Device and method for simulating hot-line work test of robot

Abstract

The invention discloses a device for simulating a hot-line work test of a robot, belongs to the field of electrical equipment testing, solves the problem of incomplete test content in the prior art, and adopts the technical scheme that the device comprises an insulating support frame, a simulation cable and a test console, the boosting mechanism, the lifting mechanism and the camera are in signal connection with the test console, the two ends of the simulation cable are arranged on the insulation supporting frame through the lifting mechanism, the two ends of the simulation cable are each provided with a grading ring and a tension testing mechanism, and the test console controls the boosting mechanism so that the simulation cable can have different grades of voltages. The test console controls the lifting mechanism to drive the simulation cable to ascend and descend along the insulation supporting frame so that the simulation cable can have different heights, the tension testing mechanism is used for measuring the tension of the simulation cable and transmitting the measured value to the test console, and the camera is used for shooting the live-line work condition of the robot on the simulation cable. The invention further discloses a simulation robot hot-line work test method.

Description

Technical Field

[0001] The present invention relates to the field of power equipment testing, and in particular to a device and method for simulating a robot live operation test. Background Art

[0002] With the continuous development of my country's economy and society in recent years, the scale of its ultra-high voltage (UHV) and ultra-high voltage (UHV) power grids has been expanding. Overhead transmission lines, as the main arteries of power transmission, must possess extremely high operational reliability. Regular inspections are required according to operating specifications to identify defects, develop production plans, and promptly eliminate overhead transmission line faults. To improve the safety of live-line work, robots are increasingly being used to replace human operators in live-line work. To improve robot performance, existing technologies, such as utility model patent CN216207615U, disclose a lifting test platform for automated distribution live-line work robots. The platform comprises a support frame and a simulated cable. One end of the simulated cable is equipped with a tensioning fixture, and the other end is equipped with a fixture. Both the tensioning fixture and the fixture are secured to the support frame via set bolts. This device simulates the real-world operation of overhead mainline cables, providing a test platform that eliminates the need for on-site operation on high-voltage transmission lines. It allows for convenient and safe testing of the performance and functionality of developed prototypes of automated distribution live-line work robots. However, in real scenarios, the height and voltage of cables vary. The above device can only simulate a single scenario. Moreover, the above device cannot know the impact of the robot on the cable, and the test is not comprehensive. Summary of the Invention

[0003] The purpose to be achieved by the present invention is to provide a device for simulating live working tests of robots, which solves the problem of incomplete test content in the prior art and enriches the test content.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a device for simulating a robot live working test, comprising an insulating support frame, a simulation cable, a test console, and a boosting mechanism, a lifting mechanism and a camera connected to the test console signal, the two ends of the simulation cable are arranged on the insulating support frame through the lifting mechanism, and both ends of the simulation cable are provided with a voltage equalizing ring and a tension testing mechanism, the boosting mechanism and the voltage equalizing ring are electrically connected, the test console controls the boosting mechanism so that the simulation cable has different levels of voltage, the test console controls the lifting mechanism to drive the simulation cable to rise and fall along the insulating support frame so that the simulation cable has different heights, the tension testing mechanism is used to measure the tension of the simulation cable and transmit the measured value to the test console, and the camera is used to shoot the situation of the robot working live on the simulation cable and transmit it to the test console.

[0005] After adopting the above technical solution, the present invention has the following advantages: by controlling the boosting mechanism and the lifting mechanism through the test console, the voltage level and height of the simulated cable can be adjusted, so that the real working conditions in different environments can be simulated, and it is not limited to a single working scene. It can more deeply study the adaptability and stability of the robot under various voltage levels and height conditions. This comprehensive test method helps to discover potential problems and improve the reliability and work efficiency of the robot. The tension testing mechanism can monitor and record the tension changes of the simulated cable in real time, and feed back this data to the test console, which helps to evaluate the possible impact of the robot operation on the cable. The camera provides visual monitoring and can record the operation process of the robot in detail, which is convenient for subsequent analysis and improvement. Finally, the insulating support frame is used to ensure the electrical isolation of the entire system, thereby improving the safety during the test process.

[0006] Furthermore, the tension testing mechanism includes a test sensor and a connecting ring connected to the test sensor, and the connecting ring is provided with a plurality of connection positions for connecting the simulation cable at intervals along the circumferential direction; the tension testing mechanism includes a test sensor and a connecting shaft connected to the test sensor, and the connecting shaft is provided with a plurality of connection positions for connecting the simulation cable at intervals along the axial direction.

[0007] By adopting the above-mentioned technical solution, multiple connection positions are set at intervals along the circumferential direction of the connecting ring, or multiple connection positions are set at intervals along the axial direction of the connecting shaft. Simulated cables of different numbers and different arrangements can be connected at the same time, simulating the situation where multiple cables may exist in real scenes, thereby more comprehensively testing the robot's operating ability in complex environments.

[0008] Furthermore, the tension testing mechanism further includes a tightener, and at least one end of the simulated cable is tightened and connected to the connection position through the tightener.

[0009] By adopting the above-mentioned technical solution, the test personnel can tighten the simulated cable through the tightening device according to actual needs, and accurately adjust the tension of the simulated cable, so that it can accurately simulate the stress state of the real cable under different working conditions, thereby providing more accurate and adjustable test conditions for tension testing, expanding the application scope of the test device, and enabling it to meet the needs of various simulated cable live operation tests.

[0010] Furthermore, the insulating support frame includes two insulating pillars arranged at intervals, the lifting mechanism includes a mounting seat, a driver, a traction line and multiple support wheels, the simulated cable is connected to the mounting seat, the mounting seat is supported on the insulating pillars by multiple support wheels arranged in a ring shape, the driver is connected to the mounting seat through a traction line, and the driver drives the traction line to drive the mounting seat to rise and fall along the insulating pillars.

[0011] Using the aforementioned technical solution, the mounting base is supported on insulating supports via multiple ring-shaped support wheels. This structure ensures the mounting base maintains balance during the lifting process. In the high-voltage environment simulating live robot operation, the insulating support frame uses insulating supports to effectively isolate the simulated cable from the ground or other conductive objects, preventing current leakage and ensuring the safety of the test process as much as possible.

[0012] Furthermore, the top and bottom of the insulating support are respectively provided with limit blocks, and the mounting seat is in contact with the limit blocks to limit the movement of the mounting seat.

[0013] Through the above technical solution, the limit block can prevent the mounting base from exceeding the predetermined movement range, thereby minimizing the risk of the simulated cable detaching from the device or colliding with other components due to excessive lifting, thereby ensuring the safety and stability of the test process. When the mounting base touches the limit block, the tester can immediately know that the simulated cable has reached its upper and lower movement limit. This direct physical feedback makes the operation more intuitive, without the need to rely on complex sensors or display devices for confirmation.

[0014] Furthermore, a pulley is provided on the top of the insulating support, the driver is located at the bottom of the insulating support, and the traction line is reversed through the pulley and fixedly connected to the mounting seat.

[0015] Through the above technical solution, the driver generally has a certain weight. Through the reversing effect of the pulley, the driver can no longer be set at the top of the insulating pillar but can be placed at the bottom of the insulating pillar, which can significantly lower the center of gravity of the entire system and thus improve the overall stability of the device.

[0016] Furthermore, the insulating support frame is also provided with a base and a plurality of pull wires. The bottom of the insulating support is supported on the ground by the base, and the top of the insulating support is connected and fixed to the ground by a plurality of pull wires. The plurality of pull wires are evenly distributed along the circumferential direction of the insulating support.

[0017] Through this technical solution, the bottom of the insulating support is supported on the ground by a base, increasing the contact area with the ground and making the support frame more stable. It can better bear the weight of equipment such as simulated cables, mounting brackets, and robots, and reduce tilting or shaking caused by uneven ground or uneven force. At the same time, the top of the insulating support is connected to the ground by multiple tension wires evenly distributed along the circumference. The insulating support is pulled from multiple directions, further enhancing the stability of the insulating support frame and effectively preventing the insulating support from tipping over or swinging significantly when subjected to external forces, thereby ensuring the reliability of the entire tension test mechanism during the test.

[0018] Furthermore, the device for simulating the live working test of the robot also includes a safety fence surrounding the insulating support frame and the simulated cable, and the test console is located outside the area surrounded by the safety fence.

[0019] Through this technical solution, the safety fence provides a physical barrier that effectively isolates the test area from the outside world, preventing unauthorized access to high-risk areas and reducing the risk of potential safety accidents. This is particularly true during high-voltage live working simulations, ensuring the safety of surrounding personnel. Placing the test console outside the safety fence allows operators to focus on monitoring and adjusting test parameters in a relatively safe and stable environment without worrying about being directly exposed to potential hazards.

[0020] Another object of the present invention is to provide a method for simulating live-line working with a robot, wherein the device for simulating live-line working with a robot as described in any of the above technical solutions is used, the test console is provided with a touch screen, the touch screen is provided with an operation interface, and the method for simulating live-line working with a robot comprises:

[0021] S1: Install the simulated cable on the insulation support frame and install tension test mechanisms at both ends of the simulated cable;

[0022] S2: The test console, camera and lifting mechanism are powered on, and the touch screen displays the operation interface;

[0023] S3: Input the target height of the simulated cable through the operation interface, and the lifting mechanism drives the simulated cable to move to the target height to obtain the tension of the simulated cable;

[0024] S4: Install the live working robot on the simulated cable, control the simulated cable to move to the highest position through the test console, connect the voltage-grading ring to the boost mechanism, and start boosting the voltage to the target voltage;

[0025] S5: The robot is remotely controlled to perform live work on the simulated cable. The robot's working status is monitored in real time by a surveillance camera, and the tension of the simulated cable is obtained by a tension testing mechanism.

[0026] S6: After the robot's live operation is completed, cut off the connection between the boost mechanism and the absolute pressure ring, drive the simulated cable down to the lowest position through the lifting mechanism, and remove the robot.

[0027] Through this technical solution, using the touchscreen interface on the test console, testers simply input the target height of the simulated cable, and the lifting mechanism automatically moves the simulated cable into position. Operation is simple and intuitive. The lifting mechanism adjusts the simulated cable to different heights, and the boost mechanism brings the simulated cable to the target voltage, accurately simulating a variety of real-world live-line working scenarios. Whether it's cable installations at varying heights or transmission environments with varying voltage levels, these can be replicated during the test, providing a more realistic environment for robot performance testing and ensuring highly reliable and practical test results. Finally, during the test, the tension test mechanism continuously acquires simulated cable tension data, and cameras monitor the robot's operating status in real time. This allows testers to fully understand the impact of robot operation on cable tension and its actual operation. These precise data and real-time images provide a rich and accurate basis for analyzing robot performance and optimizing operational plans, contributing to improved robot design and operational performance.

[0028] Furthermore, the device for simulating the live working test of the robot also includes a rangefinder, and S3 also includes detecting the height of the two ends of the simulated cable by the rangefinder. If the height difference between the two ends of the simulated cable exceeds ±1cm, the lifting mechanism continues to lift and re-detect the height of the two ends of the simulated cable until the height difference between the two ends of the simulated cable is less than ±1cm, and the lifting mechanism stops.

[0029] Through the above technical solution, the height of the two ends of the simulated cable is accurately detected by the rangefinder, and the height difference is controlled within ±1cm, which can ensure that the simulated cable is in a horizontal or near-horizontal state. This helps to more accurately simulate the installation of cables in actual live operations, improve the accuracy and reliability of the test, and make the test results more reflective of the robot's operating performance in real-world scenarios. If the height difference between the two ends of the cable is too large, it may lead to uneven distribution of cable tension, affecting the measurement accuracy of the tension test mechanism, and may even cause the simulated cable to shake or shift during the test, thereby affecting the robot's operating stability and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below in conjunction with the accompanying drawings:

[0031] Figure 1 This is a schematic diagram of a device for simulating live working tests on robots according to the first embodiment of the present invention, in which a simulated cable is located at the lowest position;

[0032] Figure 2 This is a schematic diagram of a device for simulating live working tests on robots according to the first embodiment of the present invention, in which a simulated cable is located at the highest position;

[0033] Figure 3 This is embodiment 1 of the present invention Figure 2 A magnified view of the structure at center A;

[0034] Figure 4 Schematic diagram of the structure of the tension testing mechanism of the first embodiment of the present invention;

[0035] Figure 5 This is a partial structural diagram of a tension testing mechanism according to a first embodiment of the present invention;

[0036] Figure 6 This is a schematic structural diagram of the connecting shaft according to the first embodiment of the present invention;

[0037] In the figure, 10, insulating support frame; 11, insulating pillar; 12, limit block; 13, base; 14, pull wire; 20, simulation cable; 30, test console; 40, lifting mechanism; 41, mounting seat; 42, drive; 43, traction line; 44, support wheel; 45, pulley; 50, camera; 60, equalizing ring; 70, tension test mechanism; 71, test sensor; 72, connecting ring; 73, connecting position; 74, connecting shaft; 75, tightener; 80, rangefinder. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0039] The terms "first," "second," "third," "fourth," and so forth (if any) in the description and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be practiced in sequences other than those illustrated or described herein.

[0040] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the processes does not mean the order of execution. The execution order of the processes should be determined by their functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0041] It should be understood that in the present invention, "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0042] It should be understood that in the present invention, "plurality" refers to two or more. "And / or" is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, X and / or Y can represent three situations: X exists alone, X and Y exist at the same time, and Y exists alone. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "Including X, Y and Z" and "Including X, Y, Z" means that X, Y, and Z are all included. "Including X, Y or Z" means that one of X, Y, and Z is included. "Including X, Y and / or Z" means that any one, any two, or any three of X, Y, and Z are included.

[0043] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined or replaced with each other according to actual conditions, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0044] Example 1:

[0045] like Figures 1 to 5 As shown, the present invention provides a device for simulating a live working test of a robot, comprising an insulating support frame 10, a simulated cable 20, a test console 30, and a boosting mechanism, a lifting mechanism 40 and a camera 50 connected to the test console 30 by signal. Both ends of the simulated cable 20 are arranged on the insulating support frame 10 through the lifting mechanism 40. Both ends of the simulated cable 20 are provided with a voltage equalizing ring 60 and a tension testing mechanism 70. The boosting mechanism and the voltage equalizing ring 60 are electrically connected. The test console 30 controls the boosting mechanism so that the simulated cable 20 has different levels of voltage. The test console 30 controls the lifting mechanism 40 to drive the simulated cable 20 to rise and fall along the insulating support frame 10 so that the simulated cable 20 has different heights. The tension testing mechanism 70 is used to measure the tension of the simulated cable 20 and transmit the measured value to the test console 30. The camera 50 is used to shoot the situation of the robot performing live working on the simulated cable 20 and transmit it to the test console 30.

[0046] By controlling the boost mechanism and the lifting mechanism 40 through the test console 30, the voltage level and height of the simulated cable 20 can be adjusted, so that the real working conditions in different environments can be simulated, rather than being limited to a single working scene. The adaptability and stability of the robot under various voltage levels and height conditions can be studied more deeply. This comprehensive test method helps to discover potential problems and improve the reliability and work efficiency of the robot. The tension testing mechanism 70 can monitor and record the tension changes of the simulated cable 20 in real time, and feed this data back to the test console 30, which helps to evaluate the possible impact of the robot's operation on the cable. The camera 50 provides visual monitoring and can record the robot's operation process in detail to facilitate subsequent analysis and improvement. Finally, the insulating support frame 10 is used to ensure the electrical isolation of the entire system, thereby improving the safety during the test.

[0047] It should be noted that the test console 30 is provided with a touch screen, and the touch screen is provided with an operation interface.

[0048] Specifically, the insulating support frame 10 includes two insulating pillars 11 spaced apart, the lifting mechanism 40 includes a mounting seat 41, a driver 42, a traction line 43 and a plurality of support wheels 44, the simulated cable 20 is connected to the mounting seat 41, the mounting seat 41 is supported on the insulating pillar 11 by a plurality of support wheels 44 arranged in a ring, the driver 42 is connected to the mounting seat 41 through the traction line 43, the driver 42 drives the traction line 43 to drive the mounting seat 41 to rise and fall along the insulating pillar 11, so that the mounting seat 41 can maintain balance during the lifting process. In the high-voltage environment simulating the live operation of the robot, the insulating support frame 10 uses the insulating pillar 11, which can effectively isolate the simulated cable 20 from the ground or other conductive objects, prevent current leakage, and ensure the safety of the test process as much as possible.

[0049] Since the driver 42 generally has a certain weight, if the driver 42 is located at the top of the insulating support 11, the center of gravity of the insulating support 11 will be raised. The higher center of gravity makes the insulating support frame 10 more susceptible to lateral forces, such as wind or vibration during operation, increasing the risk of shaking or even tipping. To this end, in the present application, a pulley 45 is provided at the top of the insulating support 11, the driver 42 is located at the bottom of the insulating support 11, and the traction line 43 is reversed by the pulley 45 and fixedly connected to the mounting base 41, which can significantly lower the center of gravity of the entire system, thereby improving the overall stability of the device.

[0050] Furthermore, the insulating support frame 10 is also provided with a base 13 and a plurality of pull wires 14. The bottom of the insulating support 11 is supported on the ground by the base 13, which increases the contact area with the ground, making the support of the insulating support frame 10 more stable, and can better bear the weight of the simulated cable 20, the mounting base 41, and the robot and other equipment, and reduce the tilt or shaking caused by the uneven ground or uneven force. At the same time, the top of the insulating support 11 is connected to the ground by a plurality of pull wires 14. The plurality of pull wires 14 are evenly distributed along the circumference of the insulating support 11, pulling the insulating support 11 from multiple directions, further enhancing the stability of the insulating support frame 10, and effectively preventing the insulating support 11 from tipping over or swinging significantly when subjected to external force, thereby ensuring the reliability of the entire tension testing mechanism 70 during the test as much as possible.

[0051] The base 13 is provided with universal wheels and ground anchors. The universal wheels can facilitate the movement of the insulating support frame 10, and the ground anchors can fix the position of the insulating support frame 10. Cameras 50 are set at both ends of the simulated cable 20 and on the base 13 to record the operation process.

[0052] In order to limit the movement of the mounting base 41, limit blocks 12 are respectively provided at the top and bottom of the insulating pillar 11. The mounting base 41 and the limit blocks 12 are in contact to limit the movement of the mounting base 41, thereby avoiding as much as possible the risk of the simulated cable 20 detaching from the device or colliding with other components due to excessive lifting and lowering, thereby ensuring the safety and stability of the test process. When the mounting base 41 touches the limit block 12, the tester can immediately know that the simulated cable 20 has reached its upper and lower movement limit position. This direct physical feedback makes the operation more intuitive and does not require reliance on complex sensors or display devices for confirmation.

[0053] In order to obtain the height of the simulated cable 20, the device for simulating the live working test of the robot also includes a rangefinder 80. The rangefinder 80 is located on the base 13 and detects the position of the mounting seat 41 to obtain the height of the simulated cable 20. The rangefinder 80 can be an infrared rangefinder 80.

[0054] Since the test is live, to increase safety, the apparatus for simulating live-line robot work testing also includes a safety fence surrounding the insulating support frame 10 and the simulated cable 20. The safety fence provides a physical barrier, effectively isolating the test area from the outside environment, preventing unauthorized personnel from entering high-risk areas and reducing the risk of potential safety accidents. Especially when conducting high-voltage live-line work simulations, the safety of surrounding personnel is ensured. The test console 30 is located outside the area surrounded by the safety fence, allowing operators to concentrate on monitoring and adjusting test parameters in a relatively safe and stable environment without worrying about being directly exposed to potential dangers.

[0055] The tension test mechanism 70 includes a test sensor 71 and a connecting ring 72 connected to the test sensor 71. The connecting ring 72 is provided with a plurality of connection positions 73 for connecting the simulated cables 20 at intervals along the circumferential direction. Different numbers of simulated cables 20 can be connected at the same time to simulate the situation where multiple cables may exist in a real scene, thereby more comprehensively testing the robot's ability to operate in a complex environment. For example, as shown in Figure 4, only one simulated cable 20 can be connected to realize the simulation test of the robot in the environment of a single simulated cable 20, or as shown in Figure 5. Figure 1 and Figure 2 As shown, eight simulated cables 20 can be connected to realize simulation testing of the robot in an environment with multiple simulated cables 20. It should be noted that the connecting ring 72 can be provided with four connection positions 73 or eight connection positions 73, and the connecting ring 72 with different numbers of connection positions 73 can be replaced to meet the installation of different numbers of cables.

[0056] Furthermore, the tension testing mechanism 70 includes a tensioner 75, through which at least one end of the simulated cable 20 is tensioned and connected to the connection point 73. Testers can use the tensioner 75 to tighten the simulated cable 20 according to actual needs, precisely adjusting the tension of the simulated cable 20 to accurately simulate the stress state of a real cable under different working conditions. This provides more accurate and adjustable test conditions for tension testing, expands the application range of the test device, and enables it to meet the needs of various tests simulating live working with the cable 20.

[0057] It should be noted that the tightener 75 can be a spring structure, which keeps the simulated cable 20 taut through the elastic force of the spring. Of course, the tightener 75 can also be a threaded structure, which controls the tightness of the simulated cable 20 and adjusts the tension of the simulated cable 20 through the rotation and extension of the threaded structure.

[0058] It should be noted that the robot live working may include operations such as inspection and patrol of the simulated cable 20.

[0059] Understandably, Figure 6 As shown, in other embodiments, the tension testing mechanism 70 includes a test sensor 71 and a connecting shaft 74 connected to the test sensor 71. The connecting shaft 74 is provided with multiple connection positions 73 for connecting to the simulated cables 20 at intervals along the axial direction. Different numbers of simulated cables 20 can be connected simultaneously, simulating the presence of multiple cables in real-world scenarios, thereby more comprehensively testing the robot's ability to operate in complex environments. The connecting shaft 74 can be arranged in a straight line or a curved line.

[0060] Example 2:

[0061] This embodiment provides a method for simulating live-line working with a robot test, using the device for simulating live-line working with a robot of the above embodiment. The method includes:

[0062] S1: Install the simulated cable on the insulation support frame and install tension test mechanisms at both ends of the simulated cable;

[0063] S2: The test console, camera and lifting mechanism are powered on, and the touch screen displays the operation interface;

[0064] S3: Input the target height of the simulated cable through the operation interface, and the lifting mechanism drives the simulated cable to move to the target height to obtain the tension of the simulated cable;

[0065] S4: Install the live working robot on the simulated cable, control the simulated cable to move to the highest position through the test console, connect the voltage-grading ring to the boost mechanism, and start boosting the voltage to the target voltage;

[0066] S5: The robot is remotely controlled to perform live work on the simulated cable. The robot's working status is monitored in real time by a surveillance camera, and the tension of the simulated cable is obtained by a tension testing mechanism.

[0067] S6: After the robot's live operation is completed, cut off the connection between the boost mechanism and the absolute pressure ring, drive the simulated cable down to the lowest position through the lifting mechanism, and remove the robot.

[0068] Using the touchscreen interface on the test console, testers simply input the target height of the simulated cable, and the lifting mechanism automatically moves the simulated cable into position. Operation is simple and intuitive. The lifting mechanism adjusts the simulated cable to different heights, and the booster mechanism brings the simulated cable to the target voltage, accurately simulating a variety of real-world live-line working scenarios. Whether it's cable installations at varying heights or transmission environments with varying voltage levels, these can all be replicated during the test, providing a more realistic environment for testing the robot's performance and ensuring the reliability and practicality of the test results. Finally, during the test, the tension test mechanism continuously acquires simulated cable tension data, and cameras monitor the robot's operating status in real time. This allows testers to fully understand the impact of robot operation on cable tension and its actual operation. These precise data and real-time images provide a rich and accurate basis for analyzing robot performance and optimizing operational plans, contributing to improved robot design and operational performance.

[0069] Furthermore, S1 also includes the test area being isolated by a safety fence, the insulating support frame being located inside the safety fence, and the test console being located outside the safety fence. The safety fence builds a suitable simulation environment based on the on-site environment of the overhead transmission line, altitude, topography, and micro-meteorological conditions, to restore the on-site environment to the greatest extent possible.

[0070] The test console, camera and lifting mechanism in S2 are equipped with power sockets, circuit breakers and rocker switches. The power is turned on through the power socket, and the circuit breaker and rocker switch are turned on.

[0071] S3 also includes detecting the height of the two ends of the simulated cable through a rangefinder. If the height difference between the two ends of the simulated cable exceeds ±1cm, the lifting mechanism continues to lift and re-detect the height of the two ends of the simulated cable until the height difference between the two ends of the simulated cable is less than ±1cm, then the lifting mechanism stops.

[0072] Through the above technical solution, the height of the two ends of the simulated cable is accurately detected by the rangefinder, and the height difference is controlled within ±1cm, which can ensure that the simulated cable is in a horizontal or near-horizontal state. This helps to more accurately simulate the installation of cables in actual live operations, improve the accuracy and reliability of the test, and make the test results more reflective of the robot's operating performance in real-world scenarios. If the height difference between the two ends of the cable is too large, it may lead to uneven distribution of cable tension, affecting the measurement accuracy of the tension test mechanism, and may even cause the simulated cable to shake or shift during the test, thereby affecting the robot's operating stability and safety.

[0073] The operating interface includes test software, and the display shows temperature, humidity, and date. A log in the lower left corner displays test status and alarm information. The interface is divided into manual and automatic operations. Manual operations include raising, lowering, and tare. Automatic operations include start and stop. Tare removes the weight of the simulated cable, allowing the robot to monitor the load applied to the simulated cable as it operates.

[0074] In addition to the above-mentioned preferred embodiments, the present invention has other implementation modes. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection requested by the present invention.

Claims

1. A device for simulating a robot live working test, characterized in that: It includes an insulating support frame, a simulation cable, a test console, and a boosting mechanism, a lifting mechanism and a camera connected to the test console signal. The two ends of the simulation cable are set on the insulating support frame through the lifting mechanism. Both ends of the simulation cable are provided with a voltage equalizing ring and a tension testing mechanism. The boosting mechanism and the voltage equalizing ring are electrically connected. The test console controls the boosting mechanism so that the simulation cable has different levels of voltage. The test console controls the lifting mechanism to drive the simulation cable to rise and fall along the insulating support frame so that the simulation cable has different heights. The tension testing mechanism is used to measure the tension of the simulation cable and transmit the measured value to the test console. The camera is used to shoot the situation of the robot working on the simulation cable under power and transmit it to the test console.

2. The device for simulating live working test of a robot according to claim 1, characterized in that: The tension testing mechanism includes a test sensor and a connecting ring connected to the test sensor, and the connecting ring is provided with multiple connection positions for connecting the simulation cable at intervals along the circumferential direction; the tension testing mechanism includes a test sensor and a connecting shaft connected to the test sensor, and the connecting shaft is provided with multiple connection positions for connecting the simulation cable at intervals along the axial direction.

3. The device for simulating live working test of a robot according to claim 2, characterized in that: The tension testing mechanism further includes a tightener, and at least one end of the simulated cable is tightened and connected to the connection position through the tightener.

4. The device for simulating live working test of a robot according to claim 1, characterized in that: The insulating support frame includes two insulating pillars arranged at intervals, and the lifting mechanism includes a mounting seat, a driver, a traction line and multiple support wheels. The simulated cable is connected to the mounting seat, and the mounting seat is supported on the insulating pillars by multiple support wheels arranged in a ring. The driver is connected to the mounting seat through a traction line, and the driver drives the traction line to drive the mounting seat to rise and fall along the insulating pillars.

5. The device for simulating live-line working test of a robot according to claim 4, characterized in that: Limit blocks are respectively provided on the top and bottom of the insulating support, and the mounting seat contacts the limit blocks to limit the movement of the mounting seat.

6. The device for simulating live-line working test of a robot according to claim 4, characterized in that: A pulley is provided on the top of the insulating support, the driver is located at the bottom of the insulating support, and the traction line is reversed through the pulley and fixedly connected to the mounting seat.

7. The device for simulating live-line working test of a robot according to claim 4, characterized in that: The insulating support frame is also provided with a base and a plurality of pull wires. The bottom of the insulating support is supported on the ground by the base, and the top of the insulating support is connected and fixed to the ground by a plurality of pull wires. The plurality of pull wires are evenly distributed along the circumference of the insulating support.

8. The device for simulating live working test of a robot according to claim 1, characterized in that: The device for simulating a live-line operation test of a robot further comprises a safety fence surrounding an insulating support frame and a simulated cable, and the test console is located outside an area surrounded by the safety fence.

9. A test method for simulating live-line operation of a robot, characterized in that: The device for simulating a live-line working test of a robot according to any one of claims 1 to 8 is provided, wherein the test console is provided with a touch screen, the touch screen is provided with an operation interface, and the method for simulating a live-line working test of the robot comprises: S1: Install the simulated cable on the insulation support frame and install tension test mechanisms at both ends of the simulated cable; S2: The test console, camera and lifting mechanism are powered on, and the touch screen displays the operation interface; S3: Input the target height of the simulated cable through the operation interface, and the lifting mechanism drives the simulated cable to move to the target height to obtain the tension of the simulated cable; S4: Install the live working robot on the simulated cable, control the simulated cable to move to the highest position through the test console, connect the voltage-grading ring to the boost mechanism, and start boosting the voltage to the target voltage; S5: The robot is remotely controlled to perform live work on the simulated cable. The robot's working status is monitored in real time by a surveillance camera, and the tension of the simulated cable is obtained by a tension testing mechanism. S6: After the robot's live operation is completed, cut off the connection between the boost mechanism and the absolute pressure ring, drive the simulated cable down to the lowest position through the lifting mechanism, and remove the robot.

10. The method for simulating live-line working with a robot according to claim 9, characterized in that: The device for simulating the live working test of the robot also includes a rangefinder. S3 also includes detecting the height of the two ends of the simulated cable by the rangefinder. If the height difference between the two ends of the simulated cable exceeds ±1 cm, the lifting mechanism continues to lift and re-detect the height of the two ends of the simulated cable until the height difference between the two ends of the simulated cable is less than ±1 cm, and then the lifting mechanism stops.

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