A method for automatically accessing an intelligent toolbox and deploying safety measures

Abstract

The present invention relates to an automatic storage and retrieval intelligent toolbox and a method for placing safety measures, comprising a box body, a take-out port is provided on the top of the box body, a recovery platform is provided on the top of the box body next to the take-out port, a gravity sensor is installed on the recovery platform, several rows of racks are installed in the box body, a slide rail and a transport vehicle are installed at the bottom of the box body, the transport vehicle can slide on the slide rail, a manipulator system is installed on the transport vehicle, and an angular displacement sensor is installed at the wheel of the transport vehicle; a tool state detection module, a communication module, and a main control module are also provided in the box body; the tool detection module is used to detect the storage state of tools on the rack; the main control module is respectively connected to the tool detection module and the manipulator system circuit, and is electrically connected to the host computer through the communication module, and the main control module controls the manipulator system to take out the tool or return the tool by receiving the signal of the host computer. The present invention can prevent electric shock and is convenient to use.

Description

Technical Field

[0001] The present invention relates to the technical field of substation operation and maintenance equipment and methods, and in particular to an automatic access tool box and a method for deploying safety measures. Background Art

[0002] The main work content in the field of substation operation and maintenance is to operate power equipment to shut down and supply power, and to arrange safety isolation measures between live equipment at the construction site. A large number of tools are used in the work, which is time-consuming and laborious to search for, and there is also the risk of electric shock due to accidental contact with live equipment when using tools.

[0003] Among the existing products, such as Zhang Liming's "Emergency Repair Tool Box", Liu Hua's "An Electric Power Emergency Repair Box", and Gao Hongyou's "An Intelligent Tool Box and Control Method", only the problem of tool storage is solved, but the above-mentioned problems such as difficulty in finding and the risk of electric shock are not well resolved.

[0004] Therefore, based on these problems, it is of great practical significance to provide an automatic access intelligent toolbox with technical characteristics such as easy use and protection against electric shock, and a method for deploying safety measures. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an automatic access intelligent toolbox having the technical characteristics of being easy to use and preventing electric shock, and a method for deploying safety measures.

[0006] The present invention solves the technical problem by adopting the following technical solutions:

[0007] An automatic storage and retrieval intelligent toolbox comprises a box body, a taking-out port is provided on the top of the box body, a recovery platform is provided on the top of the box body next to the taking-out port, a gravity sensor is installed on the recovery platform, a plurality of rows of racks are installed in the box body, a slide rail and a transport vehicle are installed at the bottom of the box body, the transport vehicle can slide on the slide rail, a manipulator system is installed on the transport vehicle, and an angular displacement sensor is installed on the wheel of the transport vehicle;

[0008] The box body is also provided with a tool status detection module, a communication module, and a main control module; the tool detection module is used to detect the storage status of the tools on the rack; the main control module is respectively connected to the tool detection module and the manipulator system circuit, and is electrically connected to the host computer through the communication module. The main control module receives a signal from the host computer to control the manipulator system to take out the tool or return the tool to its original position. When the tool is taken out, the manipulator system takes the tool on the rack and hands it out through the access port. When the tool is returned to its original position, the tool is placed on the recovery platform, and the manipulator system places the tool from the recovery platform to the rack;

[0009] The host computer stores the coordinate positions of the tools on the rack, and acquires the storage status of the tools through the tool detection module.

[0010] Furthermore, the manipulator system includes an end effector, an articulated arm, and a self-locking telescopic structure, wherein the end effector can clamp tools, the articulated arm can achieve angle changes in space, and the self-locking telescopic structure can achieve height increases or decreases; the self-locking telescopic structure is installed on the transport vehicle, the telescopic end of the self-locking telescopic structure is fixedly connected to the articulated arm, and the end of the articulated arm is fixedly connected to the end effector.

[0011] Furthermore, the end actuator includes a pair of clamping claws, a support plate, and a first drive motor. A bidirectional lead screw is installed on the support plate, and the bidirectional lead screw is driven to rotate by the first drive motor. A pair of clamping claws are installed at both ends of the bidirectional lead screw. The closing or separation of the pair of clamping claws is achieved by the rotation of the bidirectional lead screw, and a first position sensor is installed on the opposite surfaces of the pair of clamping claws.

[0012] Furthermore, the self-locking telescopic structure comprises a support frame, the support frame is vertically mounted on the transport vehicle, and two limit plates are parallelly mounted on the support frame in the width direction;

[0013] It also includes a first telescopic joint and a second telescopic joint, the first telescopic joint and the second telescopic joint are limitedly installed between two limit plates through a slide rail, and one end of the first telescopic joint and the second telescopic joint are limited by the transport vehicle, the first telescopic joint and the second telescopic joint are installed in parallel with each other in sequence compared to the support frame, a gear belt is installed on the side of the first telescopic joint and the second telescopic joint facing the support frame, a card slot is provided on the side of the bottom side of the first telescopic joint facing the second telescopic joint, and a sliding limit mechanism is installed on the side of the top end of the second telescopic joint facing the first telescopic joint;

[0014] A driving mechanism is installed on the support frame, and the driving mechanism can drive the first telescopic section to move upward. When the first telescopic section moves to the point where the sliding limit mechanism is engaged in the slot, the driving mechanism contacts the gear belt on the second telescopic section, thereby driving the second telescopic section to move upward.

[0015] Furthermore, the sliding limiting mechanism includes a roller and a mounting groove, the bottom of the mounting groove is fixed to the second telescopic joint by a spring, the roller is rotatably installed in the mounting groove, and when the first telescopic joint moves, the roller rotates compared to the bottom surface of the first telescopic joint.

[0016] Furthermore, the driving mechanism includes a first cylinder and a third driving motor, the first cylinder is fixedly mounted on the support frame, the third driving motor is fixedly mounted on the telescopic end of the first cylinder, the output end of the third driving motor is fixedly connected to a gear, and the gear can engage with the gear belts on the first telescopic joint and the second telescopic joint.

[0017] Furthermore, the rack includes a fixed rack and a rotating rack, and a plurality of tool holders are installed on the fixed rack and the rotating rack, and the tool holders can clamp fixed tools; the fixed rack and the rotating rack are connected by a rotating shaft, and the rotating shaft is driven to rotate by a second drive motor, and drives the rotating rack to rotate 180° to the bottom of the fixed rack.

[0018] Furthermore, the tool detection module includes a plurality of second position sensors, and the second position sensors are respectively mounted on the tool brackets.

[0019] Furthermore, a camera is installed on one side of the support plate, and the camera is connected to the main control module circuit.

[0020] Furthermore, a second cylinder is installed on the end effector, and the telescopic end of the second cylinder is fixedly connected to a push rod, and the push rod can push the roller out of the slot to facilitate the downward retraction of the self-locking telescopic structure.

[0021] The method for deploying safety measures using the above-mentioned automatic access intelligent toolbox comprises the following steps:

[0022] S1. Obtain relevant 3D model and location information through the construction site in the work ticket, and obtain the real-time power status of the equipment around the construction site;

[0023] S2. Plan the construction scope based on the prescribed safety distance and the location of live equipment around the construction site; and determine the types and quantities of safety measures and tools;

[0024] S3. Taking the position of the operation and maintenance personnel at the end of the switching operation ticket as the starting point, the safety measures tools are sorted according to the construction scope, and a safety measures ticket is generated;

[0025] S4. The operation and maintenance personnel carry the toolbox to the designated location and upload the location information of the operation and maintenance personnel to the cloud platform through the communication module;

[0026] S5. The cloud platform compares the equipment location in the safety measure ticket with the actual location of the operation and maintenance personnel. If they are consistent, it sends a command to the tool box to remove the tool and enter the robot system to provide the tool program. Otherwise, it sends an alarm signal.

[0027] S6, determine whether the security measures have been deployed, if not, repeat steps S4-S5;

[0028] S7. After the construction is completed, the operation and maintenance personnel carry the tool box to the designated location and upload the location information of the operation and maintenance personnel to the cloud platform through the communication module;

[0029] S8. The cloud platform compares the equipment location in the safety measure ticket with the actual location of the operation and maintenance personnel. If they are consistent, it sends a command to the tool box to retract the tool and enter the tool retracting program of the robot system. Otherwise, it sends an alarm signal.

[0030] S9, determining whether the tool recovery is complete, if not, repeating steps S7-S8.

[0031] The advantages and positive effects of the present invention are:

[0032] 1. The present invention solves the problem of inconvenience in finding tools, extends the functions, breaks the limitation of the original technology that is only satisfied with the storage function, and realizes the automatic storage and retrieval of tools; the present invention fully considers the comfort of user experience, and upgrades the tool box from a single storage space to a personal tool butler for users, so that users no longer have to worry about finding and storing tools, and can take them out whenever they need them;

[0033] 2. The present invention combines the Internet of Things technology to analyze and judge the work content and potential risks of operation and maintenance personnel. Once dangerous signs are found, they can be stopped in time, which to a great extent ensures the production safety of operation and maintenance personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, but it should be understood that these drawings are designed only for explanation purposes and are not intended to limit the scope of the present invention. In addition, unless otherwise specified, these drawings are intended only to conceptually illustrate the structural configurations described herein and are not necessarily drawn to scale.

[0035] Figure 1 A structural cross-sectional view of an automatic access intelligent toolbox provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of the structure of a manipulator system for automatically accessing an intelligent toolbox provided by an embodiment of the present invention;

[0037] Figure 3 A structural front view of the end effector of the automatic access intelligent toolbox provided by an embodiment of the present invention;

[0038] Figure 4 A top view of the structure of the end effector of the automatic storage and retrieval intelligent toolbox provided by an embodiment of the present invention;

[0039] Figure 5 A schematic diagram of the structure of a storage rack of an automatic storage and retrieval intelligent toolbox provided in an embodiment of the present invention; DETAILED DESCRIPTION

[0040] First of all, it should be noted that the specific structure, features and advantages of the present invention will be specifically described below by way of example, but all descriptions are only for illustration and should not be understood as limiting the present invention in any way. In addition, any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature displayed or implied in the drawings, can still be combined or deleted between these technical features (or their equivalents) to obtain more other embodiments of the present invention that may not be directly mentioned in this document. In addition, in order to simplify the drawings, the same or similar technical features may be marked only in one place in the same drawing.

[0041] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0042] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0043] The following is combined Figure 1-5 The present invention will be described in detail.

[0044] Example 1

[0045] like Figure 1-5 As shown, an automatic storage and retrieval intelligent toolbox provided in this embodiment includes a box body 1, a taking port 101 is opened on the top of the box body 1, a recycling platform 2 is provided on the top of the box body next to the taking port 101, a gravity sensor can be installed on the recycling platform, a plurality of rows of racks 3 are installed in the box body 1, a slide rail 4 and a transport vehicle 5 are installed at the bottom of the box body 1, the transport vehicle 5 can slide on the slide rail 4, a manipulator system is installed on the transport vehicle 5, and an angular displacement sensor is installed at the wheel of the transport vehicle;

[0046] The box 1 is also provided with a tool status detection module, a communication module, and a main control module; the tool detection module is used to detect the storage status of tools on the rack; the main control module is respectively connected to the tool detection module, the manipulator system, the gravity sensor, and the angular displacement sensor circuit, and is electrically connected to the host computer through the communication module. The main control module controls the movement of the transport vehicle by receiving the signal of the host computer, and feeds back the movement distance of the transport vehicle through the angular displacement sensor 501. The manipulator system takes out the tool or returns the tool to its original position. When the tool is taken out, the manipulator system takes the tool on the rack and hands it out through the access port. When the tool is returned to its original position, the tool is placed on the recovery platform, and the manipulator system places the tool from the recovery platform to the rack;

[0047] The host computer stores the coordinate positions of the tools on the rack, and acquires the storage status of the tools through the tool detection module.

[0048] The manipulator system includes an end effector, an articulated arm 11, and a self-locking telescopic structure 12. The end effector can clamp tools, the articulated arm can achieve angle changes in space, and the self-locking telescopic structure can achieve height increase or decrease; the self-locking telescopic structure is installed on the transport vehicle, the telescopic end of the self-locking telescopic structure is fixedly connected to the articulated arm, and the end of the articulated arm is fixedly connected to the end effector.

[0049] Specifically, the end effector includes a pair of clamping claws 1001, a support plate 1002, and a first drive motor 1003. A bidirectional lead screw 1004 is installed on the support plate, and the bidirectional lead screw is driven to rotate by the first drive motor 1003. A pair of the clamping claws 1001 are installed at both ends of the bidirectional lead screw. The pair of the clamping claws are closed or separated by the rotation of the bidirectional lead screw, and a first position sensor 1006 is installed on the opposite surfaces of the pair of clamping claws; Figure 3 As shown, the first drive motor 1003 is driven through the screw shaft 1010 and the connecting gear 1011, and then drives the bidirectional screw movement to control the opening and closing movement of a pair of the clamping claw guide grooves 1012. It should be noted that the first position sensor 1006 and the first drive motor 1003 are both connected to the main control module circuit.

[0050] The self-locking telescopic structure includes a support frame 1201, which is vertically mounted on the transport vehicle 5, and two limit plates 1202 are installed in parallel on the support frame 1201 in the width direction;

[0051] It also includes a first telescopic joint 1203 and a second telescopic joint 1204. The first telescopic joint and the second telescopic joint are limitedly installed between two limit plates through a slide rail, and one end of each of the first telescopic joint and the second telescopic joint is limited by the transport vehicle. The first telescopic joint and the second telescopic joint are installed in parallel with the support frame. A gear belt 1205 is installed on the side of the first telescopic joint and the second telescopic joint facing the support frame. A slot 1206 is provided on the bottom side of the first telescopic joint facing the second telescopic joint. A sliding limit mechanism is installed on the top side of the second telescopic joint facing the first telescopic joint.

[0052] A driving mechanism is installed on the support frame, and the driving mechanism can drive the first telescopic section to move upward. When the first telescopic section moves to the point where the sliding limit mechanism is engaged in the slot, the driving mechanism contacts the gear belt on the second telescopic section, thereby driving the second telescopic section to move upward.

[0053] The sliding limiting mechanism includes a roller 1207 and a mounting groove 1208. The bottom of the mounting groove 1208 is fixed to the second telescopic joint by a spring 1209. The roller 1207 is rotatably installed in the mounting groove. When the first telescopic joint moves, the roller rotates compared to the bottom surface of the first telescopic joint.

[0054] The driving mechanism includes a first cylinder 1210 and a third driving motor 1211. The first cylinder is fixedly mounted on the support frame, and the third driving motor is fixedly mounted on the telescopic end of the first cylinder. The output end of the third driving motor is fixedly connected to a gear, and the gear can engage with the gear belts on the first telescopic joint and the second telescopic joint. It should be noted that the first cylinder 1210 and the third driving motor 1211 are both connected to the main control module circuit.

[0055] It should be noted that the slot is a through structure in the width direction of the first telescopic joint, which makes it easy to push the sliding limit mechanism out of the slot.

[0056] In addition, an angle steel 1212 is fixedly installed on the top of the first telescopic joint, through which the articulated arm 11 can be fixedly connected; during the upward extension process of the self-locking telescopic structure: the third drive motor outputs a driving force, which is meshed with the gear belt of the first telescopic joint through the gear, and the third drive motor drives the first telescopic joint to move upward. When the slot of the first telescopic joint moves to the sliding limit mechanism of the second telescopic joint, the roller and the mounting slot pop out and are stuck in the slot of the second telescopic joint, and then the first cylinder is controlled to extend, so that the third drive motor drives the gear to mesh with the gear belt on the surface of the second telescopic joint, and the second telescopic joint is driven to continue to extend upward by the third drive motor; when it is necessary to retract the first telescopic joint and the second telescopic joint, the third drive motor and the gear output a driving force, and the gear and the gear of the second telescopic joint are engaged through the gear. The belt is engaged, and the third drive motor drives the second telescopic joint to move downward. After the second telescopic joint contacts the surface of the transport vehicle, the third drive motor stops driving. By controlling the first cylinder to shorten, the third drive motor drives the gear to disengage from the gear belt on the surface of the second telescopic joint, and leaves a gap for the first telescopic joint to fall. The main control module then controls the articulated arm 11 to rotate, so that the push rod 1009 connected to the telescopic end of the second cylinder pushes the sliding limit mechanism of the second telescopic joint out of the slot of the first telescopic joint, and the first telescopic joint is also retracted under gravity. In order to allow the first telescopic joint and the second telescopic joint to enter between the two limit plates during the retraction process, the two limit plates are formed into a flared structure at the end away from the transport vehicle, which facilitates the entry of the first telescopic joint and the second telescopic joint.

[0057] The rack 3 includes a fixed rack 301 and a rotating rack 302, and a plurality of tool holders 303 are installed on the fixed rack and the rotating rack, and the tool holders can clamp fixed tools; the fixed rack and the rotating rack are connected by a rotating shaft 304, and the rotating shaft is driven to rotate by a second driving motor 305, and drives the rotating rack to rotate 180° to the bottom of the fixed rack. It should be noted that the second driving motor 305 is electrically connected to the main control module.

[0058] The tool detection module includes a plurality of second position sensors 306, which are connected to the main control module circuit, and the second position sensors are respectively installed on the tool holder. It should be noted that since the tool holder on the rotating rack is in an inverted state after rotation, in order to prevent the tool from falling, the tool holder can be designed as an elastic opening structure so that the tool holder can clamp the tool to prevent it from falling.

[0059] A camera 1007 is installed on one side of the support plate 1002. The camera is connected to the main control module circuit and is used to take pictures of the tool and transmit signals to the main control module through the communication module.

[0060] A second cylinder 1008 is also installed on the end effector, and the telescopic end of the second cylinder 1008 is fixedly connected to a push rod 1009. The push rod can push the roller out of the slot to facilitate the downward retraction of the self-locking telescopic structure. It should be noted that the second cylinder 1008 is connected to the main control module circuit.

[0061] It should be noted that the articulated arm may be a 5-DOF robotic arm, which is an existing product and is well known to those skilled in the art.

[0062] The box body 1 is also provided with a tool status detection module, a communication module, and a main control module; the tool detection module is used to detect the storage status of tools on the rack; the main control module is respectively connected to the tool detection module and the manipulator system circuit, and is electrically connected to the host computer through the communication module. The main control module controls the manipulator system to remove tools or return tools by receiving signals from the host computer.

[0063] As an example, in this embodiment, when it is necessary to provide a tool: the host computer receives an instruction to provide a tool, and the host computer transmits a signal to the main control module through the communication module. The main control module controls the second drive motor 305 to rotate, and drives the rotating rack to rotate 180° to the bottom of the fixed rack; the coordinate position of the tool on the rack is stored in the host computer, and the coordinate position of the tool to be taken is transmitted to the main control module, and the main control module controls the transport vehicle to move to the projection position of the tool to be taken on the bottom of the box; the main control module controls the first cylinder 1210 and the third drive motor 1211 to work, and the self-locking telescopic structure is raised to the vicinity of the horizontal line of the tool to be taken; the main control module controls the articulated arm and the first drive motor 1003 to work, so that the end effector clamps the tool. Since the first position sensor 1006 is installed on the opposite surfaces of a pair of clamping claws, the signal can be transmitted to the main control module, and the main control module controls the transport vehicle to move to the projection position of the picking port on the bottom of the box, and then controls the self-locking telescopic structure to rise and the articulated arm to move. The arm rotates so that the tool is sent out of the picking port; after the tool is taken away, the main control module controls the articulated arm to rotate so that the end effector rotates to the locking roller of the telescopic joint, extends the push rod to push the locking roller out of the slot, and the self-locking telescopic structure is retracted; when the tool needs to be retracted: the tool is placed on the recovery platform, the gravity sensor transmits a signal to the main control module, the main control module controls the second drive motor 305 to rotate, and drives the rotating rack to rotate 180° to the bottom of the fixed rack; the main control module controls the transport vehicle to move to the projection position of the picking port on the bottom of the box, and then controls the self-locking telescopic structure to rise and the articulated arm to rotate, so that the end effector clamps the tool, the camera on the end effector takes a picture of the tool, and transmits the signal to the main control module, the main control module uploads the information to the host computer, the host computer analyzes the position of the tool, and controls the self-locking telescopic structure to be retracted through the main control module, and controls the articulated arm to rotate to put the tool back on the rack, and then controls the rotating rack to rotate 180° through the main control module to be flush with the fixed rack.

[0064] It should be noted that in order to realize the tool box's function of taking or recovering tools, the main control module needs to be circuit-connected with the tool status detection module, the communication module, the end effector, the articulated arm 11, the self-locking telescopic structure 12, the gravity sensor, and the angular displacement sensor. The specific circuit connection method is existing technology and will not be repeated here.

[0065] Example 2

[0066] A method for deploying safety measures using an automatic access intelligent toolbox in Example 1 includes a cloud platform, a database server and an application server; the database server and the application server are both connected to a cloud service platform; the cloud service platform interacts with database servers such as a three-dimensional data transfer platform and a SCADA system; the cloud service platform is connected to a main control module via a communication module; a safety measure ticket module, a tool storage management module, and a tool outbound management module are provided on the application server;

[0067] The method for deploying safety measures comprises the following steps:

[0068] S1. Operation and maintenance personnel use the PMS system to fill out the work ticket and upload it to the cloud platform;

[0069] S2. The safety measures ticket module connects to the 3D data transfer platform through the cloud platform, and obtains relevant 3D models and location information in combination with the construction site in the work ticket; the safety measures ticket module connects to SCADA through the cloud platform to obtain the real-time energized status of peripheral equipment at the construction site;

[0070] S2. The safety measures ticket module plans the construction scope based on the specified safety distance and the location of live equipment around the construction site; and determines the type and quantity of safety measures equipment;

[0071] S3, the safety measures ticket module takes the location of the operation and maintenance personnel at the end of the switching operation ticket as the starting point, combines the construction scope, sorts the safety measures tools, and generates a safety measures ticket;

[0072] S4. The operation and maintenance personnel carry the toolbox to the designated location and upload the location information of the operation and maintenance personnel to the cloud platform through the communication module;

[0073] S5. The cloud platform compares the equipment location in the safety measure ticket with the actual location of the operation and maintenance personnel. If they are consistent, the tool outbound management module sends a command to the tool box through the cloud platform to take out the tool, so that the robot system provides the tool. Otherwise, an alarm signal is issued;

[0074] S6, determine whether the security measures have been deployed, if not, repeat steps S4-S5;

[0075] S7. After the construction is completed, the operation and maintenance personnel carry the tool box to the designated location and upload the location information of the operation and maintenance personnel to the cloud platform through the communication module;

[0076] S8. The cloud platform compares the equipment location in the safety measure ticket with the actual location of the operation and maintenance personnel. If they are consistent, the tool storage management module sends a command to the tool box to retract the tool through the cloud platform, and enters the tool retracting program of the robot system. Otherwise, an alarm signal is issued;

[0077] S9, determining whether the tool recovery is complete, if not, repeating steps S7-S8.

[0078] The above embodiments describe the present invention in detail, but the contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. An automatic access intelligent toolbox, characterized in that: It comprises a box body, a taking-out opening is provided on the top of the box body, a recycling platform is provided on the top of the box body next to the taking-out opening, a gravity sensor is installed on the recycling platform, a plurality of rows of racks are installed in the box body, a slide rail and a transport vehicle are installed at the bottom of the box body, the transport vehicle can slide on the slide rail, a manipulator system is installed on the transport vehicle, and an angular displacement sensor is installed on the wheel of the transport vehicle; The box body is also provided with a tool status detection module, a communication module, and a main control module; the tool status detection module is used to detect the storage status of the tools on the rack; the main control module is respectively connected to the tool status detection module and the manipulator system circuit, and is electrically connected to the host computer through the communication module. The main control module receives a signal from the host computer to control the manipulator system to take out the tool or return the tool to its original position. When the tool is taken out, the manipulator system takes the tool on the rack and hands it out through the access port. When the tool is returned to its original position, the tool is placed on the recovery platform, and the manipulator system places the tool from the recovery platform to the rack; The host computer stores the coordinate positions of the tools on the rack, and obtains the storage status of the tools through the tool status detection module; The manipulator system comprises an end effector, an articulated arm, and a self-locking telescopic structure, wherein the end effector can clamp a tool, the articulated arm can achieve angle change in space, and the self-locking telescopic structure can achieve height increase or decrease; the self-locking telescopic structure is installed on the transport vehicle, the telescopic end of the self-locking telescopic structure is fixedly connected to the articulated arm, and the end of the articulated arm is fixedly connected to the end effector; The self-locking telescopic structure comprises a support frame, which is vertically mounted on the transport vehicle, and two limit plates are installed in parallel on the support frame in the width direction; It also includes a first telescopic joint and a second telescopic joint, the first telescopic joint and the second telescopic joint are limitedly installed between two limit plates through a slide rail, and one end of the first telescopic joint and the second telescopic joint are limited by the transport vehicle, the first telescopic joint and the second telescopic joint are installed in parallel with each other in sequence compared to the support frame, a gear belt is installed on the side of the first telescopic joint and the second telescopic joint facing the support frame, a card slot is provided on the side of the bottom side of the first telescopic joint facing the second telescopic joint, and a sliding limit mechanism is installed on the side of the top end of the second telescopic joint facing the first telescopic joint; A driving mechanism is installed on the support frame, and the driving mechanism can drive the first telescopic section to move upward. When the first telescopic section moves to the point where the sliding limit mechanism is engaged in the slot, the driving mechanism contacts the gear belt on the second telescopic section, thereby driving the second telescopic section to move upward. The end effector comprises a pair of clamping claws, a support plate, and a first drive motor, a bidirectional lead screw is mounted on the support plate, the bidirectional lead screw is driven to rotate by the first drive motor, a pair of clamping claws are mounted on both ends of the bidirectional lead screw, the pair of clamping claws are closed or separated by the rotation of the bidirectional lead screw, and a first position sensor is mounted on the opposite surfaces of the pair of clamping claws; The sliding limiting mechanism comprises a roller and a mounting groove, the bottom of the mounting groove is fixed to the second telescopic joint by a spring, the roller is rotatably mounted in the mounting groove, and when the first telescopic joint moves, the roller rotates relative to the bottom surface of the first telescopic joint; The driving mechanism includes a first cylinder and a third driving motor, wherein the first cylinder is fixedly mounted on the supporting frame, the third driving motor is fixedly mounted on the telescopic end of the first cylinder, and the output end of the third driving motor is fixedly connected to a gear, and the gear can mesh with the gear belts on the first telescopic joint and the second telescopic joint; The storage rack includes a fixed storage rack and a rotating storage rack, and a plurality of tool holders are installed on the fixed storage rack and the rotating storage rack, and the tool holders can clamp fixed tools; the fixed storage rack and the rotating storage rack are connected by a rotating shaft, and the rotating shaft is driven to rotate by a second driving motor, and drives the rotating storage rack to rotate 180° to the bottom of the fixed storage rack.

2. The automatic storage and retrieval intelligent toolbox according to claim 1, characterized in that: A camera is installed on one side of the support plate, and the camera is connected to the main control module circuit.

3. The automatic storage and retrieval intelligent toolbox according to claim 1, characterized in that: A second cylinder is also installed on the end effector, and the telescopic end of the second cylinder is fixedly connected to a push rod, and the push rod can push the roller out of the slot to facilitate the downward retraction of the self-locking telescopic structure.

4. A method for deploying safety measures using an automatic access intelligent toolbox according to any one of claims 1 to 3, characterized in that: The method for deploying safety measures comprises the following steps: S1. Obtain relevant 3D model and location information through the construction site in the work ticket, and obtain the real-time power status of the equipment around the construction site; S2. Plan the construction scope based on the prescribed safety distance and the location of live equipment around the construction site; and determine the types and quantities of safety measures and tools; S3. Taking the position of the operation and maintenance personnel at the end of the switching operation ticket as the starting point, the safety measures tools are sorted according to the construction scope, and a safety measures ticket is generated; S4. The operation and maintenance personnel carry the toolbox to the designated location and upload the location information of the operation and maintenance personnel to the cloud platform through the communication module; S5. The cloud platform compares the equipment location in the safety measure ticket with the actual location of the operation and maintenance personnel. If they are consistent, it sends a command to the tool box to remove the tool and enter the robot system to provide the tool program. Otherwise, it sends an alarm signal. S6, determine whether the security measures have been deployed, if not, repeat steps S4-S5; S7. After the construction is completed, the operation and maintenance personnel carry the tool box to the designated location and upload the location information of the operation and maintenance personnel to the cloud platform through the communication module; S8. The cloud platform compares the equipment location in the safety measure ticket with the actual location of the operation and maintenance personnel. If they are consistent, it sends a command to the tool box to retract the tool and enter the tool retracting program of the robot system. Otherwise, it sends an alarm signal. S9, determining whether the tool recovery is complete, if not, repeating steps S7-S8.

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