to release the overhead line, and releases the limit device, and the diversion guide rod rotates to restore the connection with the overhead line to form an equal potential; during the ascent and departure of the aerial work robot, the diversion guide rod maintains stable contact with the overhead line under the reset action of the tensioning and resetting mechanism; after receiving feedback from the detection module that the diversion guide rod is detached from the overhead line, the control module shuts down or puts the equal potential system into hibernation.

2. The method for safe operation of an aerial work robot according to claim 1, characterized in that: During the initialization phase, the limiting device limits the position or the driving mechanism drives the drainage guide rod to be horizontal.

3. The method for safe operation of an aerial work robot according to claim 1, characterized in that: In the disengagement stage, the drainage guide rod rotates under the resetting action of the tensioning and resetting mechanism or driven by the driving mechanism.

4. An equipotential system, characterized in that: The invention relates to an equipotential system for implementing the safe operation method according to any one of claims 1 to 3.

5. The equipotential system according to claim 4, characterized in that: The connecting frame includes a frame body and a pipe clamp, the upper end of the frame body is a pipe clamp seat, the pipe clamp and the pipe clamp seat are fixed to form a pipe clamp hole, and the pipe section of the tripod is fixed in the pipe clamp hole.

6. The equipotential system according to claim 4 or 5, characterized in that: The pivotal end of the diversion guide rod is pivotally connected to the frame body of the connecting frame through a rod-shaft connecting piece and a rotating shaft, and the rod-shaft connecting piece is sleeved on the rotating shaft and fixed to each other.

7. The equipotential system according to claim 6, characterized in that: The tensioning and resetting mechanism includes a torsion spring, which is sleeved on the rotating shaft. One end of the torsion spring is connected to the rod-shaft connector or the rotating shaft, and the other end of the torsion spring is connected to the frame.

8. The equipotential system according to claim 7, characterized in that: A convex ring is provided on the rotating shaft, the torsion spring and the rod-shaft connecting member are respectively arranged on both sides of the convex ring, and one end of the torsion spring is connected to the convex ring.

9. The equipotential system according to claim 6, characterized in that: The driving mechanism includes a driving motor, a motor mounting plate, a wheel, a shift rod and a limit plate. The driving motor is fixed to the side of the frame through the motor mounting plate. The wheel is fixed to the main shaft of the driving motor. The shift rod is installed on the edge of the wheel. The shift rod is inserted into the middle of the arc hole of the limit plate. The limit plate is connected to the rotating shaft in a transmission manner.

10. The equipotential system according to claim 9, characterized in that: The limiting device is an electromagnet, which is used to limit the drainage guide rod when it is matched with the limiting disk, and release the drainage guide rod when it is released from the limiting disk.

11. The equipotential system according to claim 10, characterized in that: The frame is hollowed out, the electromagnet is installed at the bottom of the frame, and the iron core of the electromagnet passes through the frame and cooperates with the limiting plate.

12. The equipotential system according to claim 11, characterized in that: It also includes a micro switch, which is installed between the motor mounting plate and the frame. The micro switch is communicatively connected to the control module. The micro switch is used to feedback a signal to the control module when touched by the limit disk. The control module controls the electromagnet and the limit disk to cooperate with the limit guide rod according to the feedback signal.

13. The equipotential system according to claim 12, characterized in that: Two protrusions are provided on the outer periphery of the limiting disk. When the electromagnet and the limiting disk cooperate with the limiting guide rod, the iron core of the electromagnet is inserted between the two protrusions.

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