Generator end hand-wrapped insulation to ground potential test mechanical arm

Abstract

The application provides a generator end hand-pack insulation ground potential test mechanical arm, which comprises a base, a mechanical arm body and a clamping unit; the mechanical arm body is arranged on the base, and the tail end of the mechanical arm body is provided with the clamping unit for clamping the generator end hand-pack insulation; the base is a hydraulic leveling base, which comprises a supporting base and three hydraulic leveling supporting legs; the three hydraulic leveling supporting legs are evenly and circumferentially arranged along the bottom of the supporting base; the mechanical arm body is provided with a composite insulation shell on the outer layer, which is a multilayer structure and comprises a silicone rubber layer, an aramid fiber layer, a mica tape layer and an epoxy glass fiber support layer arranged in sequence from the outside to the inside; an equipotential grounding layer is arranged on the inner side of the composite insulation shell, and the equipotential grounding layer is electrically connected with a grounding terminal on the base. The integrated design of the multilayer insulation structure, the grounding discharge passage and the supporting leveling structure helps to improve the safety and accuracy of the ground potential detection operation in a high-voltage environment.

Description

Technical Field

[0001] This application relates to the field of high-voltage electrical equipment testing technology, and in particular to a robotic arm for testing the ground potential of a generator end-wrap insulation. Background Technology

[0002] With the continuous development of power systems towards higher voltage and larger capacity, large rotating electric machines, especially steam turbine generators, are increasingly widely used in power plants. The end-capacity insulation of the generator, as a critical insulation structure, is subjected to complex electromagnetic and thermal stress coupling effects during operation, making it highly susceptible to insulation aging, dielectric breakdown, or partial discharge. Therefore, to ensure the safety and stability of equipment operation, it is necessary to periodically assess the insulation condition of this part, including the detection and monitoring of ground potential.

[0003] Currently, when detecting ground potential at the generator end, some methods still rely primarily on manual handheld test probes, or are supplemented only by simple auxiliary mechanisms. In high-voltage testing environments, these robotic arms or testing supports often lack specialized insulation structures, failing to achieve effective electrical isolation between the test components and the human body or instruments. This leads to risks such as breakdown discharge and potential leakage during testing, easily causing electric shock to operators or inaccurate measurement data. Especially in the confined space and complex testing locations at the end of ultra-high-voltage generators, insulation failure not only affects personal safety but also damages the electrical state of the tested component.

[0004] Therefore, in the current technical means of performing generator end-wrap insulation-to-ground potential testing under high voltage conditions, there is still an urgent need for a dedicated robotic arm device with excellent insulation performance to adapt to the testing environment. Utility Model Content

[0005] This application provides a robotic arm for testing the ground potential of a generator end-wrap insulation layer, in order to solve the problem in the prior art where insufficient insulation performance of the robotic arm during high-voltage testing easily leads to unsafe operation and test failure.

[0006] This application provides a robotic arm for testing the ground potential of a generator end-wrap insulation layer, including a base, a robotic arm body, and a clamping unit;

[0007] The main body of the robotic arm is mounted on the base. The end of the main body of the robotic arm is provided with a clamping unit for clamping the end of the generator with insulation. The base is a hydraulic leveling base, including a support base and three hydraulic leveling support legs. The three hydraulic leveling support legs are evenly spaced along the bottom circumference of the support base to support and adjust the horizontal state of the base.

[0008] The main body of the robotic arm is provided with a composite insulating shell on the outer layer. The composite insulating shell has a multi-layer structure, including a silicone rubber layer, an aramid fiber layer, a mica tape layer and an epoxy glass fiber support layer arranged sequentially from the outside to the inside. The layers are bonded and fixed to form an integrated insulating shell, which is used to improve the insulation performance of the outer shell of the main body of the robotic arm in a high-voltage test environment.

[0009] An equipotential grounding layer is provided on the inner side of the composite insulating shell, and the equipotential grounding layer is electrically connected to the grounding terminal on the base.

[0010] In one optional embodiment, the equipotential grounding layer is composed of a copper strip braided mesh with a cross-sectional area of ​​25 mm², and the copper strip braided mesh is fixedly connected to the inner side of the composite insulating shell.

[0011] In one optional embodiment, the base is provided with a grounding terminal, which is electrically connected to the equipotential grounding layer by means of multi-strand copper wires welded at multiple points. The cross-sectional area of ​​the copper wires is not less than 25mm², and the distance between the multiple weld points formed by the multi-strand copper wires and the equipotential grounding layer is not greater than 100mm.

[0012] In one optional embodiment, the clamping unit is a pneumatic clamp, including a first clamping claw and a second clamping claw that are arranged opposite to each other and can be driven to open and close. The pneumatic clamp is driven by a cylinder to clamp or release the handbag insulation at the generator end of the first clamping claw and the second clamping claw.

[0013] In one optional embodiment, the silicone rubber layer, aramid fiber layer, mica tape layer and epoxy glass fiber support layer of the composite insulating shell are bonded and cured with insulating epoxy adhesive, and the layers are tightly bonded together to form an integral structure.

[0014] In one optional embodiment, the total thickness of the composite insulating shell is 8mm; the supporting base of the base is a 304 stainless steel circular base plate with a diameter of 200mm.

[0015] In one optional embodiment, the grounding terminal is an M10 silver-plated grounding bolt disposed on the base. The silver-plated grounding bolt is fixed to the support base by a threaded connection and is used for connecting an external grounding wire.

[0016] In one optional embodiment, the support base has a built-in detection sensor for sensing the tilt state of the ground. The detection sensor is a tilt sensor or a MEMS attitude sensor, which can be used to detect the attitude change of the support base in real time and transmit the detection signal to the control system in the support base to assist in controlling the extension and retraction of the hydraulic leveling support leg and thus realize the automatic leveling of the base.

[0017] Compared with the prior art, this application has the following beneficial effects:

[0018] 1. This application provides a robotic arm for testing the ground potential of a generator end-wrap insulation layer. A composite insulating shell is installed on the outside of the robotic arm body. This shell adopts a multi-layer composite structure, comprising, from the outside to the inside, a silicone rubber layer, an aramid fiber layer, a mica tape layer, and an epoxy glass fiber support layer. The silicone rubber layer possesses good electrical insulation properties and certain weather resistance, forming the first line of defense in the testing environment. The aramid fiber layer has good tear resistance and heat resistance, providing mechanical strength support for the entire shell. The mica tape layer, as an insulating material commonly used in high-voltage applications, can effectively suppress arcing and local breakdown. The innermost epoxy glass fiber support layer possesses strong structural rigidity and insulation properties, providing stable shape support for the overall shell. This multi-layer structure, constructed through the synergy of different materials, helps improve the withstand voltage level of the robotic arm body under complex voltage environments, reduces the risk of partial discharge, and enhances safety protection capabilities during operation.

[0019] 2. This application incorporates an equipotential grounding layer on the inner side of the composite insulating shell, which can be connected to the grounding terminal on the base via a wire, forming a smooth discharge path. This connection structure provides a relatively stable potential discharge channel for the robotic arm during use. The equipotential grounding layer can be constructed of a highly conductive material to enhance grounding conductivity. During operation, this structure can promptly guide the charge accumulated due to spatial electromagnetic induction to the ground, reducing the probability of charge accumulation and thus minimizing measurement errors caused by potential fluctuations. Furthermore, the overall grounding arrangement optimizes electrical safety, making the measurement more stable during the generator end-cap insulation potential detection process. When the robotic arm contacts a high-potential area for testing, this structure plays a positive role in improving overall anti-interference capabilities and is well-suited for precision potential detection tasks.

[0020] 3. This application employs a hydraulic leveling structure as the support system for the robotic arm. The base includes a support base and three hydraulic leveling support legs evenly distributed circumferentially along its bottom. This three-point arrangement forms a stable triangular support frame. By adjusting the extension and retraction of each hydraulic leveling support leg, the support base maintains a basically horizontal state under different ground conditions, which is beneficial for the precise execution of clamping actions. This improves the posture stability of the mechanical structure, further enhancing grounding conductivity and assisting in forming a continuous electrical connection path between the equipotential grounding layer and the grounding terminal. Simultaneously, this structural design facilitates subsequent installation and adjustment work, improving the operational convenience and equipment stability during on-site testing. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a robotic arm for testing the ground potential of a generator end-wrap insulation layer according to an embodiment of this application;

[0023] Figure 2 A schematic diagram of the layer arrangement of a composite insulating shell provided in an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of an equipotential grounding layer provided in an embodiment of this application within a composite insulating shell.

[0025] 100-Base; 101-Grounding terminal; 110-Support base; 120-Hydraulic leveling support leg; 200-Clamping unit; 300-Main body of robotic arm; 310-Composite insulating shell; 311-Silicone rubber layer; 312-Aramid fiber layer; 313-Mica tape layer; 314-Epoxy glass fiber support layer; 320-Equipotential grounding layer. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are also within the scope of protection of this application.

[0027] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0028] 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 of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly, for example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0030] Please see Figures 1-3 ,in, Figure 1 This is a schematic diagram of the structure of a robotic arm for testing the ground potential of a generator end-wrap insulation layer according to an embodiment of this application; Figure 2 A schematic diagram of the layer arrangement of a composite insulating shell provided in an embodiment of this application; Figure 3 This is a schematic diagram of an equipotential grounding layer provided in an embodiment of this application within a composite insulating shell.

[0031] like Figures 1-3 As shown in the figure, this application provides a robotic arm for testing the ground potential of a generator end-wrap insulation layer, including a base 100, a robotic arm body 300, and a clamping unit 200.

[0032] The main body 300 of the robotic arm is mounted on the base 100. At the end of the main body 300 is a clamping unit 200 for holding the insulated end cap of a generator. The base 100 is a hydraulically leveling base, including a support base 110 and three hydraulically leveling support legs 120. The three hydraulically leveling support legs 120 are evenly spaced along the bottom circumference of the support base 110 to support and adjust the horizontal state of the base 100. Optionally, the main body 300 of the robotic arm can adopt a common three-section telescopic arm design.

[0033] The robotic arm body 300 is provided with a composite insulating shell 310 as the outer layer. The composite insulating shell 310 has a multi-layer structure, including a silicone rubber layer 311, an aramid fiber layer 312, a mica tape layer 313, and an epoxy glass fiber support layer 314 arranged sequentially from the outside to the inside. The layers are bonded and fixed to form an integrated insulating shell, which is used to improve the insulation performance of the outer shell of the robotic arm body 300 in high-voltage testing environments. The silicone rubber layer 311 is a highly insulating rubber layer with flexible and flame-retardant properties, which can be used to improve the environmental resistance and flexible sealing performance of the shell; the aramid fiber layer 312 can be a woven or felted aramid fiber reinforcement layer with high strength and excellent insulation properties, which is used to enhance the tensile and tear resistance of the shell; the mica tape layer 313 is made of natural or synthetic mica and has extremely high heat resistance and dielectric strength, which is used to improve the overall voltage withstand performance; the epoxy glass fiber support layer 314 can be made of epoxy glass fiber board such as FR4 or equivalent materials.

[0034] An equipotential grounding layer 320 is provided on the inner side of the composite insulating housing 310, and the equipotential grounding layer 320 is electrically connected to the grounding terminal 101 on the base 100.

[0035] To mitigate the potential buildup phenomenon in the robotic arm body under high-voltage testing environments, this embodiment incorporates a composite insulating shell 310 around the robotic arm body 300. This shell employs a multi-layered composite structure, comprising, from the outside in, a silicone rubber layer 311, an aramid fiber layer 312, a mica tape layer 313, and an epoxy glass fiber support layer 314. The silicone rubber layer 311 possesses good electrical insulation properties and a certain degree of weather resistance, forming the first line of defense in the testing environment. The aramid fiber layer 312 exhibits excellent tear resistance and heat resistance, providing mechanical strength support for the entire shell. The mica tape layer 313, a commonly used insulating material in high-voltage applications, effectively suppresses arcing and localized breakdown. The innermost epoxy glass fiber support layer 314 possesses strong structural rigidity and insulation properties, providing stable shape support for the overall shell. This multi-layered structure, constructed through the synergistic use of different materials, helps improve the withstand voltage level of the robotic arm body under complex voltage environments, reduces the risk of partial discharge, and enhances safety protection during operation.

[0036] To further reduce the risk of induced charge interference with test results, this embodiment includes an equipotential grounding layer 320 inside the composite insulating shell 310. This layer can be connected to the grounding terminal 101 on the base 100 via a wire, forming a smooth discharge path. This connection structure provides a relatively stable potential discharge channel for the robotic arm during use. The equipotential grounding layer 320 can be made of a highly conductive material; in subsequent implementation details, a copper strip braided mesh structure can be further selected to enhance grounding conductivity. During operation, this structure can promptly guide the charge accumulated due to spatial electromagnetic induction to the ground, reducing the probability of charge accumulation and thus minimizing measurement errors caused by potential fluctuations. Furthermore, the overall grounding arrangement optimizes electrical safety, making the measurement more stable during the generator end-wrap insulation potential detection process. When the robotic arm is in contact with high-potential areas for testing, this structure plays a positive role in improving overall anti-interference capabilities and is well-suited for precision potential detection tasks.

[0037] Considering the potential unevenness of the test site ground, this embodiment employs a hydraulic leveling structure as the support system for the robotic arm. The base 100 includes a support base 110 and three hydraulically leveling support legs 120 evenly distributed circumferentially along its bottom. This three-point arrangement forms a stable triangular support frame. By adjusting the extension and retraction of each hydraulically leveling support leg 120, the support base 110 maintains a basically horizontal state under different ground conditions, facilitating precise execution of the clamping action. This improved posture stability of the mechanical structure further enhances grounding conductivity, aiding in the formation of a continuous electrical connection path between the equipotential grounding layer 320 and the grounding terminal 101. Simultaneously, this structural design facilitates subsequent installation and adjustment, improving operational convenience and equipment stability during on-site testing.

[0038] Overall, this embodiment, through the integrated design of multi-layer insulation structure, grounding discharge path and support leveling structure, helps to improve the safety and accuracy of ground potential detection operations in high-voltage environments.

[0039] In some embodiments, the equipotential grounding layer 320 is composed of a copper strip braided mesh with a cross-sectional area of ​​25 mm², and the copper strip braided mesh is fixedly connected to the inner side of the composite insulating shell 310.

[0040] In this embodiment, the material and structure of the equipotential grounding layer 320 are clearly defined. A copper strip braided mesh with a cross-sectional area of ​​25 mm² is selected as the conductive material, which can form a continuous conductive interface. This braided mesh not only has excellent conductivity but also good flexibility, making it easy to fit onto the inner curved surface of the composite insulating shell 310. Compared with the traditional single-wire structure, the copper strip braid can cover more extensively the various potential areas inside the robotic arm body 300, allowing induced charges to be more concentratedly introduced into the discharge path, thereby helping to reduce the risk of local potential difference accumulation. Moreover, due to its planar distribution, the copper strip braided mesh structure has abundant conductive paths, which can quickly guide the induced charges to be discharged towards the grounding terminal 101 when potential disturbances occur. In addition, the densely woven copper strip braid also has a certain electromagnetic shielding effect, which can help improve the anti-interference capability of the entire device. Optionally, the equipotential grounding layer 320 is fixed to the inner wall of the composite insulating shell 310 by conductive adhesive or insulating clamping parts, especially attached to the surface of the epoxy glass fiber support layer 314. The adhesive uses high-temperature resistant conductive epoxy material, which has strong adhesion and conductivity. It can also be supplemented with several insulating clamping parts as a multi-point support structure, which is conducive to the tight contact between the copper strip braided mesh and the inner wall of the composite insulating shell 310, and can also make the structure of the equipotential grounding layer 320 more stable under complex vibration or temperature change environment.

[0041] In some embodiments, the base 100 is provided with a grounding terminal 101, which is electrically connected to the equipotential grounding layer 320 by means of multi-strand copper wires and multi-point welding. The cross-sectional area of ​​the copper wires is not less than 25mm², and the distance between the multiple welding points formed by the multi-strand copper wires and the equipotential grounding layer 320 is not greater than 100mm.

[0042] In this embodiment, the equipotential grounding layer 320 and the grounding terminal 101 are connected by multi-strand copper wires and fixed by multi-point welding. Compared with the traditional single-core wire single-point connection, this structure has better performance in terms of electrical continuity and mechanical stability. Multi-strand copper wires have strong flexibility and fatigue resistance, making them suitable for maintaining a stable connection in applications with frequent robotic arm movements or vibrations. Furthermore, the use of multi-strand copper wires to connect the equipotential grounding layer 320 and the grounding terminal 101 in this embodiment increases the overall conductivity cross-section, making current transmission more uniform, helping to reduce the risk of local heat accumulation, and enhancing the adaptability of the conductive path in complex working environments.

[0043] Furthermore, the copper conductor has a single cross-sectional area of ​​not less than 25 mm², providing excellent current-carrying capacity in high-voltage equipotential bonding. Combined with multiple solder joints laid along the conductor, with a spacing of no more than 100 mm, this helps to construct a continuous and diverse parallel grounding network. This layout can, to some extent, mitigate the impact of single-point faults on overall electrical performance and improve the redundancy of the grounding path. When a section of the conductor is damaged by external force or becomes loose, the remaining solder joints can still maintain the electrical path, thereby reducing the probability of voltage fluctuations or data deviations during testing.

[0044] From an anti-interference perspective, the equipotential grounding layer 320 forms a low-impedance discharge path with the grounding terminal 101 on the base 100 via multiple strands of wire. This structure helps to quickly release stray charges induced by the robotic arm under high voltage conditions, reducing electric field disturbances caused by local charge accumulation. Simultaneously, the multi-layered protection system formed by the composite insulating shell 310 not only achieves electrical isolation of the robotic arm body but also establishes a more robust grounding protection mechanism, providing a stable and safe operating environment for ground potential testing.

[0045] In some embodiments, the clamping unit 200 is a pneumatic clamp, including a first clamping claw and a second clamping claw that are disposed opposite to each other and can be driven to open and close. The pneumatic clamp is driven by a cylinder to clamp or release the handbag insulation at the end of the generator by the first clamping claw and the second clamping claw.

[0046] In this embodiment, the clamping unit 200 uses a pneumatic clamp as the main actuating component, which consists of a first clamping jaw and a second clamping jaw arranged opposite each other and opening and closing synchronously via a cylinder. Compared to traditional manual clamps or structures relying on spring compression, pneumatic drive features fast response speed and high consistency of action, enabling more stable clamping control. By controlling the air source pressure, clamping and positioning operations can be quickly completed under different operating conditions, which helps reduce manual adjustment steps, improves overall work efficiency, and is suitable for repetitive testing scenarios involving insulators at the motor end.

[0047] During use, the pneumatic gripper performs gripping actions in a non-electric manner, reducing the risk of electrical interference in the testing area caused by electric drives. Its adjustable gripping force helps reduce the risk of excessive or insufficient gripping, thereby enhancing the safety and controllability of the entire testing process.

[0048] In some embodiments, the silicone rubber layer 311, aramid fiber layer 312, mica tape layer 313 and epoxy glass fiber support layer 314 of the composite insulating shell 310 are bonded and cured with insulating epoxy adhesive, and the layers are tightly bonded together to form an integral structure.

[0049] In this embodiment, the layers of the composite insulating shell 310 are bonded and cured with insulating epoxy adhesive, forming a tightly bonded integrated structure between the silicone rubber layer 311, the aramid fiber layer 312, the mica tape layer 313, and the epoxy glass fiber support layer 314. This structural method achieves high-strength bonding between materials during the bonding process, which helps maintain stable cooperation between the layers during robotic arm operation, reduces the possibility of delamination, misalignment, and other problems, and thus enhances the overall mechanical stability of the composite shell. Furthermore, the use of adhesive curing to construct the integral shell, compared to bolt fastening or sandwich covering methods, does not introduce additional metal parts or mechanical seams, which helps improve the continuity and integrity of this insulating shell and helps reduce the risk of corona and partial discharge in high-voltage working environments.

[0050] In some embodiments, the total thickness of the composite insulating shell 310 is 8 mm; the support base 110 of the base 100 is a 304 stainless steel circular base plate with a diameter of 200 mm.

[0051] In this embodiment, the total thickness of the composite insulating shell 310 is set to 8mm, which is the result of a trade-off between insulation protection capability and structural lightweighting. The 8mm composite structure provides a larger insulation gap under high-voltage testing conditions, helping to reduce the possibility of electrical breakdown, while preventing the robotic arm from becoming too heavy due to excessive shell thickness, thus maintaining good maneuverability and operational flexibility. The support base 110 in the base 100 uses a circular base plate with a diameter of 200mm, made of 304 stainless steel. This facilitates the even distribution of stress on the robotic arm body on the support base 110. Combined with the three-point distribution structure formed by the hydraulically leveling support legs 120, it helps improve the overall device's posture stability and support strength on uneven terrain. 304 stainless steel has good corrosion resistance and structural strength, making it suitable for long-term use in power plant operating environments with high humidity and frequent temperature differences, maintaining structural integrity while also extending the equipment's service life.

[0052] In some embodiments, the grounding terminal 101 is an M10 silver-plated grounding bolt disposed on the base 100. The silver-plated grounding bolt is fixed to the support base 110 by a threaded connection and is used for connecting an external grounding wire.

[0053] In this embodiment, the grounding terminal 101 uses an M10 silver-plated grounding bolt, which is threaded onto the support base 110. This structure exhibits strong stability and adaptability in practical applications. M10 bolts, as a commonly used standard grounding connection component in high-voltage electrical systems, are sized for stable mechanical fixing, simplifying installation. They also possess good load-bearing capacity and anti-loosening performance, facilitating subsequent maintenance. The silver plating on the bolt surface enhances the conductivity of the contact surface while effectively reducing the resistance of the connection, thus improving the conductivity of the grounding system. Furthermore, the silver layer has strong oxidation resistance, slowing down corrosion processes and extending the service life of the grounding structure in complex working environments such as humidity, high temperature, or dust.

[0054] In some embodiments, the support base 110 has a built-in detection sensor for sensing the tilt state of the ground. The detection sensor is a tilt sensor or a MEMS attitude sensor, which can be used to detect the attitude change of the support base 110 in real time and transmit the detection signal to the control system in the support base 110 to assist in controlling the extension and retraction of the hydraulic leveling support leg 120 and thereby realize the automatic leveling of the base.

[0055] In this embodiment, the support base 110 integrates a tilt sensor or MEMS attitude sensor to collect the tilt state of the ground where the robotic arm is located in real time and transmit the detection signal to the control system inside the support base 110. In practical applications, this signal serves as feedback to control the hydraulic leveling support leg 120 to extend and retract, thereby achieving dynamic leveling of the base 100. By directly placing the sensor inside the support base 110, continuous attitude monitoring is possible, and subjective errors caused by relying on manual judgment are avoided, making the leveling operation faster and more accurate.

[0056] Moreover, tilt sensors or MEMS attitude sensors are small in size, have short response times, and high measurement accuracy, making them easier to deploy in the space-constrained support base 110 structure. They are suitable for real-time attitude sensing in various complex working environments. Especially when the ground has slight undulations or unevenness, these sensors can promptly capture attitude changes and drive the hydraulic leveling support leg 120 to adjust quickly, which helps improve adaptability to the field environment.

[0057] Because the detection sensors inside the support base 110 and the hydraulic leveling support legs 120 together form a dynamic control system, ground leveling can be quickly completed during initial equipment deployment or testing, reducing force shifts or abnormal robotic arm postures caused by tilting, thus structurally improving stability during clamping and measurement. The direct result is a reduction in data offset caused by mechanical shaking or tilting during ground potential testing, improving the reliability of test data and ease of operation, while also further enhancing the overall testing system's on-site adaptability and operational safety.

[0058] The robotic arm for testing the generator end-wrap insulation to ground potential provided in this embodiment is used as follows:

[0059] Before conducting the ground potential test, the base 100 needs to be placed on the ground near the generator end, and the entire device is stabilized by adjusting the hydraulic leveling support legs 120. The base 100 is a hydraulically leveling base, consisting of a support base 110 and three hydraulically leveling support legs 120. The support legs 120 are distributed circumferentially along the support base 110, and their extension and retraction can be adjusted by the control system to match ground undulations, thus leveling the support base 110. The support base 110 integrates a tilt sensor or MEMS attitude sensor, which can detect changes in the base's attitude in real time and feed the detection results back to the control system to drive the hydraulic leveling support legs 120 for adjustment, thereby bringing the base 100 closer to a horizontal state. This leveling process helps lay the foundation for the subsequent precise movements and stable operation of the robotic arm body 300.

[0060] After leveling is completed, the robotic arm body 300 is activated and driven to gradually extend to the test area. The composite insulating shell 310 covering the surface of the robotic arm adopts a multi-layer structure, including a silicone rubber layer 311, an aramid fiber layer 312, a mica tape layer 313, and an epoxy glass fiber support layer 314. This multi-layer structure has strong pressure resistance and insulation protection performance, and can effectively suppress electric field interference in high-voltage test environments. A clamping unit 200 is set at the end of the robotic arm. This clamping unit adopts a pneumatic clamping device, including a first clamping jaw and a second clamping jaw, and the clamping and releasing operations are completed by a cylinder drive. After the robotic arm reaches the target position, the operator controls the clamping unit 200 to clamp the hand-insulated part at the end of the generator, thereby establishing a stable contact state and creating a good premise for the subsequent measurement process.

[0061] After clamping and positioning, a grounding connection is established between the equipotential grounding layer 320 inside the composite insulating shell 310 and the grounding terminal 101 on the base 100. The equipotential grounding layer 320 is a planar conductive structure composed of a 25mm² copper strip braided mesh, which is connected to multiple strands of copper wire through multi-point welding. The wires are then connected to the grounding terminal 101 via threads, thus forming a multi-path parallel low-resistance grounding channel. This structure facilitates the rapid discharge of residual induced charge in a high-voltage environment, reducing local potential difference and the risk of breakdown. After the testing equipment is connected to the robotic arm, the system can be started to conduct a ground potential test. After the test is completed, the target part can be released by controlling the clamping unit 200, and the robotic arm will return to its initial retracted state, completing the entire testing process.

[0062] It should be noted that the generator end-wrap insulation-to-ground potential testing robotic arm provided in this embodiment needs to be used in conjunction with a potential monitoring system and an equipotential discharge system to form a complete testing system during actual use. The potential monitoring system typically includes a high-impedance differential measurement module, an electrically isolated sampling circuit, an analog-to-digital converter module, and a data processing terminal. Its input is connected to the potential lead-out terminal within the clamping unit 200, and its output is connected to an external data acquisition device for real-time monitoring of the ground potential change between the clamping point and the grounding reference point. In terms of layout, the potential lead-out line can be guided through the internal channel of the robotic arm body 300 and led along the path to the clamping unit 200 at the end of the robotic arm. The measurement signal is then led out after the clamping contact contacts the generator end-wrap insulation portion. The entire signal transmission link is shielded and protected by the electrical isolation structure of the composite insulating shell 310 to reduce external interference. Meanwhile, the equipotential discharge system constructs a continuous conductive surface through an equipotential grounding layer 320 located inside the composite insulating shell 310. The equipotential grounding layer 320 is connected to the grounding terminal 101 on the base 100 via multi-strand copper wires welded at multiple points. The grounding terminal 101 is then connected to the field grounding grid or a dedicated grounding busbar to promptly discharge the induced charge generated by the robotic arm in a high-voltage environment. Through the above configuration, the potential monitoring system and the equipotential discharge system respectively establish a signal acquisition path and a potential stabilization path. With the coordinated operation of the composite insulating shell 310, the equipotential grounding layer 320, and the base 100, the robotic arm in this embodiment achieves relatively accurate measurement and safe operation in high-voltage testing scenarios.

[0063] Furthermore, it should be noted that the ground potential detection principle of the generator end insulated arm, as well as the basic electrical testing equipment, signal connection methods, and potential measurement methods required for potential testing, are all well-known and widely used technical means in the field of this invention. The basic detection method, testing process, and related instrument connection methods involved in the ground potential detection operation in this embodiment are not the focus of this application. The innovation proposed in this embodiment lies in the use of a composite insulating shell 310 with multi-layer insulation protection on the robotic arm structure, supplemented by a multi-path conduction structure between the planar equipotential grounding layer 320 and the grounding terminal 101 on the base 100. Combined with a leveling base 100, this allows the device to adapt to the complex working environment at the generator end, improving clamping accuracy, anti-interference ability, and operational safety, thereby significantly enhancing the stability and applicability of ground potential detection in high-voltage environments. The above structural improvements effectively solve the operational difficulties and measurement error problems existing in existing equipment under conditions such as uneven ground, strong electromagnetic interference, and varying test point elevations, demonstrating strong practicality and engineering promotion value.

[0064] In summary, this application specification has clearly and completely described the structural composition, connection method, working process, and cooperation relationship between key components of the device. The detection principles and measurement procedures involved are all conventional technical means in this field and do not affect the sufficiency of the disclosure of this application. Its core innovation is concentrated in the structural integration and ease of use, and it has clear technical progress and feasibility.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A robotic arm for testing the ground potential of a generator end-wrap insulation layer, characterized in that: Includes a base, the main body of the robotic arm, and a gripping unit; The main body of the robotic arm is mounted on the base. The end of the main body of the robotic arm is provided with a clamping unit for clamping the end of the generator with insulation. The base is a hydraulic leveling base, including a support base and three hydraulic leveling support legs. The three hydraulic leveling support legs are evenly spaced along the bottom circumference of the support base to support and adjust the horizontal state of the base. The main body of the robotic arm is provided with a composite insulating shell on the outer layer. The composite insulating shell has a multi-layer structure, including a silicone rubber layer, an aramid fiber layer, a mica tape layer and an epoxy glass fiber support layer arranged sequentially from the outside to the inside. The layers are bonded and fixed to form an integrated insulating shell, which is used to improve the insulation performance of the outer shell of the main body of the robotic arm in a high-voltage test environment. An equipotential grounding layer is provided on the inner side of the composite insulating shell, and the equipotential grounding layer is electrically connected to the grounding terminal on the base.

2. The robotic arm for testing the ground potential of the generator end-wrap insulation as described in claim 1, characterized in that, The equipotential grounding layer is composed of a copper strip braided mesh with a cross-sectional area of ​​25 mm², and the copper strip braided mesh is fixedly connected to the inner side of the composite insulating shell.

3. The robotic arm for testing the ground potential of a generator end-wrap insulation layer according to claim 1 or 2, characterized in that, The base is provided with a grounding terminal, which is electrically connected to the equipotential grounding layer by means of multi-strand copper wires and multi-point welding. The cross-sectional area of ​​the copper wires is not less than 25mm², and the distance between the multiple welding points formed by the multi-strand copper wires and the equipotential grounding layer is not greater than 100mm.

4. The robotic arm for testing the ground potential of a generator end-wrap insulation layer according to claim 1, characterized in that, The clamping unit is a pneumatic clamp, which includes a first clamping claw and a second clamping claw that are arranged opposite to each other and can be driven to open and close. The pneumatic clamp is driven by a cylinder to clamp or release the handbag insulation at the end of the generator by the first clamping claw and the second clamping claw.

5. The robotic arm for testing the ground potential of a generator end-wrap insulation layer according to claim 1, characterized in that, The silicone rubber layer, aramid fiber layer, mica tape layer and epoxy glass fiber support layer of the composite insulating shell are bonded and cured with insulating epoxy adhesive, and the layers are tightly bonded together to form an integrated structure.

6. The robotic arm for testing the ground potential of a generator end-wrap insulation layer according to claim 1, characterized in that, The total thickness of the composite insulating shell is 8mm; the supporting base of the base is a 304 stainless steel circular base plate with a diameter of 200mm.

7. The robotic arm for testing the ground potential of the generator end-wrap insulation as described in claim 3, characterized in that, The grounding terminal is an M10 silver-plated grounding bolt installed on the base. The silver-plated grounding bolt is fixed to the support base by a threaded connection and is used for connecting the external grounding wire.

8. The robotic arm for testing the ground potential of a generator end-wrap insulation layer according to claim 1, characterized in that, The support base has a built-in detection sensor for sensing the tilt of the ground. The detection sensor is a tilt sensor or a MEMS attitude sensor, which can be used to detect the attitude change of the support base in real time and transmit the detection signal to the control system in the support base to assist in controlling the extension and retraction of the hydraulic leveling support leg and thus realize the automatic leveling of the base.

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