Automatic test robot for grounding resistance

Abstract

The utility model provides an automatic test robot for grounding resistance, and belongs to the technical field of test robots. The robot comprises a carrier, a mechanical arm is arranged on the carrier, a detection rod is detachably connected to one end of the carrier, a clamping jaw is arranged at the front end of the mechanical arm and connected with the detection rod in a clamping mode, a grinding piece is arranged on the back face of the clamping jaw, a tester is arranged in the carrier, and the tester is connected with the detection rod in a clamping mode. The tester is provided with wires which are respectively connected with the detection rod and the clamping jaw. The application has the following effects: the carrier respectively moves to the positions of the current electrode and the voltage electrode, presses the detection rod into the ground by using the mechanical arm, then moves to the grounding body to be tested, polishes the grounding body by using the polishing piece to remove surface oxides and stains, and clamps the grounding body by using the clamping jaw, so that the three electrodes of the EPC are all connected; and the detection rod can be withdrawn through reverse operation, so that automatic grounding detection is realized.

Description

Technical Field

[0001] This application relates to the field of testing robot technology, and more specifically, to a robot for automatically testing grounding resistance. Background Technology

[0002] Ground resistance testing is used to measure the resistance between electrical equipment or systems and the earth. It typically employs a three-wire method, generally requiring a minimum distance of 40 meters between the current electrode and the grounding electrode being tested, and the voltage electrode located between the current electrode and the grounding electrode, at a distance of approximately 20 meters. In practice, this requires at least two people to operate, making it quite cumbersome. Utility Model Content

[0003] To overcome the above deficiencies, this application provides a robot for automatic testing of grounding resistance, which aims to improve the problems mentioned in the background art.

[0004] This application provides an automatic grounding resistance testing robot, including a carrier, a robotic arm mounted on the carrier, a probe rod detachably connected to one end of the carrier, a gripper at the front end of the robotic arm that grips and connects to the probe rod, a grinding element on the back of the gripper, a tester inside the carrier, and wires on the tester that connect to the probe rod and the gripper respectively.

[0005] In one specific implementation, the vehicle includes a vehicle body, and tracked wheels are provided on both sides of the vehicle body.

[0006] In the above implementation process, the tracked wheels move flexibly, are highly adaptable to the ground, and are easy to move in the test area.

[0007] In one specific implementation, the grinding component includes a grinding motor and a grinding head, the gripper is mounted on one side of the head end of the robotic arm, the grinding motor is mounted on the other side of the head end of the robotic arm, and the grinding head is fixedly connected to the output end of the grinding motor.

[0008] In the above process, the head of the robotic arm can rotate and deflect, thereby moving the gripper. When contacting the grounding body being tested, the grinding head is first turned to grind the area to be contacted to remove surface oxides and dirt. Then the gripper is turned to hold the just-grinded area.

[0009] In one specific implementation, the probe includes a clamping section, and a card seat is fixedly connected to one end of the vehicle body. The card seat has a slot that is adapted to the clamping section.

[0010] In the above process, the clamping section is directly locked in the holder, and the probe rod can be easily removed from the holder and inserted into the ground by the robotic arm, and it is also easy to put the probe rod back onto the carrier.

[0011] In one specific implementation, the probe is fixedly connected to the lower end of the clamping section, and the wire is fixedly connected to the clamping section.

[0012] In one specific implementation, a clamping block is fixedly connected to the upper end of the clamping section so that the gripper can clamp it.

[0013] In the above process, the probe is directly inserted into the ground. During insertion, the gripper on the robotic arm grabs the clamping block and presses it down until the probe head is inserted into the ground. Then, the carrier moves forward, and in coordination with the movement of the robotic arm, the entire current electrode detection rod is removed from the holder. Next, the robotic arm presses the entire probe into the ground. The carrier continues to move forward to a position of 20m and presses the voltage electrode detection rod into the ground in the same way. Then, the carrier moves to the grounding body to be tested and uses the gripper to hold the grounding body to be tested to achieve the measurement. When storing, the operation is reversed.

[0014] In one specific implementation, the carrier is provided with a winding mechanism, on which the wire is wound.

[0015] In the above implementation process, the current electrode and the voltage electrode require 40m and 20m of wire respectively. Therefore, a winding mechanism is set in the carrier to store them, and multiple guide rings are set on the robotic arm to guide the wires on the gripper to be distributed along the robotic arm and finally introduced into the tester in the vehicle body, so as to avoid interference with the wires due to the movement of the robotic arm.

[0016] In one specific implementation, the winding mechanism includes a bracket fixedly connected to the vehicle body, a drum rotatably connected to the bracket, the wire wound around the drum, and a winding motor mounted on the bracket, the output end of the winding motor being fixedly connected to the drum.

[0017] In the above process, the winding motor drives the drum to rotate to achieve the winding action. A rotary joint is installed on the bracket, which is used for the electrical connection between the wire and the tester. A lead screw is rotatably connected to the bracket, and a slider is slidably connected to the bracket. The slider is threadedly connected to the lead screw, and a guide ring is fixedly connected to the slider. The wire passes through the guide ring. Another servo motor is installed on the bracket, which drives the slider to move by driving the lead screw, thereby driving the guide ring to neatly wind the lead wire onto the drum.

[0018] Compared with the prior art, the beneficial effects of this application are as follows: the carrier moves to the positions of the current pole and the voltage pole respectively, uses a robotic arm to press the probe rod into the ground, and then moves to the ground body to be tested to grind it with a grinding part to remove surface oxides and stains. The gripper holds the body at this point, thus completing the connection of the three poles of EPC. After the test is completed, the probe rod can be retrieved by reversing the operation, thus realizing automated grounding detection. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of an automatic grounding resistance testing robot provided in an embodiment of this application;

[0021] Figure 2 Provided for the implementation of this application Figure 1 Enlarged view of a portion of point A in the middle;

[0022] Figure 3 A schematic diagram illustrating the connection relationship between the probe rod and the card holder provided for an embodiment of this application;

[0023] Figure 4 A schematic diagram illustrating the connection relationship between the conductor and the winding mechanism provided in this embodiment of the application.

[0024] In the diagram: 10-Vehicle; 11-Vehicle body; 12-Track wheel; 20-Robotic arm; 30-Detector rod; 31-Clamping section; 32-Probe; 33-Clamping block; 40-Gripper; 50-Grinding part; 51-Grinding motor; 52-Grinding head; 60-Tester; 70-Wire; 80-Card holder; 90-Rewinding mechanism; 91-Bracket; 92-Drum; 93-Rewinding motor. Detailed Implementation

[0025] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0026] Please see Figures 1-4This application provides a robot for automatic grounding resistance testing, including a carrier 10, a robotic arm 20 mounted on the carrier 10, a probe 30 detachably connected to one end of the carrier 10, a gripper 40 at the front end of the robotic arm 20 for gripping the probe 30, a grinding element 50 on the back of the gripper 40, and a tester 60 inside the carrier 10. The tester 60 has wires 70 connected to the probe 30 and the gripper 40 respectively. The carrier 10 moves to the current and voltage poles, uses the robotic arm 20 to press the probe 30 into the ground, then moves to the grounding electrode being tested, uses the grinding element 50 to grind it to remove surface oxides and stains, and then uses the gripper 40 to hold it there. Thus, all three poles of the EPC are connected. After the test is completed, the probe 30 can be retracted by reversing the operation, achieving automated grounding detection.

[0027] Please see Figures 1-4 The vehicle 10 includes a body 11, with tracked wheels 12 on both sides of the body 11. The tracked wheels 12 are flexible in movement, highly adaptable to the ground, and easy to move in the test area.

[0028] Please see Figures 1-4 The grinding component 50 includes a grinding motor 51 and a grinding head 52. A gripper 40 is mounted on one side of the head end of the robotic arm 20, and the grinding motor 51 is mounted on the other side of the head end of the robotic arm 20. The grinding head 52 is fixedly connected to the output end of the grinding motor 51. The head end of the robotic arm 20 can rotate and deflect, thereby moving the gripper 40. When contacting the grounded object being tested, one side of the grinding head 52 is first rotated to grind the area to be contacted to remove surface oxides and dirt. Then, the gripper 40 rotates back to hold the just-grinded area.

[0029] Please see Figures 1-4 The detection rod 30 includes a clamping section 31. A mounting base 80 is fixedly connected to one end of the vehicle body 11. The mounting base 80 has a slot that matches the clamping section 31. The clamping section 31 is directly clamped into the mounting base 80. The detection rod 30 can be easily removed from the mounting base 80 and inserted into the ground by the robotic arm 20, and it is also easy to put the detection rod 30 back onto the vehicle 10.

[0030] Please see Figures 1-4The lower end of the clamping section 31 is fixedly connected to the probe 32, and the wire 70 is fixedly connected to the clamping section 31. The upper end of the clamping section 31 is fixedly connected to the clamping block 33 for the gripper 40 to hold. The probe 32 is the part that is directly inserted into the ground. When inserted, the gripper 40 on the robotic arm 20 grabs the clamping block 33 and presses it down until the head of the probe 32 is inserted into the ground. Then the carrier 10 moves forward, and in coordination with the action of the robotic arm 20, the entire current electrode detection rod 30 is removed from the holder 80. Then the robotic arm 20 presses the probe 32 completely into the ground. The carrier 10 continues to move forward to a position of 20m and presses the voltage electrode detection rod 30 into the ground in the same way. Then the carrier 10 moves to the grounding body to be tested and uses the gripper 40 to hold the grounding body to be tested to achieve the measurement. When storing, the operation is reversed.

[0031] Please see Figures 1-4 The carrier 10 is equipped with a winding mechanism 90, on which the wire 70 is wound up. The current electrode and the voltage electrode require 40m and 20m of wire 70 respectively, so the winding mechanism 90 is provided in the carrier 10 to store them. Multiple guide rings are provided on the robotic arm 20 to guide the wire 70 on the gripper 40 to be distributed along the robotic arm 20 and finally introduced into the tester 60 in the vehicle body 11, so as to avoid interference between the robotic arm 20 and the wire 70 due to the movement of the robotic arm 20.

[0032] Please see Figures 1-4 The winding mechanism 90 includes a bracket 91, which is fixedly connected to the vehicle body 11. A drum 92 is rotatably connected to the bracket 91, and the wire 70 is wound around the drum 92. A winding motor 93 is mounted on the bracket 91, and the output end of the winding motor 93 is fixedly connected to the drum 92. The winding motor 93 drives the drum 92 to rotate, realizing the winding action. A rotary joint is mounted on the bracket 91, which is used for electrical connection between the wire 70 and the tester 60. A lead screw is rotatably connected to the bracket 91, and a slider is slidably connected to the bracket 91. The slider is threadedly connected to the lead screw, and a guide ring is fixedly connected to the slider. The wire 70 passes through the guide ring. Another servo motor is mounted on the bracket 91, which drives the lead screw to drive the slider to move, thereby driving the guide ring to neatly wind the lead wire onto the drum 92.

[0033] The working principle of the robot for automatic grounding resistance testing is as follows: The carrier 10 first moves to a distance of 40m from the grounding body to be tested. The gripper 40 on the robotic arm 20 grasps the clamping block 33 and presses it down until the head of the probe 32 is inserted into the ground. Then, the carrier 10 moves forward, and in coordination with the movement of the robotic arm 20, the entire current electrode probe 30 is removed from the holder 80. Next, the robotic arm 20 presses the probe 32 completely into the ground. The carrier 10 continues to move forward to a distance of 20m and presses the voltage electrode probe 30 into the ground in the same way. Then, the carrier 10 moves to the grounding body to be tested, and first rotates one side of the grinding head 52 to grind the area that needs to be contacted to remove surface residue. The surface oxides and dirt are removed, and then the gripper 40 rotates to hold the newly polished position. In this way, all three EPC poles are connected. After the test is completed, the robotic arm 20 and the carrier 10 can be reversed to retract the two probe rods 30 onto the holder 80. In summary, the carrier 10 moves to the current pole and voltage pole respectively, uses the robotic arm 20 to press the probe rods 30 into the ground, and then moves to the ground body to be tested. The polishing part 50 is used to polish it to remove surface oxides and dirt. The gripper 40 holds this position. Thus, all three EPC poles are connected. After the test is completed, the probe rods 30 can be retracted by reversing the operation, realizing automated grounding detection.

[0034] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, improvements, or equivalent substitutions made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

Claims

1. A robot for automatically testing grounding resistance, characterized in that, The device includes a carrier (10), on which a robotic arm (20) is mounted. A probe rod (30) is detachably connected to one end of the carrier (10). A gripper (40) is provided at the front end of the robotic arm (20) and is clamped and connected to the probe rod (30). A grinding component (50) is provided on the back of the gripper (40). A tester (60) is provided inside the carrier (10). A wire (70) is provided on the tester (60) and is connected to the probe rod (30) and the gripper (40) respectively. The grinding component (50) includes a grinding motor (51) and a grinding head (52). The gripper (40) is mounted on one side of the head end of the robotic arm (20), and the grinding motor (51) is mounted on the other side of the head end of the robotic arm (20). The grinding head (52) is fixedly connected to the output end of the grinding motor (51).

2. The robot for automatic testing of grounding resistance according to claim 1, characterized in that, The vehicle (10) includes a body (11) and track wheels (12) are provided on both sides of the body (11).

3. The robot for automatic testing of grounding resistance according to claim 2, characterized in that, The probe rod (30) includes a clamping section (31), and a card seat (80) is fixedly connected to one end of the vehicle body (11). The card seat (80) has a card slot that is compatible with the clamping section (31).

4. The robot for automatic testing of grounding resistance according to claim 3, characterized in that, The lower end of the clamping section (31) is fixedly connected to the probe (32), and the wire (70) is fixedly connected to the clamping section (31).

5. A robot for automatic testing of grounding resistance according to claim 4, characterized in that, The upper end of the clamping section (31) is fixedly connected to a clamping block (33) so that the gripper (40) can clamp it.

6. A robot for automatic testing of grounding resistance according to claim 5, characterized in that, The carrier (10) is provided with a winding mechanism (90), and the wire (70) is wound on the winding mechanism (90).

7. A robot for automatic testing of grounding resistance according to claim 6, characterized in that, The winding mechanism (90) includes a bracket (91), which is fixedly connected to the vehicle body (11). A drum (92) is rotatably connected to the bracket (91). The wire (70) is wound around the drum (92). A winding motor (93) is installed on the bracket (91), and the output end of the winding motor (93) is fixedly connected to the drum (92).

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