Substation electricity testing and grounding operation robot

Abstract

The invention discloses a transformer substation electricity testing and grounding operation robot which comprises a control cabinet, a workbench is arranged above the control cabinet, the workbench is connected with the control cabinet through a lifting structure, a lifting driving motor is further arranged above the control cabinet, a multi-axis mechanical arm is further arranged on the workbench, and the multi-axis mechanical arm is connected with the control cabinet. A clamping jaw and a visual positioning device are arranged at the tail end of the multi-axis mechanical arm, and a control system is arranged in the control cabinet. A support is further connected to one side of the workbench, power lapping equipment is placed on the support, a guide hole matched with the clamping jaw is formed in the head of the power lapping equipment, and the clamping jaw grabs the power lapping equipment through the guide hole. By the adoption of the method, the multi-axis mechanical arm is used for replacing manual climbing equipment for climbing operation, the safety and stability of the power connection process are ensured, the personnel operation amount is reduced, and the efficiency is improved; and the operation height is adjusted through the lifting structure, so that the device can adapt to operation environments with different heights, and the applicability is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of substation operation robots, in particular to a substation electricity checking and grounding operation robot. BACKGROUND

[0002] In the maintenance and repair of a substation, electricity checking and grounding are crucial links, which are usually manually operated and rely on the experience of operators, and potential safety risks exist.

[0003] In the traditional process of electricity checking and grounding, all operations are manually operated. In the substation, some devices are too high, and manual operation needs to climb the device framework, which has the risk of falling from a high altitude.

[0004] When checking electricity, an operator needs to hold an electricity checking rod. In the traditional process of electricity checking, the operator needs to closely contact the live body, and the minimum safety distance is only 0.7 m (110 kV), which has the risk of electric shock.

[0005] When grounding, the operator only relies on the naked eye to observe and operates according to experience. The success rate will obviously decrease under the condition of long operation time or bad conditions, and the misoperation rate is about 2.3%. Manual operation is prone to safety risks due to negligence or operation errors.

[0006] Therefore, it is urgent to design a substation electricity checking and grounding operation robot to solve one or more technical problems in the prior art. SUMMARY

[0007] The technical scheme adopted by the application to solve the above technical problems is: a substation electricity checking and grounding operation robot, characterized by comprising: a control cabinet, a workbench is arranged above the control cabinet, the workbench and the control cabinet are connected through a lifting structure, a lifting drive motor is further arranged above the control cabinet, the lifting drive motor is in transmission connection with a lead screw shaft, the lifting structure is in transmission connection with the lead screw shaft, a multi-axis mechanical arm is further arranged on the workbench, a gripper and a visual positioning device are arranged at the tail end of the multi-axis mechanical arm, a control system is arranged in the control cabinet, the control system controls the movement of the multi-axis mechanical arm, the visual positioning device is used for positioning, and the control system controls the multi-axis mechanical arm to move the gripper to a corresponding position according to the position information fed back by the visual positioning device; a support is further connected to one side of the workbench, and an electricity checking equipment is placed on the support, a guide hole matched with the gripper is arranged at the head of the electricity checking equipment, and the gripper can grab the electricity checking equipment through the guide hole.

[0008] In a preferred embodiment, a height measuring device is further arranged between the workbench and the control cabinet, and the height measuring device is used for detecting the lifting height of the workbench on the control cabinet.

[0009] In a preferred embodiment, the height measuring device is a pull rope sensor, which is fixedly arranged at the top of the control cabinet. The extending end of the pull rope sensor is fixedly connected to the workbench, and the pull rope sensor is perpendicular to the bottom surface of the workbench.

[0010] In a preferred embodiment, the jaw includes: a grasping motor, which is fixedly arranged at the end of the multi-axis robotic arm. Two spaced clamping blocks are also arranged at the end of the multi-axis robotic arm. The two clamping blocks are slidably connected to the multi-axis robotic arm, and the two clamping blocks are传动连接 with the output end of the grasping motor. The grasping motor drives the two clamping blocks to approach or move away from each other; wedge-shaped blocks are respectively detachably arranged on the opposite surfaces of the two clamping blocks, and the wedge-shaped blocks are adapted to the guide holes.

[0011] In a preferred embodiment, a light source is also arranged at the end of the multi-axis robotic arm.

[0012] In a preferred embodiment, the power connection equipment includes: a live-line detector pole, a discharge pole, and a grounding push rod. Guide holes are arranged at the heads of the live-line detector pole, the discharge pole, and the grounding push rod. The live-line detector pole, the discharge pole, and the grounding push rod are hung on the bracket at intervals.

[0013] In a preferred embodiment, the grounding push rod has a rod body. An adjustable clamping mouth is arranged at the top of the rod body. A movable rod is arranged on one side of the rod body. One end of the movable rod is connected to the clamping mouth for controlling the opening size of the clamping mouth. The bottom end of the rod body is fixedly connected with a driving device. The output end of the driving device is传动连接 with the bottom end of the movable rod. The driving device drives the movable rod to move. The tail end of the driving device is connected with a connecting block. An electrical connection head is arranged on one side of the connecting block. The guide hole is arranged on the connecting block.

[0014] In a preferred embodiment, the jaw includes: an upper clamp and a lower clamping block; the upper clamp is in a "匚" shape, the lower clamping block is slidably arranged in the upper clamp, the top end of the movable rod is fixedly connected with the lower clamping block, and a wire groove is arranged on the surface of the upper clamp facing the lower clamping block.

[0015] In a preferred embodiment, the driving device includes: a grounding driving motor and a transfer member. The output end of the grounding driving motor is connected to the transfer member. The output end of the transfer member is传动连接 with the movable rod. The grounding driving motor drives the movable rod to move linearly through the transfer member.

[0016] In a preferred embodiment, the guide hole is in the shape of an oval hole.

[0017] The application has the beneficial effects that: the application replaces the artificial climbing equipment with the multi-axis mechanical arm to perform the climbing operation, ensures the safety and stability of the power connection process, reduces the personnel operation amount, and improves the efficiency; the lifting structure is used to adjust the operation height, can adapt to the operation environment between different heights, and improves the applicability. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic view of the application; Figure 2 It is a side view of the application; Figure 3 It is a structural schematic view of the grounding push rod of the application; Figure 4 It is a sectional view of the grounding push rod of the application.

[0019] In the drawings: 10, control cabinet; 11, workbench; 12, lifting driving motor; 13, screw shaft; 14, multi-axis mechanical arm; 15, visual positioning device; 16, clamping jaw; 161, clamping block; 162, wedge block; 17, support; 18, power connection equipment; 181, electricity testing rod; 182, discharge rod; 183, grounding push rod; 184, guide hole; 185, rod body; 186, movable rod; 187, electric connector; 19, height measuring device; 20, clamping opening; 21, upper clamp; 22, lower clamping block; 23, wire slot; 24, driving device; 241, grounding driving motor; 242, adapter; 25, connecting block; 26, lifting structure. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the specific embodiments of the application will be described in detail below in combination with the drawings. In the following description, a large number of specific details are set forth in order to facilitate a full understanding of the application. However, the application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the application, so the application is not limited by the specific embodiments disclosed below.

[0021] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "connect", "mount", should be interpreted broadly, for example, "connect" can be detachable connection, but also can be non-detachable connection, can be direct connection, but also can be indirect connection through intermediate medium. In addition, "communication" can be direct communication, but also can be indirect communication through intermediate medium. Among them, "fixed" refers to the relative position relationship of each other after connection. The orientation language mentioned in the embodiments of the present application, such as "inner", "outer", "top", "bottom", etc., is only the direction of the drawing, therefore, the orientation language used is to better, more clearly illustrate and understand the embodiments of the present application, and is not indicative or implied that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the embodiments of the present application.

[0022] In the embodiments of the present application, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features.

[0023] In the embodiments of the present application, "and / or" is only a description of the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0024] In the description of the embodiments of the present application, the reference "one embodiment" or "some embodiments" means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in other some embodiments" and the like appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0025] . As Figures 1-4The present application provides a substation electricity testing and grounding operation robot, which comprises a control cabinet 10, a workbench 11 arranged above the control cabinet 10, a lifting structure 26 connecting the workbench 11 and the control cabinet 10, a lifting drive motor 12 arranged above the control cabinet 10, a screw shaft 13 in transmission connection with the lifting drive motor 12, the lifting structure 26 in transmission connection with the screw shaft 13, a multi-axis mechanical arm 14 arranged on the workbench 11, a gripper 16 and a visual positioning device 15 arranged at the end of the multi-axis mechanical arm 14, a control system arranged in the control cabinet 10, the control system controlling the movement of the multi-axis mechanical arm 14, the visual positioning device 15 being used for positioning, the control system controlling the multi-axis mechanical arm 14 to move the gripper 16 to a corresponding position according to the position information fed back by the visual positioning device 15, a support 17 connected to one side of the workbench 11, and a power connection equipment 18 placed on the support 17, the head of the power connection equipment 18 being provided with a guide hole 184 matched with the gripper 16, and the gripper 16 grabbing the power connection equipment 18 through the guide hole 184. Specifically, the control cabinet 10 is internally provided with a control system, a roller is arranged at the bottom of the control cabinet 10 to facilitate manual movement of the control cabinet 10 to the working site, a workbench 11 is arranged at the top of the control cabinet 10, the workbench 11 is connected with the control cabinet 10 through a lifting structure 26, the workbench 11 can be lifted on the control cabinet 10 to adjust the height according to the work requirement, a lifting driving motor 12 is further fixedly connected to the top of the control cabinet 10, the lifting driving motor 12 is connected with a lead screw shaft 13 through a belt, drives the operation of the lead screw shaft 13, the lifting structure 26 is connected with the lead screw shaft 13, the lead screw shaft 13 drives the lifting structure 26 to rise or fall when operating, wherein the lifting structure 26 is a slide rod, the bottom of the slide rod is located in the control cabinet 10 and is connected with a transmission block on the lead screw shaft 13, the lifting driving motor 12 is electrically connected with the control system and is controlled by the control system, wherein the lifting driving motor 12 is a three-phase motor, the three-phase motor has a speed regulation function to adjust the lifting speed, has high positioning accuracy, high energy conversion efficiency, is more energy-saving, has a long maintenance period and is more suitable for frequent lifting working environment; a multi-axis mechanical arm 14 is further fixedly connected to the workbench 11, the multi-axis mechanical arm 14 is also connected with the control system, a gripper 16 and a visual positioning device 15 are arranged at the end of the multi-axis mechanical arm 14, the visual positioning device 15 determines the position by collecting environmental images, which is a conventional technology, so the working principle of the visual positioning device 15 will not be described here; a support 17 is further arranged on one side of the workbench 11, the support 17 extends to the side of the control cabinet 10, and a power connecting device 18 is placed on the support 17, the power connecting device 18 rises and falls with the workbench 11, so the position of the power connecting device 18 is fixed compared with the workbench 11, when the multi-axis mechanical arm 14 needs to clamp the power connecting device 18 for work, it will first move to a predetermined position, which will not change, that is, the multi-axis mechanical arm 14 moves to the predetermined position every time it needs to clamp the power connecting device 18, then the position of the power connecting device 18 to be clamped is obtained through the visual positioning device 15, and the gripper 16 is moved to a specific position to clamp the power connecting device 18 through the feedback of the visual positioning device 15, wherein since the work is carried out by the multi-axis mechanical arm 14, in order to facilitate the multi-axis mechanical arm 14 to grab the power connecting device 18 through the gripper 16, a guide hole 184 is arranged at the head of the power connecting device 18, and the gripper 16 can grab the power connecting device 18 for work through the guide hole 184.

[0026] Further, a height measuring device 19 is further arranged between the workbench 11 and the control cabinet 10, and the height measuring device 19 is used to detect the lifting height of the workbench 11 on the control cabinet 10. Specifically, since the workbench 11 needs to be lifted according to different working heights, in order to facilitate positioning of the lifting height, a height measuring device 19 is further arranged between the workbench 11 and the control cabinet 10, which can be a laser range finder, a magnetostrictive displacement sensor, an ultrasonic range sensor, a pull rope displacement sensor, etc., and in the embodiment, the pull rope displacement sensor is preferably used, which is flexible to install, has a large range, and has a high cost performance and is suitable for linear motion measurement; in actual installation, the body of the pull rope displacement sensor is fixed at the top end of the control cabinet 10, and the ball head, i.e. the extending end, is fixedly connected with the bottom surface of the workbench 11; when the workbench 11 is lifted, the ball head is extended; in order to ensure the accuracy of measurement, the pull rope of the pull rope displacement sensor is perpendicular to the surfaces of the workbench 11 and the control cabinet 10 during work, so as to ensure that the shortest distance between the workbench 11 and the control cabinet 10 is measured, and the lifting height of the lifting structure 26 is controlled through the pull rope displacement sensor.

[0027] Further, the clamping jaw 16 comprises a grabbing motor (not shown in the figure) fixedly arranged at the end of the multi-axis mechanical arm 14, and two clamping blocks 161 spaced apart and arranged at the end of the multi-axis mechanical arm 14, which are in sliding connection with the multi-axis mechanical arm 14 and in transmission connection with the output end of the grabbing motor, and the grabbing motor drives the two clamping blocks 161 to approach or move away from each other; the opposite sides of the two clamping blocks 161 are respectively detachably provided with wedge-shaped blocks 162, which are adapted to the guide holes 184. Specifically, the clamping jaw 16 comprises a grabbing motor fixedly arranged at the end of the multi-axis mechanical arm 14, and two clamping blocks 161 spaced apart and arranged at the output end of the grabbing motor, which approach or move away from each other under the driving of the grabbing motor, and in order to facilitate grabbing of the power equipment 18, the opposite sides of the two clamping blocks 161 are respectively detachably connected with wedge-shaped blocks 162, which are adapted to the guide holes 184; when the two clamping blocks 161 approach each other, the wedge-shaped blocks 162 are inserted into the guide holes 184 to achieve grabbing of the power equipment 18, wherein in order to avoid free rotation of the power equipment 18 relative to the clamping jaw 16, the guide holes 184 are waist-shaped holes, which can not only limit the free rotation of the power equipment 18, but also achieve the foolproof effect, so that the wedge-shaped blocks 162 can only be inserted into the guide holes 184 from a specific direction.

[0028] The grabbing motor and the clamping blocks 161 can approach or move away from each other through the double rack and gear mode.

[0029] Further, the end of the multi-axis mechanical arm 14 is further provided with a light source (not shown in the figure). Specifically, since the multi-axis robot arm 14 is positioned by the visual positioning device 15, in order to avoid uneven lighting affecting the accuracy of the visual positioning device 15, a light source is arranged at the end of the multi-axis robot arm 14, which provides uniform lighting, eliminates shadows and reflections, and makes the image clearer.

[0030] Further, the power-on equipment 18 comprises an electricity checking rod 181, a discharging rod 182 and a grounding push rod 183, the head of the electricity checking rod 181, the discharging rod 182 and the grounding push rod 183 is provided with the guide hole 184, and the electricity checking rod 181, the discharging rod 182 and the grounding push rod 183 are arranged on the support 17 at intervals. Specifically, in the embodiment, the power-on equipment 18 comprises the electricity checking rod 181, the discharging rod 182 and the grounding push rod 183, wherein the electricity checking rod 181 and the discharging rod 182 are both existing, and only the guide hole 184 is arranged at the head of the electricity checking rod 181 and the discharging rod 182 respectively to adapt to the clamping jaw 16, the extension of the support 17 can avoid the control cabinet 10 from hindering the arrangement of the electricity checking rod 181, the discharging rod 182 and the grounding push rod 183, and the guide hole 184 is also arranged at the head of the grounding push rod 183 to facilitate the grabbing of the multi-axis robot arm 14.

[0031] Further, the grounding push rod 183 has a rod body 185, the top end of the rod body 185 is provided with an adjustable clamp 20, one side of the rod body 185 is provided with a movable rod 186, one end of the movable rod 186 is connected with the clamp 20 for controlling the opening size of the clamp 20, the bottom end of the rod body 185 is fixedly connected with a driving device 24, the output end of the driving device 24 is in transmission connection with the bottom end of the movable rod 186, the driving device 24 drives the movable rod 186 to move, the tail end of the driving device 24 is connected with a connecting block 25, one side of the connecting block 25 is provided with an electric connector 187, and the guide hole 184 is arranged on the connecting block 25; Specifically, the adjustment of the clamping opening 20 is realized by the movement of the movable rod 186. The bottom end of the rod body 185 is fixedly connected with a driving device 24. The driving device 24 is in transmission connection with the movable rod 186, so as to drive the movable rod 186 to move, thereby controlling the opening size of the clamping opening 20. An electric connector 187 is further arranged on the side of the driving device 24 away from the movable rod 186. The electric connector 187 has two unit interfaces. The driving device 24 is electrically connected with one of the unit interfaces. The unit interface is used to be connected with a power supply, so that the driving device 24 can operate. The other unit interface is used to be connected with a grounding wire. A passage is formed among the clamping jaw 16, the movable rod 186 and the electric connector 187. When the rod body 185 is hung on the cable, the cable forms a grounding circuit among the clamping jaw 16, the movable rod 186, the electric connector 187, the grounding wire and the ground. When the cable is accidentally electrified during operation, the current flows into the ground through the grounding wire, causing a short circuit, prompting the upper protection device to trip and cut off the power supply.

[0032] Further, the clamping jaw 16 comprises an upper clamp 21 and a lower clamp block 22. The upper clamp 21 is in the shape of a "Fang". The lower clamp block 22 is slidingly arranged in the upper clamp 21. The top end of the movable rod 186 is fixedly connected with the lower clamp block 22. One side of the upper clamp 21 facing the lower clamp block 22 is provided with a wire groove 23. Specifically, the upper clamp 21 is in the shape of a "Fang". The lower clamp block 22 is slidingly arranged in the upper clamp 21. The top end of the movable rod 186 is fixedly connected with the lower clamp block 22. When the driving device 24 operates, the movable rod 186 is driven to move, thereby driving the lower clamp block 22 to move, reducing the opening width of the upper clamp 21, and extruding the cable grounding portion in the upper clamp 21, and tightly adhering to form a stable and reliable physical connection. In order to avoid the sliding between the clamping jaw 16 and the cable, causing disengagement, the wire groove 23 is further arranged on the side of the upper clamp 21 facing the lower clamp block 22. When the lower clamp block 22 extrudes the cable, the cable is embedded in the wire groove 23, and the cable is fixed in the wire groove 23 through the lower clamp block 22, avoiding disengagement of the cable.

[0033] Further, the driving device 24 comprises a grounding driving motor 241 and an adapter 242. The output end of the grounding driving motor 241 is connected with the adapter 242. The output end of the adapter 242 is in transmission connection with the movable rod 186. The grounding driving motor 241 drives the movable rod 186 to move linearly through the adapter 242. Specifically, the driving device 24 comprises a grounding driving motor 241, an output end of the grounding driving motor 241 is connected with an input end of a transfer piece 242, an output end of the transfer piece 242 is in transmission connection with the movable rod 186, and the end, where the transfer piece 242 is connected with the movable rod 186, is also fixedly connected with the rod body 185, so that the grounding driving motor 241 is fixed on the rod body 185 through the transfer piece 242, the tail end of the movable rod 186 is located in the transfer piece 242, and the movable rod 186 and the transfer piece 242 can be connected together through a transmission mode such as a screw rod, the inside of the transfer piece 242 also has a transmission structure, the motor drives the transmission structure to move, the transmission structure drives the movable rod 186 to move linearly, and the movable rod 186 promotes the lower clamping block 22 to slide in the upper clamp 21, so that the cable is squeezed or loosened.

[0034] To sum up, the application replaces artificial climbing equipment with the multi-axis mechanical arm 14 to perform climbing operation, ensures the safety and stability of the power connection process, reduces the amount of personnel operation, and improves the efficiency; the lifting structure 26 is used to adjust the operation height, can adapt to the operation environment between different heights, and improves the applicability.

[0035] The application is not limited to the description and embodiments described, and therefore other advantages and modifications can be easily realized by those skilled in the art, and the application is not limited to specific details, representative devices and the illustrated examples shown and described herein, without departing from the spirit and scope of the general concept defined by the claims and the equivalent range.

Claims

1. A substation grounding detection robot, characterized in that, Including: A control cabinet, above which there is a workbench. The workbench is connected to the control cabinet through a lifting structure. Above the control cabinet, there is also a lifting drive motor, which is传动连接with the screw shaft. The lifting structure is传动连接with the screw shaft. There is also a multi-axis robotic arm on the workbench. At the end of the multi-axis robotic arm, there is a gripper and a vision positioning device. Inside the control cabinet, there is a control system that controls the movement of the multi-axis robotic arm. The vision positioning device is used for positioning. The control system controls the multi-axis robotic arm to move the gripper to the corresponding position according to the position information fed back by the vision positioning device. On one side of the workbench, there is also a bracket, on which there is a power connection device placed. At the head of the power connection device, there is a guiding hole adapted to the gripper, and the gripper grabs the power connection device through the guiding hole.

2. The substation grounding detection robot according to claim 1, characterized in that, There is also a height measuring device between the workbench and the control cabinet, which is used to detect the lifting height of the workbench on the control cabinet.

3. The substation grounding detection robot according to claim 2, characterized in that, The height measuring device is a pull rope sensor, which is fixedly arranged at the top of the control cabinet. The extending end of the pull rope sensor is fixedly connected to the workbench, and the pull rope sensor is perpendicular to the bottom surface of the workbench.

4. The substation grounding detection robot according to claim 1, characterized in that, The gripper includes: a grasping motor, which is fixedly arranged at the end of the multi-axis robotic arm. At the end of the multi-axis robotic arm, there are also two clamping blocks arranged at intervals. The two clamping blocks are slidably connected to the multi-axis robotic arm, and the two clamping blocks are传动连接with the output end of the grasping motor. The grasping motor drives the two clamping blocks to move closer to or away from each other. On the opposite sides of the two clamping blocks, there are respectively detachably arranged wedge-shaped blocks, which are adapted to the guiding hole.

5. The substation grounding detection robot according to claim 1, characterized in that, At the end of the multi-axis robotic arm, there is also a light source.

6. The substation grounding detection robot according to claim 1, characterized in that, The power connection device includes: a voltage testing rod, a discharging rod, and a grounding push rod. At the heads of the voltage testing rod, the discharging rod, and the grounding push rod, there are all the guiding holes. The voltage testing rod, the discharging rod, and the grounding push rod are hung on the bracket at intervals.

7. The substation grounding detection robot according to claim 6, characterized in that, The grounding push rod has a rod body. At the top of the rod body, there is an adjustable clamping mouth. On one side of the rod body, there is a movable rod. One end of the movable rod is connected to the clamping mouth for controlling the opening size of the clamping mouth. At the bottom of the rod body, there is a fixedly connected driving device. The output end of the driving device is传动连接with the bottom end of the movable rod. The driving device drives the movable rod to move. At the tail end of the driving device, there is a connecting block. On one side of the connecting block, there is an electrical connection head. The guiding hole is arranged on the connecting block.

8. The substation grounding detection robot according to claim 7, characterized in that, The gripper includes: an upper clip and a lower clamping block; the upper clip is in a "匚” shape, the lower clamping block is slidably arranged inside the upper clip, the top end of the movable rod is fixedly connected to the lower clamping block, and on the side of the upper clip facing the lower clamping block, there is a wire groove. It should be noted that the "传动连接" in the original text needs to be accurately translated according to the specific mechanical connection relationship, and here it is temporarily translated as "传动连接" for the time being. You may need to adjust it according to the actual situation.

9. The substation grounding detection robot according to claim 7, characterized in that, The driving device includes a ground drive motor and an adapter. The output end of the ground drive motor is connected to the adapter, and the output end of the adapter is connected to the movable rod. The ground drive motor drives the movable rod to move linearly through the adapter.

10. The substation grounding detection robot according to claim 1, characterized in that, The guide hole is waist-shaped.

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