Intelligent automatic wiring device and method for full-current field calibration of direct-current measurement equipment

Abstract

The invention relates to an intelligent automatic wiring device and method for direct current measuring equipment total current field calibration, and the device comprises a mechanical arm, a positioning recognition unit, a motion controller, and a wiring mechanism. The wiring mechanism is arranged at the tail end of the mechanical arm, the positioning recognition unit is arranged on the mechanical arm, and the positioning recognition unit, the wiring mechanism and the mechanical arm are all connected with the motion controller; the wiring process comprises the steps of obtaining target coordinate data of the tubular bus bar, moving to the position of a target coordinate, and attaching the flexible conductive soft belt to the surface of the tubular bus bar to form electric connection; by means of the arrangement, full-automatic wiring is achieved, manual high-place operation is replaced, safety risks are eliminated, and the safety of personnel and equipment is guaranteed; and meanwhile, the wiring efficiency and the adaptability are improved.

Description

Technical Field

[0001] This invention relates to the field of power system automation technology, and in particular to an intelligent automatic wiring device and method for on-site verification of the full current of DC measuring equipment. Background Technology

[0002] Currently, in the on-site verification test of DC current measuring device in UHVDC converter stations, it is necessary to reliably connect the high-current test lead to the primary busbar to conduct tests such as full-scale current ratio and primary current injection. This wiring process currently relies heavily on manual operation, which presents the following significant problems:

[0003] 1. Inefficiency: Manual wiring requires workers to climb to heights or use large aerial work platforms, and each wiring operation takes a long time, resulting in extended equipment downtime, which contradicts the need for lean maintenance and improved DC availability.

[0004] 2. High safety risks: Operators need to work at heights or use large aerial work platforms, which poses safety hazards such as falls and electric shocks.

[0005] 3. Poor adaptability: The specifications (diameter, cross-sectional shape) of the primary busbars in converter stations are diverse, and the on-site space environment is complex. Traditional clamps or manual operation are difficult to quickly and reliably adapt to different models of busbars.

[0006] 4. Low level of automation: At present, there is no fully automated wiring device in the industry specifically designed for the complex field environment of converter stations, and the development of related technologies is lagging behind. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the present invention aims to provide an intelligent automatic wiring device and method for on-site full-current calibration of DC measurement equipment. Its advantages include improved wiring efficiency; replacement of manual high-altitude operations, elimination of safety risks, and protection of personnel and equipment safety; and adaptive connection of primary busbars with different diameters and cross-sectional shapes, thus improving adaptability.

[0008] The above-mentioned objective of this invention is achieved through the following technical solution: On one hand, this invention provides an intelligent automatic wiring device for on-site verification of full current in DC measurement equipment, comprising a robotic arm, a positioning and identification unit, a motion controller, and a wiring mechanism; the wiring mechanism is disposed at the end of the robotic arm, the positioning and identification unit is disposed on the robotic arm, and the positioning and identification unit, the wiring mechanism, and the robotic arm are all connected to the motion controller; the positioning and identification unit is used to identify and acquire the target coordinate data of the primary busbar to be wired, and transmit the acquired target coordinate data to the motion controller; the motion controller is used to plan a motion trajectory based on the received target coordinate data, and control the robotic arm to drive the wiring mechanism to move along the motion trajectory to the target coordinate position; the wiring mechanism is used to connect the high-current test lead to the primary busbar to be wired.

[0009] Preferably, the intelligent automatic wiring device for full-current field verification of DC measurement equipment provided by the present invention includes a clamping body and a flexible conductive strip. The flexible conductive strip is disposed on the inner wall of the clamping body. One end of the flexible conductive strip facing the robotic arm is connected to a high-current test lead, and one end of the clamping body is connected to the end of the robotic arm. By opening and closing the clamping body, the flexible conductive strip is wound around the surface of the primary busbar to be wired, so that the primary busbar to be wired and the high-current test lead are electrically connected.

[0010] Preferably, the intelligent automatic wiring device for full current field verification of DC measurement equipment provided by the present invention further includes a tensioning unit in the wiring mechanism. The tensioning unit is disposed at the end of the gripper body away from the robotic arm, and the end of the flexible conductive strip away from the robotic arm is wound around the rotating end of the tensioning unit. The tensioning unit can move with the opening and closing of the gripper body. The tensioning unit is used to adjust the wrapping state of the flexible conductive strip relative to the primary nut to be wired.

[0011] Preferably, the intelligent automatic wiring device for full-current field verification of DC measurement equipment provided by the present invention includes a tensioning unit comprising a motor, a transmission assembly, and a rotating wheel. A support frame is provided at the end of the gripper body away from the robotic arm. The motor and the transmission assembly are both fixed to the support frame. The output shaft of the motor is connected to one end of the transmission assembly, and the other end of the transmission assembly is connected to the rotating wheel. The rotating wheel is rotatable relative to the support frame. The end of the flexible conductive strip away from the robotic arm is wound around the rotating wheel. The rotation of the rotating wheel causes the flexible conductive strip to wrap around and adhere to the surface of the primary nut to be wired.

[0012] Preferably, the intelligent automatic wiring device for full current field verification of DC measurement equipment provided by the present invention includes a transmission component comprising a driving gear and a driven gear. The driving gear is connected to the output shaft of the motor, and the driven gear is mounted on the support frame via a rotating shaft. The driving gear meshes with the driven gear, and the rotating wheel is connected to the rotating shaft. The driving gear, the driven gear, and the rotating shaft are all capable of rotating relative to the support frame.

[0013] Preferably, the intelligent automatic wiring device for full current field verification of DC measurement equipment provided by the present invention has a gripper body in the shape of a human hand.

[0014] Preferably, in the intelligent automatic wiring device for full current field verification of DC measurement equipment provided by the present invention, the flexible conductive strip is made of copper strip.

[0015] Preferably, the intelligent automatic wiring device for full-current field verification of DC measurement equipment provided by the present invention includes a positioning and identification unit comprising a depth camera and a data processing module. The depth camera is disposed on the front side of the robotic arm, and the data processing module is disposed on the robotic arm. The depth camera and the data processing module are communicatively connected. The depth camera is used to acquire a three-dimensional point cloud image of the primary busbar to be wired and transmit the three-dimensional point cloud image to the data processing module. The data processing module is used to obtain the three-dimensional spatial geometric parameters of the primary busbar to be wired through a target recognition algorithm from the received three-dimensional point cloud image and convert the three-dimensional spatial geometric parameters into target coordinates in the coordinate system of the robotic arm.

[0016] Preferably, the intelligent automatic wiring device for full current field verification of DC measurement equipment provided by the present invention further includes a laser ranging sensor in the positioning and identification unit, which is disposed on the front side of the robotic arm; the laser ranging sensor is used to measure the distance between the robotic arm and the primary busbar to be wired.

[0017] On the other hand, the present invention provides a wiring method for an intelligent automatic wiring device for on-site verification of full current of DC measuring equipment as described above, comprising the following steps:

[0018] The positioning and identification unit identifies and obtains the target coordinate data of the primary busbar to be connected, and transmits the obtained target coordinate data to the motion controller.

[0019] The motion controller plans the motion trajectory based on the received target coordinate data and controls the robotic arm to drive the wiring mechanism to move along the motion trajectory to the target coordinate position;

[0020] Tighten the flexible conductive strip in the wiring mechanism so that the flexible conductive strip fits tightly against the surface of the primary ferrule to be wired, forming an electrical connection.

[0021] In summary, the beneficial technical effects of this invention are as follows: The beneficial technical effects of the intelligent automatic wiring device and method for full-current field verification of DC measurement equipment provided in this application are as follows: 1. The positioning and identification unit, motion control hole, and gripper body work together with the robotic arm to achieve automated electrical connection between the primary busbar and the test lead in the converter station, completely replacing manual wiring and high-altitude operations, greatly shortening wiring time, fundamentally eliminating personnel safety risks, and improving wiring efficiency. 2. By setting a flexible conductive strip to cooperate with the gripper body, it can adapt to busbars of different diameters and cross-sectional shapes, enabling large-area contact between the flexible conductive strip and the busbar, improving adaptability, and ensuring low contact resistance and high reliability under kA-level high current flow. Attached Figure Description

[0022] Figure 1 This is a structural block diagram of the intelligent automatic wiring device for full current field verification of DC measurement equipment provided in this embodiment of the invention.

[0023] Figure 2 This is a structural block diagram of the wiring mechanism in the intelligent automatic wiring device for full current field verification of DC measurement equipment provided in this embodiment of the invention.

[0024] Figure 3 This is a schematic diagram of the wiring mechanism in the intelligent automatic wiring device for on-site verification of full current of DC measurement equipment provided in this embodiment of the invention. Figure 1 .

[0025] Figure 4 This is a schematic diagram of the wiring mechanism in the intelligent automatic wiring device for on-site verification of full current of DC measurement equipment provided in this embodiment of the invention. Figure 2 .

[0026] Figure 5 This is a schematic diagram of the support frame in the intelligent automatic wiring device for full current field verification of DC measurement equipment provided in this embodiment of the invention.

[0027] Figure 6 This is a flowchart of the wiring method for an intelligent automatic wiring device for full current field verification of DC measurement equipment provided in another embodiment of the present invention.

[0028] In the diagram, 1. Intelligent automatic wiring device; 10. Robotic arm; 20. Positioning and identification unit; 30. Motion controller; 40. Wiring mechanism; 41. Gripper body; 42. Flexible conductive strip; 43. Tensioning unit; 431. Motor; 432. Transmission component; 433. Rotating wheel; 434. Support frame; 4341. Vertical plate; 4342. Horizontal plate; 4343. Support boss; 4344. Mounting through hole; 2. Primary nut to be wired. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] Reference Figure 1 This invention discloses an intelligent automatic wiring device 1 for full-current field verification of DC measurement equipment, comprising a robotic arm 10, a positioning and identification unit 20, a motion controller 30, and a wiring mechanism 40. The wiring mechanism 40 is located at the end of the robotic arm 10, and the positioning and identification unit 20 is located on the robotic arm 10. The positioning and identification unit 20, the wiring mechanism 40, and the robotic arm 10 are all connected to the motion controller 30. The positioning and identification unit 20 is used to identify and acquire the target coordinate data of the primary busbar 2 to be wired, and transmits the acquired target coordinate data to the motion controller 30. The motion controller 30 is used to plan a motion trajectory based on the received target coordinate data and control the robotic arm 10 to drive the wiring mechanism 40 to move along the motion trajectory to the target coordinate position. The wiring mechanism 40 is used to connect the high-current test lead to the primary busbar 2 to be wired. This configuration realizes fully automatic wiring, replaces manual high-altitude work, eliminates safety risks, and ensures the safety of personnel and equipment. At the same time, it improves wiring efficiency and adaptability.

[0031] Among them, the robotic arm 10 supports flexible movement over a wide range of angles and can be adjusted to various working postures to adapt to the complex spatial environment of outdoor converter stations and primary wiring positions at different heights and angles.

[0032] It should be noted that the robotic arm 10 is a component well known to those skilled in the art, and its structure will not be described in detail here.

[0033] In this embodiment, the motion controller 30 has a built-in path planning algorithm that can plan a safe and efficient motion trajectory based on the target location and the surrounding environment (obstacles can be identified through images).

[0034] Continue to refer to Figures 2 to 4In this embodiment, the wiring mechanism 40 includes a gripper body 41 and a flexible conductive strip 42. The flexible conductive strip 42 is disposed on the inner wall of the gripper body 41. One end of the flexible conductive strip 42 facing the robotic arm 10 is connected to the high-current test lead, and one end of the gripper body 41 is connected to the end of the robotic arm 10. By opening and closing the gripper body 41, the flexible conductive strip 42 is wrapped around the surface of the primary nut 2 to be wired, so that the primary nut 2 to be wired forms an electrical connection with the high-current test lead. By setting the gripper body 41, the gripper body 41 can adapt to nuts of different diameters and cross-sectional shapes, improving adaptability. In addition, by setting the flexible conductive strip 42, the flexible conductive strip 42 has a large contact area with the nut, combined with controllable tension, ensuring low contact resistance and high reliability under kA-level high current flow, and avoiding local overheating.

[0035] The flexible conductive strip 42 is supported by a material with high conductivity and high flexibility. In this embodiment, the flexible conductive strip 42 is made of copper strip.

[0036] In this embodiment, the gripper body 41 is shaped like a human hand; this design allows it to adapt to tubes of different diameters and cross-sectional shapes, thus improving its adaptability.

[0037] Specifically, multiple U-shaped clips can be set on the inner surface of the gripper body 41. The multiple U-shaped clips are spaced apart along the extension direction of the gripper body 41. The end of the flexible conductive strip 42 near the high current test lead is fixed to the end of the gripper body 41 facing the robotic arm 10. The end of the flexible conductive strip 42 away from the high current test lead passes through the multiple U-shaped clips in sequence. The flexible conductive strip 42 can move relative to the U-shaped clips to achieve dynamic tension of the flexible conductive strip 42.

[0038] During use, the gripper body 41 actively presses the flexible conductive strip 42 onto the outer surface of the primary ferrule 2 to be wired. By controlling the driving pressure of the gripper body 41, it can be ensured that the applied pressure can make the flexible conductive strip 42 make full and uniform contact with the primary ferrule 2 to be wired, meeting the conduction requirements of kA-level high current, without damaging the ferrule. After the test, the gripper body 41 releases the pressure, thereby disconnecting the connection. Figure 3 As shown, when the primary tube 2 to be wired is a non-cylindrical structure, it has better electrical connection performance.

[0039] Continue to refer to Figure 4In this embodiment, the wiring mechanism 40 further includes a tensioning unit 43, which is located at the end of the gripper body 41 away from the robotic arm 10. The end of the flexible conductive strip 42 away from the robotic arm 10 is wound around the rotating end of the tensioning unit 43. The tensioning unit 43 can move with the opening and closing of the gripper body 41. The tensioning unit 43 is used to adjust the wrapping state of the flexible conductive strip 42 relative to the primary tube 2 to be wired. By setting the tensioning unit 43, the tensioning unit 43 can actively adjust the unfolding shape and tension of the flexible conductive strip 42 according to the geometric parameters of the primary tube 2, so that the flexible conductive strip 42 can be tightly and seamlessly attached to the surface of primary tubes of different shapes and sizes, realizing an active, geometrically matched wrapping connection, which can meet the conductivity and safety requirements of the kA-level high current energizing test.

[0040] During use, the tensioning unit 43 is used to wind the end of the flexible conductive strip 42 away from the robotic arm 10, so that the flexible conductive strip 42 is tightly wrapped and adhered to the surface of the primary nut 2 to be wired.

[0041] The tensioning unit 43 includes a motor 431, a transmission assembly 432, and a rotating wheel 433. A support frame 434 is provided at the end of the gripper body 41 away from the robotic arm 10. The motor 431 and the transmission assembly 432 are both fixed to the support frame 434. The output shaft of the motor 431 is connected to one end of the transmission assembly 432, and the other end of the transmission assembly 432 is connected to the rotating wheel 433. The rotating wheel 433 can rotate relative to the support frame 434. The end of the flexible conductive strip 42 away from the robotic arm 10 is wound around the rotating wheel 433. The rotation of the rotating wheel 433 causes the flexible conductive strip 42 to unfold or retract.

[0042] Specifically, when an electrical connection needs to be established, the output shaft of motor 431 rotates forward. This rotation, via transmission assembly 432, drives the rotating wheel 433 to rotate forward, dynamically tensioning the flexible conductive strip 42. This allows the flexible conductive strip 42 to actively and tightly wrap around and adhere to the surface of the primary connector 2 to be connected, forming a low-resistance electrical path. When the test ends, motor 431 reverses direction. The rotation of the output shaft, via transmission assembly 432, drives the rotating wheel 433 to rotate in the opposite direction, loosening the flexible conductive strip 42 and facilitating the tripping operation. Figure 4 As shown, the primary tube has a cylindrical structure and therefore exhibits superior electrical connection performance.

[0043] When the main tube has an irregular shape, applying the tensioning force of the tensioning unit 43 and the vertical pressure applied by the gripper body 41 to the flexible conductive strip 42 simultaneously can achieve an excellent typical connection.

[0044] Reference Figure 5The support frame 434 is L-shaped and includes a vertical plate 4341 and a horizontal plate 4342. One end of the vertical plate 4341 is connected to the end of the gripper body 41 away from the robotic arm 10, and the other end of the vertical plate 4341 is connected to the horizontal plate 4342. The motor 431 and the transmission assembly 432 are both fixed on the horizontal plate 4342.

[0045] Furthermore, in this embodiment, the transmission component 432 includes a driving gear and a driven gear. The driving gear is connected to the output shaft of the motor 431, and the driven gear is mounted on the support frame 434 via a rotating shaft. The driving gear and the driven gear mesh with each other, and the rotating wheel 433 is connected to the rotating shaft. The driving gear, the driven gear, and the rotating shaft can all rotate relative to the support frame 434.

[0046] Specifically, the center line of the driving gear is set parallel to the center line of the driven gear. A support boss 4343 is provided on the horizontal plate 4342. A mounting through hole 4344 is opened on the support boss 4343. A bearing is installed in the mounting through hole 4344. The rotating shaft passes through the bearing and can rotate relative to the support boss 4343. Both the driven gear and the rotating wheel 433 are mounted on the rotating shaft.

[0047] During use, the output shaft of motor 431 drives the drive gear to rotate, the drive gear drives the driven gear to rotate, the driven gear drives the shaft to rotate, the shaft drives the rotating wheel 433 to rotate, and the rotating wheel 433 rotates to drive the flexible conductive strip 42 to unfold or retract.

[0048] It should be noted that the structure of the transmission assembly 432 includes, but is not limited to, the structure described above.

[0049] Furthermore, in this embodiment, the positioning and recognition unit 20 includes a depth camera and a data processing module. The depth camera is disposed on the front side of the robotic arm 10, and the data processing module is disposed on the robotic arm 10. The depth camera and the data processing module are communicatively connected. The depth camera is used to acquire a three-dimensional point cloud image of the primary busbar 2 to be connected and transmit the three-dimensional point cloud image to the data processing module. The data processing module is used to obtain the three-dimensional spatial geometric parameters of the primary busbar 2 to be connected through a target recognition algorithm from the received three-dimensional point cloud image and convert the three-dimensional spatial geometric parameters into target coordinates in the coordinate system of the robotic arm 10.

[0050] The positioning and identification unit 20 also includes a laser rangefinder sensor, which is located on the front side of the robotic arm 10. The laser rangefinder sensor is used to measure the distance between the robotic arm 10 and the primary connector 2 to be wired.

[0051] During use, the depth camera acquires a 3D point cloud image of the primary busbar 2 to be connected and transmits the 3D point cloud image to the data processing module. The data processing module preprocesses the received 3D point cloud image to filter out noise, and then uses a target recognition algorithm to accurately identify the geometric parameters of the primary busbar 2 to be connected in 3D space. The geometric parameters include the position, orientation, diameter and cross-sectional shape of the busbar to be connected. The recognition results are converted into target coordinates in the coordinate system of the robotic arm 10 and output, providing accurate navigation data for the motion controller 30. The motion controller 30 plans the motion trajectory based on the received target coordinate data and controls the robotic arm 10 to move the wiring mechanism 40 along the trajectory to the target coordinate position (i.e., the position of the primary nut 2 to be wired). Based on the geometric parameters of the primary nut 2, the tensioning unit 43 presets the initial unfolded state of the flexible conductive strip 42. The gripper body 41 drives the flexible conductive strip 42 to wrap around the outer surface of the primary nut 2. The output shaft of the motor 431 rotates, driving the transmission component 432 to rotate. The transmission component 432 drives the rotating wheel 433 to rotate, which in turn drives the flexible conductive strip 42 to tighten, ensuring it fits tightly against the surface of the primary nut 2, forming a reliable electrical connection. After the test, the flexible conductive strip 42 is released, and the robotic arm 10 resets.

[0052] Continue to refer to Figure 6 Another embodiment provides a wiring method for the intelligent automatic wiring device 1 for on-site verification of the full current of a DC measuring device as described above, comprising the following steps:

[0053] S101, the positioning and identification unit 20 identifies and obtains the target coordinate data of the primary busbar 2 to be connected, and transmits the obtained target coordinate data to the motion controller 30.

[0054] Specifically, the depth camera acquires a 3D point cloud image of the primary busbar 2 to be connected and transmits the 3D point cloud image to the data processing module. The data processing module preprocesses the received 3D point cloud image to filter out noise, and then uses a target recognition algorithm to accurately identify the geometric parameters of the primary busbar 2 to be connected in 3D space. The geometric parameters include the position, orientation, diameter, and cross-sectional shape of the busbar to be connected. The recognition results are then converted into target coordinates in the coordinate system of the robotic arm 10 and output, providing precise navigation data for the motion controller 30.

[0055] S102, the motion controller 30 plans the motion trajectory according to the received target coordinate data, and controls the robotic arm 10 to drive the wiring mechanism 40 to move along the motion trajectory to the target coordinate position.

[0056] Among them, the motion controller 30 has a built-in path planning algorithm that can plan a safe and efficient motion trajectory based on the target location and the surrounding environment (obstacles can be identified through images).

[0057] It should be noted that the target coordinates are the same as the position of the primary busbar 2 to be connected.

[0058] S103, tightening the flexible conductive strip 42 in the wiring mechanism 40, so that the flexible conductive strip 42 is tightly attached to the surface of the primary tube 2 to be wired, forming an electrical connection.

[0059] Specifically, based on the geometric parameters of the primary nut 2 to be wired, the tensioning unit 43 presets the initial unfolded state of the flexible conductive strip 42. The gripper body 41 drives the flexible conductive strip 42 to wrap around the outer surface of the primary nut 2 to be wired. The output shaft of the motor 431 rotates, driving the transmission component 432 to rotate. The transmission component 432 drives the rotating wheel 433 to rotate. The rotating wheel 433 drives the flexible conductive strip 42 to tighten, so that it fits tightly against the surface of the primary nut 2 to be wired, forming a reliable electrical connection.

[0060] After the test is completed, the motor 431 reverses, and the output shaft of the motor 431 rotates, which drives the rotating wheel 433 to rotate in the opposite direction through the transmission component 432, so that the flexible conductive strip 42 is relaxed, thereby conveniently completing the release operation and the robotic arm 10 is reset.

[0061] The beneficial technical effects of the intelligent automatic wiring device 1 and method for full-current field verification of DC measurement equipment provided in this application are as follows: 1. The positioning and identification unit 20, motion control hole, and gripper body 41 work together with the robotic arm 10 to achieve automated electrical connection between the primary busbar and the test lead in the converter station, completely replacing manual wiring and high-altitude operations, greatly shortening wiring time, fundamentally eliminating personnel safety risks, and improving wiring efficiency. 2. By setting a flexible conductive strip 42 to cooperate with the gripper body 41, it can adapt to busbars of different diameters and cross-sectional shapes, enabling large-area contact between the flexible conductive strip 42 and the busbar, improving adaptability, and ensuring low contact resistance and high reliability under kA-level high current flow.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0063] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An intelligent automatic wiring device for on-site verification of full current of DC measuring equipment, characterized in that: Includes a robotic arm, a positioning and recognition unit, a motion controller, and a wiring mechanism; The wiring mechanism is located at the end of the robotic arm, the positioning and identification unit is located on the robotic arm, and the positioning and identification unit, the wiring mechanism, and the robotic arm are all connected to the motion controller. The positioning and identification unit is used to identify and obtain the target coordinate data of the primary busbar to be connected, and transmit the obtained target coordinate data to the motion controller. The motion controller is used to plan the motion trajectory based on the received target coordinate data, and control the robotic arm to drive the wiring mechanism to move along the motion trajectory to the target coordinate position; The wiring mechanism is used to connect the high-current test lead to the primary busbar to be wired.

2. The intelligent automatic wiring device for on-site verification of full current of DC measuring equipment according to claim 1, characterized in that: The wiring mechanism includes a gripper body and a flexible conductive strip. The flexible conductive strip is disposed on the inner wall of the gripper body. One end of the flexible conductive strip facing the robotic arm is connected to a high-current test lead. One end of the gripper body is connected to the end of the robotic arm. The opening and closing of the gripper body causes the flexible conductive strip to wrap around the surface of the primary nut to be wired, thereby forming an electrical connection between the primary nut to be wired and the high-current test lead.

3. The intelligent automatic wiring device for full-current field verification of DC measuring equipment according to claim 2, characterized in that: The wiring mechanism further includes a tensioning unit, which is located at the end of the gripper body away from the robotic arm. The end of the flexible conductive strip away from the robotic arm is wound around the rotating end of the tensioning unit, and the tensioning unit can move with the opening and closing of the gripper body. The tensioning unit is used to adjust the wrapping state of the flexible conductive strip relative to the primary nut of the opposite connection.

4. The intelligent automatic wiring device for on-site verification of full current of DC measuring equipment according to claim 3, characterized in that: The tensioning unit includes a motor, a transmission assembly, and a rotating wheel. A support frame is provided at the end of the gripper body away from the robotic arm. The motor and the transmission assembly are both fixed on the support frame. The output shaft of the motor is connected to one end of the transmission assembly, and the other end of the transmission assembly is connected to the rotating wheel. The rotating wheel can rotate relative to the support frame. The end of the flexible conductive strip away from the robotic arm is wound around the rotating wheel. The rotating wheel causes the flexible conductive strip to wrap around and adhere to the surface of the primary ferrule to be wired.

5. The intelligent automatic wiring device for on-site verification of full current of DC measuring equipment according to claim 4, characterized in that: The transmission assembly includes a driving gear and a driven gear. The driving gear is connected to the output shaft of the motor, and the driven gear is mounted on the support frame via a rotating shaft. The driving gear meshes with the driven gear, and the rotating wheel is connected to the rotating shaft. The driving gear, the driven gear, and the rotating shaft are all capable of rotating relative to the support frame.

6. The intelligent automatic wiring device for on-site verification of full current of DC measuring equipment according to any one of claims 2-5, characterized in that: The gripper body is shaped like a human hand.

7. The intelligent automatic wiring device for on-site verification of full current of DC measuring equipment according to claim 6, characterized in that: The flexible conductive strip is made of copper strip.

8. The intelligent automatic wiring device for full-current field verification of DC measuring equipment according to claim 1, characterized in that: The positioning and recognition unit includes a depth camera and a data processing module. The depth camera is disposed on the front side of the robotic arm, and the data processing module is disposed on the robotic arm. The depth camera and the data processing module are communicatively connected. The depth camera is used to acquire a three-dimensional point cloud image of the primary busbar to be connected, and transmit the three-dimensional point cloud image to the data processing module. The data processing module is used to obtain the three-dimensional spatial geometric parameters of the primary busbar to be connected by the received three-dimensional point cloud image through a target recognition algorithm, and convert the three-dimensional spatial geometric parameters into target coordinates in the coordinate system of the robotic arm.

9. The intelligent automatic wiring device for full-current field verification of DC measuring equipment according to claim 8, characterized in that: The positioning and identification unit also includes a laser ranging sensor, which is disposed on the front side of the robotic arm; The laser rangefinder is used to measure the distance between the robotic arm and the primary duct to be wired.

10. A wiring method for an intelligent automatic wiring device for on-site verification of full current of DC measuring equipment as described in any one of claims 1-9, characterized in that: Includes the following steps: The positioning and identification unit identifies and acquires the target coordinate data of the primary busbar to be connected, and transmits the acquired target coordinate data to the motion controller. The motion controller plans the motion trajectory based on the received target coordinate data and controls the robotic arm to drive the wiring mechanism to move along the motion trajectory to the target coordinate position; Tighten the flexible conductive strip in the wiring mechanism so that the flexible conductive strip fits tightly against the surface of the primary ferrule to be wired, forming an electrical connection.

Images