Inspection robot for simulating grading ring and detection method

Abstract

The invention relates to an inspection robot for simulating a grading ring and a detection method, and relates to the technical field of grading ring detection, the inspection robot comprises a rack with rollers and a mechanical arm with at least six degrees of freedom, and a driving mechanism is mounted at the tail end of the mechanical arm and used for driving a detachable clamping jaw mechanism to open and close. And the clamping jaw mechanism is automatically locked and keeps the current opening size when being separated from the driving mechanism, so that the hooking stability is improved. The robot is provided with a clamping jaw power supply mechanism and a clamping jaw discharge mechanism, the clamping jaw power supply mechanism is electrically connected with power supply equipment, and the clamping jaw discharge mechanism is grounded through a wire to form a stable current path. According to the structure, power supply and discharge operation can be simulated in the inspection process, compared with manual operation, the efficiency is higher, meanwhile, the clamping jaw mechanism can be separated from the mechanical arm during power supply and discharge operation, and therefore the situation that the mechanical arm is prone to being damaged in the extra-high voltage environment is effectively reduced.

Description

Technical Field

[0001] This application relates to the field of equalizing ring detection technology, and in particular to a patrol inspection robot and detection method for simulating equalizing rings. Background Technology

[0002] Currently, in the operation and maintenance of ultra-high voltage transmission lines, the equalizing ring, as an important component for electric field regulation and insulation coordination, is subjected to high voltage, high electric field strength and complex weather conditions for a long time, and its conductivity and insulation performance need to be tested regularly.

[0003] Current testing methods primarily rely on manual intervention near the tower or equipment, using handheld cables, probes, or temporary wiring to establish an electrical connection with the equipotential ring for pre-test discharge and power supply during testing. This manual approach poses significant risks in ultra-high voltage (UHV) environments. Operators must perform contact work in high-potential, highly induced areas, making them highly susceptible to corona discharge, transient induced currents, and the accumulation and dissipation of surface charges. Furthermore, the limited contact angle and uncontrollable force can lead to unstable contact, insufficient connection, and incomplete discharge, further compromising testing accuracy. Summary of the Invention

[0004] This application provides a maintenance device and method for simulating equalizing rings, which at least partially solves the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this application, a robot for simulating a pressure equalization ring is provided, comprising: The frame has multiple casters at its bottom; A robotic arm, mounted on the frame, has at least six degrees of freedom; A drive mechanism is installed at the end of the robotic arm away from the frame; A gripper mechanism is detachably connected to the drive mechanism, and the drive mechanism is used to drive the gripping opening of the gripper mechanism to open and close. The gripper mechanism is configured such that when the drive mechanism is separated from the gripper mechanism, the gripping opening of the gripper mechanism is automatically locked to maintain the current opening degree. The clamping mechanism comprises two clamping mechanisms, which are a clamping power supply mechanism and a clamping discharge mechanism, respectively. The clamping power supply mechanism is configured to be electrically connected to the power supply equipment, and the clamping discharge mechanism is configured to be connected to the ground via a wire.

[0006] Optionally, the gripper mechanism includes a support, a gripping assembly, and a transmission assembly; wherein, The bracket is detachably connected to the drive mechanism; The transmission component is rotatably mounted on the bracket, and the transmission component is detachably connected to the drive mechanism. The clamping assembly is connected between the bracket and the transmission assembly, and there are two clamping assemblies. The clamping opening is formed on the side of the two clamping assemblies away from the transmission assembly. When the driving mechanism drives the transmission assembly to move, the two clamping assemblies move closer to each other or further away from each other, so that the clamping opening becomes larger or smaller.

[0007] Optionally, the clamping assembly includes a first hinge plate, a second hinge plate, and an arc-shaped plate, and the transmission assembly includes a threaded rod and a moving block; wherein, The threaded rod is rotatably connected to the bracket and is transmitted to the drive mechanism; the moving block is threadedly sleeved on the threaded rod. The upper and lower sides of the movable block are rotatably connected to a first hinge plate. The first end of the second hinge plate is hinged to the end of the first hinge plate away from the moving block, the second end of the second hinge plate is connected to the arc plate, and the middle part of the second hinge plate is hinged to the bracket. The arc-shaped plates on the two clamping assemblies are arranged opposite each other and recessed toward opposite sides. The curvature of the arc-shaped plates is configured to match the curvature of the equalizing ring to be clamped, and the clamping opening is formed between the two arc-shaped plates.

[0008] Optionally, the drive mechanism includes a servo motor and a connecting component, wherein the servo motor is mounted on the end of the robotic arm away from the frame, and the connecting component is located at the output shaft end of the servo motor; The transmission assembly further includes a docking assembly, which is located at the end of the threaded rod. The docking assembly is used for axially insulated insertion and circumferentially limiting engagement with the docking assembly, so that the servo motor drives the threaded rod to rotate when it starts.

[0009] Optionally, the connecting assembly includes a gear and a plug-in portion. The gear is coaxially disposed at the end of the output shaft of the servo motor, and the plug-in portion is coaxially connected to the end of the gear away from the output shaft of the servo motor. The plug-in portion is frustum-shaped, and its outer diameter gradually decreases from the side closer to the gear to the side farther away from the gear. The docking assembly includes a docking rod, an insulating sleeve, and a gear ring. The docking rod is coaxially connected to the end of the threaded rod, and the insulating sleeve is coaxially connected to the end of the docking rod away from the threaded rod. The insulating sleeve has a docking hole, which includes an axially connected circular sub-hole and a docking groove. The circular sub-hole is located at the open end of the docking hole. The gear ring is embedded in the inner ring wall of the circular sub-hole and is used to mesh with the gear. The docking groove is located on the side of the circular sub-hole away from the open end, and the shape of the docking groove is adapted to the shape of the insertion part.

[0010] Optionally, the servo motor is provided with a connecting plate, and the connecting plate has a through hole for the output shaft of the servo motor to pass through. The connecting plate is provided with at least two electromagnets, and the bracket is provided with at least two iron blocks. Each electromagnet is magnetically attracted to one of the iron blocks.

[0011] Optionally, it further includes a flexible electrical connection assembly slidably disposed on the mating rod, the flexible electrical connection assembly having a switchable first state and a second state, wherein... When the flexible electrical connection assembly is in the first state, one end of the flexible electrical connection assembly is spaced apart from the plug portion, and the second end is electrically connected to the threaded rod; When the flexible electrical connection assembly is in the second state, one end of the flexible electrical connection assembly is electrically engaged with the plug portion, and the second end is electrically connected to the threaded rod.

[0012] Optionally, the elastic electrical connection assembly includes a conductive rod, a conductive spring, an insulating rod, and an insulating ring, wherein... The end of the connecting rod away from the threaded rod is provided with a sliding groove in the axial direction, and the conductive rod is slidably inserted into the sliding groove; The connecting rod has an axially formed through-hole on its wall. The through-hole is parallel to and connected to the sliding groove. The insulating rod is vertically connected to the wall of the conductive rod and extends to the outside through the through-hole. The insulating ring is axially sleeved around the outer periphery of the connecting rod, and the end of the insulating rod away from the conductive rod is connected to the inner ring wall of the insulating ring. The first end of the conductive spring is connected to the inner end wall of the sliding groove, and the second end is connected to the end wall of the conductive rod. The insulating sleeve is also provided with a gap groove, which is connected to the side of the mating groove away from the circular sub-hole. The end wall of the mating rod away from the threaded rod is flush with the inner bottom wall of the gap groove. When the conductive spring is in its natural state, the conductive rod is retracted into the sliding groove and spaced apart from the insertion part, at which time the elastic electrical connection assembly is in the first state; when the insulating ring is subjected to an external force and moves axially away from the threaded rod, the end of the conductive rod is electrically abutted against the end of the insertion part, at which time the elastic electrical connection assembly is in the second state.

[0013] Optionally, the arc-shaped plate has multiple protrusions along the extension direction of the plate edge near the clamping opening, and a V-shaped gap is formed between adjacent protrusions. A metal frame is embedded in part of the V-shaped gap. The metal frame is in the shape of an equilateral triangle. The two sides of the metal frame are respectively bonded to the two inner walls of the V-shaped gap. A low-melting-point polymer strip is bonded to the inner wall of the metal frame.

[0014] According to a second aspect of this application, a method for detecting a simulated equalizing ring is provided, characterized in that the simulated equalizing ring based on the first aspect is implemented using an inspection robot, comprising the following steps: Connect the robotic arm to the gripper discharge mechanism, and clamp the gripper discharge mechanism onto the equalizing ring. Then, manipulate the robotic arm to separate from the gripper discharge mechanism, allowing the gripper discharge mechanism to clamp onto the equalizing ring alone. Then, ground the gripper discharge mechanism to discharge the equalizing ring. The robotic arm is used to remove the gripper discharge mechanism and place it on the frame; The robotic arm is driven to connect the gripper power supply mechanism and clamp the gripper power supply mechanism onto the equalizing ring. Then, the robotic arm is manipulated to separate from the gripper power supply mechanism, allowing the gripper power supply mechanism to clamp onto the equalizing ring alone. Subsequently, the gripper power supply mechanism is kept electrically connected to the power supply equipment so that the power supply equipment can supply current to the equalizing ring. After the inspection is completed, the robotic arm is used to transfer the gripper power supply mechanism to the frame for placement.

[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. By replacing manual operation with a robotic arm possessing at least six degrees of freedom, the inspection robot exhibits high mobility in the confined space near the equalizing ring. The robotic arm can adjust its posture in three-dimensional space, adapting to different installation positions and angles of the equalizing ring, resulting in higher inspection efficiency and accuracy. The drive mechanism is mounted at the end of the robotic arm and forms a detachable connection with the gripper mechanism. The drive mechanism outputs rotational force or linear displacement to open and close the gripping opening of the gripper mechanism, enabling the robot to precisely grip the edge of the equalizing ring. When the drive mechanism separates from the gripper mechanism, an internal automatic holding structure ensures that the gripping opening maintains its current opening degree after separation, thus preventing the gripper from loosening due to the drive end detaching, which could lead to contact instability. The two gripper mechanisms are used for power supply and discharge respectively. The gripper power supply mechanism can be electrically connected to the power supply equipment, and the gripper discharge mechanism is connected to the ground through a wire, so that the inspection robot can form a current channel when it is attached to the equalizing ring. A single device can complete the dual-path function of power supply and discharge, reduce the number of external instruments, and has high structural integration, strong operation convenience, and can reduce the occurrence of damage to the inspection robot in the ultra-high voltage environment to a certain extent. 2. The flexible electrical connection assembly is mainly used for troubleshooting when the current on the equalizing ring cannot be properly discharged to the ground when the gripper discharge mechanism is clamped on the equalizing ring and grounded. It can effectively narrow down the scope of troubleshooting. The specific troubleshooting logic is as follows: if the current on the equalizing ring cannot be properly discharged to the ground when the gripper discharge mechanism is clamped on the equalizing ring and grounded, it indicates that the gripper discharge mechanism is faulty and cannot discharge normally. In this case, most workers will generally think that the grounding wire of the gripper discharge mechanism is damaged, so they will replace the wire first. However, if the discharge still cannot be discharged after replacing the wire, it indicates that the problem is not with the wire, because the fault of the gripper discharge mechanism still exists, which will waste a lot of time. Against this backdrop, when the equalizing ring fails to discharge properly, the gripper discharge mechanism can be disconnected from ground first, then the servo motor can be grounded, and the flexible electrical connection component can be switched to the second state. At this time, the gripper discharge mechanism will abut against the plug part through the flexible electrical connection component, thus forming a discharge path between the gripper discharge mechanism, the servo motor, and the ground. Then, measure whether the gripper discharge mechanism is energized. If it is still energized, it indicates that the problem is not with the grounding wire of the gripper discharge mechanism; if it is not energized, it indicates that the problem is with the grounding wire of the gripper discharge mechanism. This can narrow down the fault range and improve the efficiency of fault diagnosis. 3. Changes in current density at the protrusion will cause a localized temperature rise, which is transferred to the low-melting-point polymer strip through the metal frame. When the temperature reaches the melting range of the polymer material, the strip melts and generates fine fumes within the metal frame. This is detected by visual, odor, or sensor methods to alert the operator, enabling them to promptly identify abnormalities and disconnect the power during operation. This structurally reduces the risk of further thermal damage from poor contact. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0018] Figure 1 This is a schematic diagram of the overall structure of the inspection robot provided in the embodiments of this application; Figure 2 This is a partial structural schematic diagram in an embodiment of this application, used to illustrate the connection relationship between the robotic arm, the drive mechanism, and the gripper mechanism; Figure 3 This is a partial cross-sectional view in the embodiments of this application used to show the connection relationship between the robotic arm, the drive mechanism and the gripper mechanism; Figure 4 yes Figure 3 An enlarged schematic diagram of part A in the middle; Figure 5 This is a partial structural diagram used in the embodiments of this application to illustrate the protrusion and the V-shaped gap.

[0019] Explanation of reference numerals in the attached figures: 1. Frame; 11. Rollers; 2. Robotic arm; 3. Drive mechanism; 31. Servo motor; 32. Connecting assembly; 321. Gear; 322. Connecting part; 4. Gripper mechanism; 41. Support; 411. Iron block; 42. Clamping assembly; 421. First hinge plate; 422. Second hinge plate; 423. Arc plate; 424. Clamping opening; 43. Transmission assembly; 431. Threaded rod; 432. Moving block; 433. Docking assembly; 4331. Docking rod; 4332. Insulating sleeve; 4333. Gear ring; 5. Butt hole; 51. Circular sub-hole; 52. Butt groove; 53. Spacing groove; 6. Connecting plate; 61. Perforation; 62. Electromagnet; 7. Flexible electrical connection assembly; 71. Conductive rod; 72. Conductive spring; 73. Insulating rod; 74. Insulating ring; 8. Sliding groove; 81. Through-hole; 9. Protrusion; 91. V-shaped gap; 92. Metal frame; 93. Low melting point polymer strip. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0021] Firstly, this application provides a robot for simulating an equalizing ring inspection; please refer to [link to relevant documentation]. Figure 1 and Figure 2 The inspection robot includes a frame 1, a robotic arm 2, a drive mechanism 3, and a gripper mechanism 4.

[0022] For example, in addition to its structural design, the inspection vehicle integrates multiple auxiliary functions to improve operational efficiency and reliability in the complex environment of power transmission line sites. The inspection vehicle possesses automatic obstacle avoidance capabilities. Through laser ranging components, ultrasonic ranging components, and a visual recognition module deployed on the outside of the frame 1, it conducts real-time detection of the surrounding environment. When obstacles appear in the forward or lateral direction, the control system dynamically adjusts the travel path based on the distance and shape of the obstacles, thereby reducing the risk of collisions and maintaining a stable operating space for the robotic arm. During the execution of inspection tasks, the inspection vehicle also has the ability to automatically plan paths. By combining image information of the work area collected by a 2D camera with a depth point cloud model generated by a 3D camera, it constructs a map of the overall work environment and automatically generates the optimal movement path based on the location of the equalizing ring, the attitude of the boom platform, and the working radius, ensuring high operational efficiency in different scenarios. To enhance continuous operation capabilities, the inspection vehicle is equipped with an automatic charging module. It connects to the charging base via a wireless charging coil or charging contacts on the bottom of the vehicle. During downtime or when the battery level drops to a preset threshold, it automatically returns to its original position and performs a recharging operation, enabling the inspection vehicle to maintain an extended operating cycle. Through the combination of automatic obstacle avoidance, automatic path planning, and automatic charging functions, the inspection vehicle's autonomy and system stability in complex road environments are enhanced, providing a more reliable mobile platform for the gripper mechanism to approach the equalizing ring and perform power supply and discharge tasks.

[0023] For example, the bottom of the frame 1 is provided with multiple rollers 11. The frame 1 serves as the load-bearing base of the whole machine, and the bottom is provided with multiple rollers 11 for movement and support within the testing site.

[0024] For example, the robotic arm 2 is mounted on the frame 1 and has at least six degrees of freedom, enabling the robotic arm 2 to perform precise positioning operations in space at multiple angles and in multiple directions.

[0025] For example, the drive mechanism 3 is mounted on the end of the robotic arm 2 away from the frame 1; further, the gripper mechanism 4 is detachably connected to the drive mechanism 3, and the drive mechanism 3 is used to drive the gripping opening 424 of the gripper mechanism 4 to open and close. The gripper mechanism 4 is configured such that when the drive mechanism 3 is separated from the gripper mechanism 4, the gripping opening 424 of the gripper mechanism 4 is automatically locked to maintain the current opening degree.

[0026] It is understood that the drive mechanism 3 and the gripper mechanism 4 are detachably connected, so that the drive mechanism 3 can drive the gripping port 424 of the gripper mechanism 4 to open and close when needed. After the drive mechanism 3 and the gripper mechanism 4 are separated, the locking component inside the gripper mechanism 4 is automatically triggered according to the current opening and closing state of the gripping port 424 and maintains the state, so that the gripper mechanism 4 remains stably clamped or open when it is disengaged from the drive of the robotic arm 2.

[0027] For example, there are two gripper mechanisms 4, which are a gripper power supply mechanism and a gripper discharge mechanism, respectively. The gripper power supply mechanism is configured to be electrically connected to a power supply device, and the gripper discharge mechanism is configured to be connected to the ground via a wire. Furthermore, two placement trays are provided on the frame 1 for hanging the gripper mechanisms 4.

[0028] Understandably, during use, robotic arm 2 first connects to the gripper discharge mechanism and adjusts the size of the gripping opening 424 via the drive mechanism 3, ensuring the gripper discharge mechanism reliably clamps onto the conductive part of the equalizing ring. Subsequently, robotic arm 2 separates from the gripper discharge mechanism, at which point the gripping opening 424 of the gripper discharge mechanism locks and maintains the gripping state, allowing it to hang independently on the equalizing ring. When the gripper discharge mechanism is connected to the ground via a wire, the static or induced charge stored on the surface of the equalizing ring is gradually discharged to the ground through the gripper discharge mechanism.

[0029] Meanwhile, after completing the discharge operation, the robotic arm 2 approaches the gripper discharge mechanism again, reconnects with the drive mechanism 3 to achieve recovery, and smoothly places the gripper discharge mechanism on the parking position on the frame 1.

[0030] Subsequently, the robotic arm 2 connects to the gripper power supply mechanism and clamps it at the designated position of the equalizing ring in the same manner. After the drive mechanism 3 is disconnected, the gripper power supply mechanism maintains the current clamping angle and maintains stable contact without being affected by the robotic arm 2. The power supply device supplies detection current to the equalizing ring through the wire.

[0031] It is worth noting that during the testing phase, since the robotic arm 2 is completely disconnected from the current loop, the risk of electric shock to the robotic arm 2 structure in the high voltage and high current environment is controlled to a certain extent. The control circuit, joint drive unit and insulating components inside the robotic arm 2 are not subjected to charge impact during the testing period, which has a positive effect on the long service life of the robotic arm 2.

[0032] After completing the inspection, robotic arm 2 reconnects to the gripper power supply mechanism and moves it back to the parking position of frame 1.

[0033] Based on this, the detachable connection structure prevents the robotic arm 2 from participating in the high-voltage circuit during power-on and power-off, ensuring that the robotic arm 2 is not affected by strong electric fields or transient currents. Simultaneously, the two independently functioning gripper mechanisms 4, in conjunction with the six degrees of freedom of the robotic arm 2, make the power supply and discharge processes more flexible. The gripping opening 424 of the gripper mechanism 4 automatically locks after disengaging from the drive mechanism 3, maintaining its gripping force even after separation. This structure is beneficial for maintaining stable contact in situations where continuous operation is inconvenient. Furthermore, the functional differentiation of the two gripper mechanisms 4 enhances the safety and flexibility of the entire inspection process, improves operational convenience in equalizing ring inspection applications, and strengthens the adaptability of the robot system in high-voltage testing environments. Compared to manual operation, the inspection efficiency and accuracy of this application are significantly improved.

[0034] For example, a camera assembly is provided on the robotic arm 2, including a 2D camera and a 3D camera. The 2D camera is mounted on a fixed bracket in the middle of the robotic arm 2, and its imaging range covers the execution area at the end of the robotic arm 2 and the surrounding space. The 2D camera is used to record the movement trajectory of the robotic arm 2 in real time during the inspection process, so that the entire gripping process, movement path, and attitude changes of the gripper when approaching the equalizing ring can be continuously acquired in video form, thereby providing clear visual information for the operator, and also providing image evidence for subsequent data analysis and inspection verification. The 3D camera is mounted at one end near the drive mechanism, and a three-dimensional visual coordinate system is established by keeping the spatial attitude of the end of the robotic arm 2 fixed. The 3D camera acquires the three-dimensional point cloud data of the equalizing ring shape and the current spatial position data of the gripper mechanism through structured light or depth imaging, and inputs it into the control system, so that the control system can complete the relative positioning calculation of the gripper mechanism and the equalizing ring based on the three-dimensional geometric relationship. By employing 3D vision measurement, the gripper mechanism can obtain the positional and orientation deviations relative to the target ring surface as it approaches the equalizing ring. This allows for fine-tuning of the control strategy, ensuring the gripper's clamping opening approaches the optimal clamping area during the approach, thus improving the approach accuracy, clamping stability, and electrical connection reliability. The combined use of 2D and 3D cameras enables the entire inspection process to be visualized and recorded, and guided in 3D, significantly enhancing the reliability and intelligence of the robot's inspection operations.

[0035] It is worth noting that equalizing rings are typically installed at high positions in UHV transmission lines. Therefore, in actual inspection operations, the robot cannot directly reach the working height using its own walking mechanism. To enable the gripper mechanism 4 to contact the equalizing ring, it is generally lifted using a boom or crane. The lifting method can be selected based on the site conditions and operational strategy. One method is to fix the entire inspection trolley to the boom platform, with the boom controlling the trolley to rise with the platform, allowing the robotic arm 2 to complete the gripping action in the target area. Another method is to fix only the gripper mechanism 4 and the drive mechanism 3 to the end of the boom, allowing the boom to directly act as the execution carrier for lifting and lowering, while the inspection trolley itself remains on the ground or in the operating area.

[0036] The former approach helps maintain the degrees of freedom and overall operational flexibility of the robotic arm 2, making it suitable for inspection tasks requiring a larger workspace. The latter approach is simpler in terms of structural weight and equipment layout, allowing for more flexible operating paths in space-constrained or rapidly deployable scenarios. By flexibly selecting between the two lifting strategies, the robot can approach and clamp the equalizing ring under different tower structures, installation heights, and operating radii, thus making the inspection solution more adaptable and practical.

[0037] In some implementations, combined Figure 1 , Figure 2 and Figure 3 The gripper mechanism 4 includes a bracket 41, a gripping assembly 42, and a transmission assembly 43. The bracket 41 is detachably connected to the drive mechanism 3, so that the gripper mechanism 4 can be driven by the robotic arm 2 through the drive mechanism 3 to perform gripping actions when needed, and can be separated from the drive mechanism 3 when not needed. Furthermore, the transmission assembly 43 is rotatably movable on the bracket 41, and the transmission assembly 43 is detachably connected to the drive mechanism 3.

[0038] For example, clamping components 42 are connected between the bracket 41 and the transmission component 43, and two clamping components 42 are provided. The side of the two clamping components 42 away from the transmission component 43 forms a clamping opening 424. When the driving mechanism 3 drives the transmission component 43 to move, the two clamping components 42 move closer to each other or further away, so that the clamping opening 424 becomes larger or smaller. A mechanical relationship is formed between the transmission component 43 and the clamping components 42. The two clamping components 42 are located on the left and right sides or the top and bottom sides of the transmission component 43 and are fixed relative to the bracket 41. Through the transmission action of the transmission component 43, the two clamping components 42 are driven to move towards each other or away from each other, so that the opening and closing state of the clamping opening 424 changes, thereby enabling corresponding adjustment according to the different external dimensions, contact positions and access angles of the equalizing ring.

[0039] It is understood that the clamping component 42 forms a clamping opening 424 on the side away from the transmission component 43, and changes accordingly based on the rotation angle of the transmission component 43, so that the clamping opening 424 can contact the equalizing ring with a suitable opening size in different scenarios. The transmission component 43, through the movable mounting method on the bracket 41, ensures that the mechanism maintains a relatively stable force transmission path during the force application process, which is beneficial to maintaining uniform force on the clamping opening 424 during opening and closing, thus improving the reliability of the clamping contact. The bracket 41 and the drive mechanism 3 adopt a detachable connection design, which allows the drive mechanism 3 to disengage from the gripper mechanism 4 after the clamping action is completed. At this time, the gripper mechanism 4 can remain in the current clamped or open state, so that the gripper mechanism 4 can still independently maintain the clamping effect on the equalizing ring after disengaging from the drive.

[0040] Furthermore, the transmission component 43 and the drive mechanism 3 are connected by a detachable transmission connection, which allows the drive mechanism 3 to quickly engage or disengage with the gripper mechanism 4 as needed. This structure enables the gripper mechanism 4 to operate in a way that facilitates replacement, maintenance or phased intervention during inspections, and allows the gripper mechanism 4 to perform power supply or discharge tasks in a more flexible manner during the complex equalization ring detection phase.

[0041] The clamping assembly 42 adjusts the opening and closing form through mechanical transmission, making the opening size of the clamping port 424 controllable and better conforming to the shape structure of the equalizing ring. This helps to keep the electrical contact or mechanical clamping process stable and reduces the risk of clamping displacement caused by vibration, electric field impact or operation error in the actual testing environment.

[0042] In the entire structure, the detachable bracket 41 connection method, the rotational installation of the transmission component 43 and the clamping adjustment of the clamping component 42 constitute a complete power transmission chain, which helps the mechanism to have the characteristics of independent purpose, clear structure, intuitive adjustment method and strong field applicability in high voltage environment.

[0043] In some implementations, combined with Figure 2 , Figure 3 The clamping assembly 42 includes a first hinge plate 421, a second hinge plate 422, and an arc plate 423, and the transmission assembly 43 includes a threaded rod 431 and a moving block 432.

[0044] For example, the threaded rod 431 is rotatably connected to the bracket 41 and is driven by the drive mechanism 3, and the moving block 432 is threadedly sleeved on the threaded rod 431. Furthermore, both the threaded rod 431 and the moving block 432 are made of conductive metal material.

[0045] For example, the upper and lower sides of the movable block 432 are rotatably connected to a first hinge plate 421. The first end of the second hinge plate 422 is hinged to the end of the first hinge plate 421 away from the movable block 432. The second end of the second hinge plate 422 is connected to an arc-shaped plate 423. The middle part of the second hinge plate 422 is hinged to the bracket 41. Furthermore, both the first hinge plate 421 and the second hinge plate 422 are made of conductive metal material.

[0046] For example, the arc-shaped plates 423 on the two clamping assemblies 42 are disposed opposite each other and recessed toward opposite sides. The curvature of the arc-shaped plates 423 is configured to match the curvature of the annular surface of the equalizing ring to be clamped, and a clamping opening 424 is formed between the two arc-shaped plates 423. Further, the arc-shaped plates 423 are made of conductive metal material.

[0047] It is understandable that when the threaded rod 431 rotates, the moving block 432, because it is threadedly fitted onto the outside of the threaded rod 431, will move linearly along the axial direction of the threaded rod 431, rather than rotating synchronously with the threaded rod 431. This linear movement tendency stems from the positional constraint of the second hinge plate 422 hinged to the bracket 41, making the multi-link structure more prone to in-plane opening and closing movements under stress, rather than unstable deflection.

[0048] Furthermore, the upper and lower positions of the movable block 432 are rotatably connected to the first hinge plate 421, causing the movable block 432 to move linearly along the threaded rod 431 toward or away from the drive mechanism 3. The first hinge plate 421 will rotate around the connection point. The end of the first hinge plate 421 away from the movable block 432 is hinged to the first end of the second hinge plate 422, allowing this end to form a rotatable configuration under force. The second end of the second hinge plate 422 is fixedly connected to the arc-shaped plate 423, and a hinge point is formed at the bracket 41 in the middle of the second hinge plate 422. This makes the entire linkage structure a typical four-bar linkage, which, during driving, can convert the displacement of the transmission component 43 into a trajectory change in which the arc-shaped plate 423 moves toward or away from each other.

[0049] Specifically, as the moving block 432 moves gradually away from the drive mechanism 3 along the threaded rod 431, the angle between the two first hinge plates 421 and the corresponding second hinge plates 422 gradually decreases, causing the second hinge plates 422 to push the arc-shaped plate 423 to move in opposite directions, thus making the clamping opening 424 gradually increase in size. Conversely, as the moving block 432 moves gradually closer to the drive mechanism 3 along the threaded rod 431, the angle between the first hinge plates 421 and the second hinge plates 422 increases, causing the arc-shaped plates 423 to move in a direction closer to each other. During this process, the clamping opening 424 tends to shrink, thus allowing it to more closely conform to the curved structure of the equalizing ring surface.

[0050] Two arc-shaped plates 423 form concave arc surfaces in opposite directions and are designed to maintain the same curvature as the outer ring surface of the equalizing ring. This allows the arc-shaped plates 423 to form a high degree of fit when in contact with the equalizing ring, which is beneficial for forming a larger contact area and making electrical contact or mechanical fixation more stable.

[0051] After the threaded rod 431 is separated from the drive mechanism 3, the moving block 432 is in the threaded limit state and is constrained by factors such as the damping of the connecting rod system or structural friction, so that the moving block 432 is fixed at a specific position of the threaded rod 431 and does not produce uncontrolled slippage. That is, the clamping port 424 maintains the current opening and closing size when the drive mechanism 3 is disengaged, so that the gripper mechanism 4 can independently maintain the clamping relationship with the equalizing ring.

[0052] Based on this, the clamping assembly 42 can operate independently of the drive mechanism 3 of the robotic arm 2 during the discharge or power supply phase. This helps to reduce the impact of high voltage current on the execution unit of the robotic arm 2, while also giving the clamping structure high stability on the surface of the equalizing ring. From a structural perspective, this improves the robot's adaptability and safety reliability in ultra-high voltage detection scenarios.

[0053] In some implementations, such as Figure 2 , Figure 3As shown, the drive mechanism 3 includes a servo motor 31 and a connecting component 32. The servo motor 31 is mounted on the end of the robotic arm 2 away from the frame 1, and the connecting component 32 is located at the output shaft end of the servo motor 31.

[0054] For example, the transmission assembly 43 further includes a docking assembly 433, which is disposed at the end of the threaded rod 431. The docking assembly 433 is used for axially insulated insertion and circumferentially limiting engagement with the docking assembly 433, so that the servo motor 31 drives the threaded rod 431 to rotate when it starts.

[0055] In some implementations, combined with Figure 3 , Figure 4 The connecting component 32 includes a gear 321 and a plug-in portion 322. The gear 321 is coaxially disposed at the end of the output shaft of the servo motor 31. The plug-in portion 322 is coaxially connected to the end of the gear 321 away from the output shaft of the servo motor 31. The plug-in portion 322 is frustum-shaped, and the outer diameter of the plug-in portion 322 gradually decreases from the side closer to the gear 321 to the side away from the gear 321.

[0056] For example, the docking assembly 433 includes a docking rod 4331, an insulating sleeve 4332, and a gear ring 4333. The docking rod 4331 is coaxially connected to the end of the threaded rod 431, and the insulating sleeve 4332 is coaxially connected to the end of the docking rod 4331 away from the threaded rod 431. The insulating sleeve 4332 has a docking hole 5, which includes an axially connected circular sub-hole 51 and a docking groove 52. The circular sub-hole 51 is located at the open end of the docking hole 5. The gear ring 4333 is embedded in the inner ring wall of the circular sub-hole 51 and is used to mesh with the gear 321. The docking groove 52 is located on the side of the circular sub-hole 51 away from the open end, and the shape of the docking groove 52 is adapted to the shape of the insertion part 322.

[0057] It can be understood that the drive mechanism 3 adopts a combination structure of servo motor 31 and connecting component 32, and forms a transmission fit with the docking component 433 in the transmission component 43 that can be axially insulated and has circumferential limit, so that the rotational power output by servo motor 31 is used by threaded rod 431, thereby driving moving block 432 to linearly displace along the direction of threaded rod 431, and realizing the opening and closing adjustment of clamping component 42.

[0058] Specifically, the servo motor 31 is installed at the end of the robotic arm 2 away from the frame 1, allowing the power source to be positioned at any detection position circumferentially around the equalizing ring as the robotic arm 2 extends and retracts. The connecting component 32 consists of a gear 321 and a connector 322. The gear 321 is coaxially connected to the output shaft of the servo motor 31, and the connector 322 is also coaxially set with the gear 321 and adopts a frustum-shaped structure with a gradually decreasing outer diameter design from the side closer to the gear 321 to the side farther away from the gear 321. This structure has a certain automatic positioning and guiding capability. When inserted into the mating hole 5, it can automatically adjust the axial position of the end with a wedge-shaped surface, making the meshing of the gear 321 and the gear ring 4333 smoother and reducing the meshing instability problem caused by assembly alignment errors.

[0059] Furthermore, the insulating sleeve 4332 is fitted onto the outside of the connecting rod 4331, forming a connecting hole 5 structure. The connecting hole 5 is composed of a circular sub-hole 51 and a connecting groove 52 that pass through it sequentially. The circular sub-hole 51 is used to accommodate the end of the inserted gear 321. The gear ring 4333 is embedded in the inner wall of the circular sub-hole 51, so that the gear 321 can form a meshing transmission relationship with the gear ring 4333 after insertion. The connecting groove 52 is located at the position of the circular sub-hole 51 away from the open end, and its structural shape is the same as that of the insertion part 322. The matching allows the insertion part 322 to form a circumferential limiting fit on the groove wall when inserted, so that when the output shaft of the servo motor 31 rotates circumferentially, it can drive the gear ring 4333 on the insulating sleeve 4332 to rotate synchronously, thereby further driving the docking rod 4331 and the threaded rod 431 to rotate, causing the moving block 432 to move along the direction of the threaded rod 431, driving the angle between the first hinge plate 421 and the second hinge plate 422 to change, thereby pushing the arc plate 423 to open and close to adjust the size of the clamping port 424.

[0060] It is understandable that this plug-in linkage structure has a certain self-aligning effect. When there is a slight positional deviation in the robotic arm 2, causing the output shaft of the servo motor 31 and the end face of the threaded rod 431 to not completely coincide, the plug-in part 322's frustum and the mating groove 52 have a geometric guiding angle, thus creating a certain center alignment trend during the plugging process. This makes the meshing of the gear 321 and the gear ring 4333 smoother and less prone to jamming or incomplete meshing due to shaft offset. The addition of the insulating sleeve 4332 isolates the output shaft of the servo motor 31 and the threaded rod 431 through the medium, providing electrical isolation for the transmission route in ultra-high voltage environments. This helps reduce the electrical risk of current conduction along the robotic arm 2, making the detection work more adaptable to high-voltage environments.

[0061] Meanwhile, the docking structure is a plug-in connection. After the gripper mechanism 4 completes the gripping action, the servo motor 31 can be separated, so that the threaded rod 431 can maintain a stable rotation position without external force, thereby allowing the arc plate 423 to maintain a predetermined gripping opening. After the follow-up action of the drive mechanism 3 is released, the gripping work can be maintained independently. This structure can prevent the current from being transmitted through the structure of the robotic arm 2 during the power supply or discharge phase, which is beneficial to improving the service life of the robotic arm 2 and enhancing the safety of the inspection robot in extreme electrical environments.

[0062] In some implementations, combined with Figure 2 , Figure 3 The servo motor 31 is provided with a connecting plate 6, and a through hole 61 is provided on the connecting plate 6 for the output shaft of the servo motor 31 to pass through. The connecting plate 6 is provided with at least two electromagnets 62, and the bracket 41 is provided with at least two iron blocks 411. Each electromagnet 62 is magnetically attracted to an iron block 411.

[0063] It is understandable that when electromagnet 62 is energized, a magnetic connection is formed between electromagnet 62 and iron block 411, giving servo motor 31 additional positioning relative to bracket 41 in the installation direction. Through this connection method, servo motor 31 is not only installed using mechanical fasteners but also receives auxiliary limiting through electromagnetic attraction, resulting in higher stability between servo motor 31 and bracket 41, making it less prone to displacement during robot operation, vibration, or gear 321 meshing impact. In the robot structure, servo motor 31 drives gear 321, which meshes with gear ring 4333. If servo motor 31 experiences positional displacement during gear 321 transmission, it may cause changes in gear 321 meshing clearance, affecting meshing consistency and smoothness during transmission. When servo motor 31 forms a magnetic positioning connection with iron block 411 through connecting plate 6, electromagnet 62, and servo motor 31, it can maintain servo motor 31 within the expected installation posture and position range to a certain extent, which helps reduce positional fluctuations during transmission and structurally supports a more stable meshing effect between gear 321 and gear ring 4333. Meanwhile, in this embodiment, the positions of the electromagnet 62 and the iron block 411 can be distributed according to the shape and spatial layout of the servo motor 31 so that the magnetic attraction force is evenly applied to the area of ​​the connecting plate 6, which helps to avoid slippage caused by the force bias of the electromagnetic attraction point and improves the stability of the overall structure during long-term operation.

[0064] In some implementations, combined with Figure 3 , Figure 4The inspection robot for simulating equalizing rings also includes an elastic electrical connection component 7, which is slidably mounted on the docking rod 4331. The elastic electrical connection component 7 has a switchable first state and a second state. When the elastic electrical connection component 7 is in the first state, one end of the elastic electrical connection component 7 is spaced apart from the plug portion 322, and the second end is electrically connected to the threaded rod 431. When the elastic electrical connection component 7 is in the second state, one end of the elastic electrical connection component 7 is electrically engaged with the plug portion 322, and the second end is electrically connected to the threaded rod 431.

[0065] It is worth noting that the flexible electrical connection component 7 is mainly used for troubleshooting when the current on the equalizing ring cannot be properly discharged to the ground when the gripper discharge mechanism is held on the equalizing ring and grounded. It can effectively narrow down the scope of troubleshooting. The specific troubleshooting logic is as follows: If the current on the equalizing ring cannot be discharged to the ground normally when the gripper discharge mechanism is clamped on the equalizing ring and grounded, it indicates that the gripper discharge mechanism is malfunctioning and cannot discharge normally. In this case, most workers would assume that the grounding wire of the gripper discharge mechanism is damaged, so they would replace the wire first. However, if the discharge still cannot be discharged after replacing the wire, it indicates that the problem is not with the wire, because the fault of the gripper discharge mechanism still exists, which will waste a lot of time.

[0066] Based on this background, when the equalizing ring cannot discharge normally, the gripper discharge mechanism can be disconnected from the ground first, and then the servo motor 31 can be grounded. At the same time, the flexible electrical connection component 7 can be switched to the second state. At this time, the gripper discharge mechanism will abut against the plug part 322 through the flexible electrical connection component 7. At this time, a discharge path can be formed between the gripper discharge mechanism, the servo motor 31 and the ground. Then, measure whether the gripper discharge mechanism is energized. If it is still energized, it indicates that the problem is not with the grounding wire of the gripper discharge mechanism; if it is not energized, it indicates that the problem is with the grounding wire of the gripper discharge mechanism. This can narrow down the fault range and improve the efficiency of fault diagnosis.

[0067] In some implementations, such as Figure 3 , Figure 4 As shown, the elastic electrical connection assembly 7 includes a conductive rod 71, a conductive spring 72, an insulating rod 73, and an insulating ring 74. The end of the mating rod 4331 away from the threaded rod 431 is axially provided with a sliding groove 8, and the conductive rod 71 is slidably inserted into the sliding groove 8.

[0068] For example, the connecting rod 4331 has an axially formed through hole 81 on its rod wall. The through hole 81 is parallel to and communicates with the sliding groove 8. The insulating rod 73 is vertically connected to the rod wall of the conductive rod 71 and extends to the outside through the through hole 81. The insulating ring 74 is axially sleeved on the periphery of the connecting rod 4331, and the end of the insulating rod 73 away from the conductive rod 71 is connected to the inner ring wall of the insulating ring 74. Furthermore, the first end of the conductive spring 72 is connected to the inner end wall of the sliding groove 8, and the second end is connected to the end wall of the conductive rod 71.

[0069] For example, the insulating sleeve 4332 is also provided with a spacer groove 53, which is connected to the side of the mating groove 52 away from the circular sub-hole 51, and the end wall of the mating rod 4331 away from the threaded rod 431 is flush with the inner bottom wall of the spacer groove 53.

[0070] Specifically, when the conductive spring 72 is in its natural state, the conductive rod 71 is retracted into the sliding groove 8 and spaced apart from the insertion part 322, at which time the elastic electrical connection assembly 7 is in the first state; when the insulating ring 74 is subjected to external force and moves axially away from the threaded rod 431, the end of the conductive rod 71 is electrically abutted against the end of the insertion part 322, at which time the elastic electrical connection assembly 7 is in the second state.

[0071] It is understandable that after the operator puts on insulating gloves, he can push the insulating ring 74 away from the threaded rod 431 along the length of the connecting rod 4331, so that the conductive rod 71 slides in the sliding groove 8. During the pushing process, one end of the conductive rod 71 extends out from the opening of the sliding groove 8 and enters the spacer groove 53, so that the end of the conductive rod 71 electrically abuts against the end of the plug-in part 322. At this time, the conductive spring 72 is in a stretched state, and at this time, the gripper discharge mechanism-conductive spring 72-conductive rod 71-plug-in part 322-servo motor 31-ground form a discharge circuit. In this way, the gripper discharge mechanism can be energized by the current detector to see if the gripper discharge mechanism is still energized, thereby effectively narrowing the fault range and improving the fault diagnosis efficiency.

[0072] After the discharge circuit has been checked, the insulating ring 74 can be loosened. Under the rebound action of the conductive spring 72, the conductive rod 71 can retract back into the sliding groove 8, thereby disconnecting the servo motor 31 from the gripper discharge mechanism. It is worth noting that the amount of electricity carried by the gripper discharge mechanism during discharge is relatively small, so it will not affect the performance of the servo motor 31, i.e., it is unlikely to cause damage to the servo motor 31.

[0073] For example, a hidden hole is provided on the bracket 41. When the flexible electrical connection assembly 7 is in the first state, the insulating ring 74 is located in the hidden hole, thereby preventing accidental contact.

[0074] In some implementations, combined with Figure 3 , Figure 5 The curved plate 423 has multiple protrusions 9 along the extension direction of the plate edge near the clamping opening 424. By contacting the equalizing ring with multiple protrusions 9, it is no longer necessary to rely on a single line contact or surface contact method. The multi-contact point structure is beneficial to reduce the situation of force concentration at local contact points. Even if there are local unevenness, coating aging, or slight corrosion on the surface of the equalizing ring, it can maintain the clamping stability to a certain extent.

[0075] For example, a V-shaped gap 91 is formed between adjacent protrusions 9, and a metal frame 92 is embedded in part of the V-shaped gap 91. The metal frame 92 is equilateral triangle in shape, and the two sides of the metal frame 92 are respectively bonded to the two inner walls of the V-shaped gap 91. A low melting point polymer strip 93 is bonded to the inner wall of the metal frame 92.

[0076] It is understood that the metal frame 92 is made of a metal with good thermal conductivity, and a low-melting-point polymer strip 93 is bonded to the inner frame wall. The low-melting-point polymer strip 93 forms a thermally responsive structure within the metal frame 92. When the clamping mechanism is energized and makes conductive contact with the simulated equalizing ring, if the contact resistance increases due to oxidation, loosening, or dust, the change in current density at the protrusion 9 will cause a local temperature rise. This temperature rise is transferred to the low-melting-point polymer strip 93 through the metal frame 92. When the temperature reaches the melting range corresponding to the polymer material, the strip melts and produces fine smoke and odor within the metal frame 92. This is alerted to the operator through visual, odor, or sensor detection, enabling the operator to promptly detect abnormalities and disconnect the power during operation, thus reducing the risk of further thermal damage from poor contact at the structural level.

[0077] For example, the inner wall of the metal frame 92 can be processed with a triangular groove according to the triangular outline. The low-melting-point polymer strip 93 is bonded to the inside of the triangular groove so that it has a certain shape restraint during the hot melting process and will not easily fall to the outside area of ​​the structure, which is conducive to maintaining the cleanliness and maintainability of the clamping device.

[0078] It is worth noting that the protrusion 9 is also triangular in shape. Also note that because the inspection robot in this application is relatively large, and the diameter of the equalizing ring is also large, the protrusion 9 and the V-shaped gap 91 need to be designed to be larger. This allows for a larger metal frame 92, facilitating mass production. Simultaneously, the amount of low-melting-point polymer strips 93 within the metal frame 92 can be increased, making it easier for operators to notice in case of abnormal heat melting. Furthermore, not all V-shaped gaps 91 contain a metal frame 92; they can be spaced out. Also, the protrusion 9 in the attached drawings is merely a schematic diagram and does not represent the actual size and shape.

[0079] Secondly, this application also provides a method for detecting a simulated equalizing ring, which is implemented using an inspection robot based on the simulated equalizing ring of the first aspect, and includes the following steps: Connect the robotic arm 2 to the gripper discharge mechanism, and clamp the gripper discharge mechanism onto the equalizing ring. Then, manipulate the robotic arm 2 to separate from the gripper discharge mechanism, allowing the gripper discharge mechanism to clamp onto the equalizing ring alone. Then, ground the gripper discharge mechanism to discharge the equalizing ring. The robotic arm 2 is used to remove the gripper discharge mechanism and place it on the frame 1; Drive the robotic arm 2 to connect the gripper power supply mechanism and clamp the gripper power supply mechanism onto the equalizing ring. Then, manipulate the robotic arm 2 to separate from the gripper power supply mechanism, allowing the gripper power supply mechanism to clamp onto the equalizing ring alone. Then, keep the gripper power supply mechanism electrically connected to the power supply equipment so that the power supply equipment can supply current to the equalizing ring. After the inspection is completed, the robotic arm 2 is used to transfer the gripper power supply mechanism to the frame 1 for placement.

[0080] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0083] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A patrol robot for simulating a grading ring, characterized by, The utility model relates to a kind of mechanical arm, including: Rack (1), bottom is equipped with multiple gyro wheel (11); Mechanical arm (2), is installed on the rack (1), the mechanical arm (2) at least has six degrees of freedom; Driving mechanism (3), is installed on the mechanical arm (2) away from the one end of the rack (1); Clamping jaw mechanism (4), detachably connected on the driving mechanism (3), and the driving mechanism (3) is used to drive the opening and closing of the clamping mouth (424) of the clamping jaw mechanism (4), the clamping jaw mechanism (4) is configured to when the driving mechanism (3) is separated from the clamping jaw mechanism (4), the clamping mouth (424) of the clamping jaw mechanism (4) is automatically locked to keep at current opening and closing degree; Wherein, the clamping jaw mechanism (4) is equipped with two, and two the clamping jaw mechanism (4) is respectively clamping jaw power supply mechanism and clamping jaw discharge mechanism, the clamping jaw power supply mechanism is configured to be electrically connected with power supply equipment, the clamping jaw discharge mechanism is configured to be connected with ground by wire.

2. The analog equalizing ring inspection robot according to claim 1, characterized in that, The clamping jaw mechanism (4) includes support (41), clamping assembly (42) and transmission assembly (43);Wherein, The support (41) is detachably connected on the driving mechanism (3); The transmission assembly (43) is rotatably active on the support (41), and the transmission assembly (43) is detachably drivingly connected with the driving mechanism (3); The clamping assembly (42) is connected between the support (41) and the transmission assembly (43), and the clamping assembly (42) is equipped with two, two the clamping assembly (42) away from the side of the transmission assembly (43) forms the clamping mouth (424), when the driving mechanism (3) drives the transmission assembly (43) active, two the clamping assembly (42) is close to or away from each other, to make the clamping mouth (424) increase or reduce.

3. The analog grading ring inspection robot of claim 2, wherein, The clamping assembly (42) includes first hinged plate (421), second hinged plate (422) and arc plate (423), and the transmission assembly (43) includes threaded rod (431) and moving block (432);Wherein, The threaded rod (431) is rotatably connected on the support (41) and drivingly connected with the driving mechanism (3), and the moving block (432) is threadedly sleeved on the threaded rod (431); The upper and lower sides of the moving block (432) are rotatably connected with the first hinged plate (421); The first end of the second hinged plate (422) is hingedly connected with the end of the first hinged plate (421) away from the moving block (432), the second end of the second hinged plate (422) is connected with the arc plate (423), and the middle part of the second hinged plate (422) is hingedly connected with the support (41); The arc plates (423) on two the clamping assembly (42) are oppositely arranged and recessed towards the sides away from each other, the arc of the arc plate (423) is configured to be consistent with the annular surface arc of the voltage-sharing ring to be clamped, and the clamping mouth (424) is formed between two the arc plate (423).

4. The analog grading ring inspection robot of claim 3, wherein, The driving mechanism (3) comprises a servo motor (31) and a connecting assembly (32), the servo motor (31) is installed at one end of the mechanical arm (2) away from the rack (1), and the connecting assembly (32) is arranged at the output shaft end of the servo motor (31); The transmission assembly (43) further comprises a docking assembly (433), the docking assembly (433) is arranged at the end of the threaded rod (431), and the docking assembly (433) is used for being axially inserted and circumferentially limited with the docking assembly (433), so that the threaded rod (431) is driven to rotate when the servo motor (31) is started.

5. The analog grading ring inspection robot of claim 4, wherein, The connecting assembly (32) comprises a gear (321) and a plug-in part (322), the gear (321) is coaxially arranged at the end of the output shaft of the servo motor (31), the plug-in part (322) is coaxially connected to one end of the gear (321) away from the output shaft of the servo motor (31), and the plug-in part (322) is in the shape of a circular truncated cone, the outer diameter of the plug-in part (322) gradually decreases from the side close to the gear (321) to the side away from the gear (321); The docking assembly (433) comprises a docking rod (4331), an insulating sleeve (4332) and a gear ring (4333), the docking rod (4331) is coaxially connected to the end of the threaded rod (431), the insulating sleeve (4332) is coaxially connected to one end of the docking rod (4331) away from the threaded rod (431), the insulating sleeve (4332) has a docking hole (5), the docking hole (5) comprises an axially connected circular sub-hole (51) and a docking groove (52), the circular sub-hole (51) is located at the opening end of the docking hole (5), the gear ring (4333) is embedded on the inner ring wall of the circular sub-hole (51), and the gear ring (4333) is used for being engaged with the gear (321), the docking groove (52) is located at the side away from the opening end of the circular sub-hole (51), and the shape of the docking groove (52) is matched with the shape of the plug-in part (322).

6. The analog grading ring inspection robot of claim 4, wherein, The servo motor (31) is provided with a connecting plate (6), the connecting plate (6) is provided with a through hole (61) through which the output shaft of the servo motor (31) passes, and the connecting plate (6) is provided with at least two electromagnets (62), the bracket (41) is provided with at least two iron blocks (411), and each electromagnet (62) is magnetically adsorbed with an iron block (411).

7. The analog grading ring inspection robot of claim 5, wherein, Further comprising an elastic electric connection assembly (7), the elastic electric connection assembly (7) is slidably arranged on the docking rod (4331), the elastic electric connection assembly (7) has a first state and a second state which can be switched, When the elastic electric connection assembly (7) is in the first state, one end of the elastic electric connection assembly (7) is spaced from the plug-in part (322), and the second end is electrically connected with the threaded rod (431); When the elastic electric connection assembly (7) is in the second state, one end of the elastic electric connection assembly (7) is in electrical contact with the plug-in part (322), and the second end is in electrical connection with the threaded rod (431).

8. The analog grading ring inspection robot of claim 7, wherein, The elastic electric connection assembly (7) comprises a conductive rod (71), a conductive spring (72), an insulating rod (73), and an insulating ring (74), wherein, The end of the butt joint rod (4331) away from the threaded rod (431) is axially provided with a sliding groove (8), and the conductive rod (71) is slidingly inserted into the sliding groove (8); The rod wall of the butt joint rod (4331) is axially provided with a through strip hole (81) penetrating through the rod wall, the through strip hole (81) is parallel to and communicates with the sliding groove (8), the insulating rod (73) is vertically connected to the rod wall of the conductive rod (71) and extends to the outside through the through strip hole (81), and the insulating ring (74) is axially sleeved on the periphery of the butt joint rod (4331), and the end of the insulating rod (73) away from the conductive rod (71) is connected to the inner ring wall of the insulating ring (74); The first end of the conductive spring (72) is connected to the inner end wall of the sliding groove (8), and the second end is connected to the end wall of the conductive rod (71); The insulating sleeve (4332) is further provided with a spacing groove (53) therein, the spacing groove (53) is communicated with the butt joint groove (52) away from the circular sub-hole (51) on one side, and the end wall of the butt joint rod (4331) away from the threaded rod (431) is flush with the inner bottom wall of the spacing groove (53); When the conductive spring (72) is in a natural state, the conductive rod (71) is received in the sliding groove (8) and spaced from the plug-in part (322), at this time, the elastic electric connection assembly (7) is in a first state; when the insulating ring (74) is axially moved away from the threaded rod (431) under the action of an external force, the end of the conductive rod (71) is in electrical contact with the end of the plug-in part (322), at this time, the elastic electric connection assembly (7) is in a second state.

9. The analog grading ring inspection robot of any one of claims 3-8, wherein, The arc-shaped plate (423) is provided with a plurality of protrusions (9) on the plate edge close to the clamping opening (424) along the extension direction of the plate edge, V-shaped gaps (91) are formed between adjacent protrusions (9), and metal frame bodies (92) are embedded in part of the V-shaped gaps (91), the metal frame bodies (92) are in the shape of an equilateral triangle, two frame edges of the metal frame body (92) are respectively bonded to two inner walls of the V-shaped gap (91), and a low-melting-point polymer strip (93) is bonded to the inner frame wall of the metal frame body (92).

10. A method of detecting a mockup of a Faraday cage, characterized in that, The analog inspection robot for the simulation of the equalizing ring comprises the following steps based on any one of claims 1 to 9: The mechanical arm (2) is connected with the jaw discharge mechanism, the jaw discharge mechanism is clamped on the equalizing ring, then the mechanical arm (2) is separated from the jaw discharge mechanism, the jaw discharge mechanism is clamped on the equalizing ring alone, and the jaw discharge mechanism is grounded to discharge the equalizing ring; The mechanical arm (2) is operated to take down the jaw discharge mechanism and place it on the rack (1). The mechanical arm (2) is driven to connect the clamping jaw power supply mechanism, clamp the clamping jaw power supply mechanism on the equalizing ring, then operate the mechanical arm (2) to separate the clamping jaw power supply mechanism, let the clamping jaw power supply mechanism clamp the equalizing ring alone, then keep the clamping jaw power supply mechanism in electrical connection with the power supply device, so that the power supply device passes current to the equalizing ring; After detection is completed, the mechanical arm (2) is operated to transfer the clamping jaw power supply mechanism to the rack (1) for placement.

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