A method for using a patrol robot end screwing tool

Abstract

The application provides a kind of inspection robot end screwing tool use method, including step 1: control depth camera and shoot current switch cabinet image information;Step 2: according to image information, judge the position of switch cabinet switch;Step 3: control end screwing tool close to switch cabinet switch, make end screwing tool screwing piece and switch butt joint;Step 4: control screwing piece and rotate and screw switch;Step 5: control mechanical arm and push screwing piece, make screwing piece and retreat against switch cabinet;Step 6: drive rod ejects and presses switch.

Description

TECHNICAL FIELD

[0001] The application relates to a method for using an end screwing tool of an inspection robot. BACKGROUND

[0002] With the development of the robot industry, in order to adapt to various working conditions, various end screwing tools are available on the market. The end screwing tool is used to engage a switch, then screw the switch, and then press the switch. However, the existing end screwing tool has a complex mechanical structure, and the operation process is cumbersome and inconvenient to use. SUMMARY

[0003] To solve the above technical problems, the application provides a method for using an end screwing tool of an inspection robot.

[0004] The application adopts the following technical scheme

[0005] The method for using the end screwing tool of the inspection robot comprises a fourth fixing member arranged on a mechanical arm, a power mechanism arranged on the fourth fixing member, and a driving rod assembly connected with the output shaft of the power mechanism, the driving rod assembly and the fourth fixing member are rotatably connected, the end of the driving rod assembly is provided with a screwing member, the driving rod assembly comprises a driving rod and a sleeve, the sleeve and the driving rod are fixed in the circumferential direction and slide in the axial direction, an elastic release member is arranged between the driving rod and the sleeve, the sleeve and the screwing member are fixedly connected, and the inspection robot is provided with a depth camera, and the method comprises the following steps.

[0006] Step 1: controlling the depth camera to shoot image information of the current switch cabinet;

[0007] Step 2: judging the position of the switch of the switch cabinet according to the image information;

[0008] Step 3: controlling the end screwing tool to approach the switch of the switch cabinet, so that the screwing member of the end screwing tool is butted with the switch;

[0009] Step 4: controlling the screwing member to rotate and screw the switch;

[0010] Step 5: controlling the mechanical arm to push the screwing member, so that the screwing member retreats against the switch cabinet;

[0011] Step 6: driving the rod to push out the pressing switch.

[0012] Optionally, the method comprises the following steps:

[0013] Step 1: after the inspection robot moves to the position, controlling the fifth depth camera to shoot image information of the current switch cabinet;

[0014] Step 2: judging the position of the switch of the switch cabinet according to the image information;

[0015] Step 3: control the movement of the mechanical arm to make the end screwing tool close to the switch of the switch cabinet, and make the screwing part and the switch butt joint;

[0016] Step 4: control the power mechanism to rotate the driving rod to make the screwing part rotate and screw the switch;

[0017] Step 5: control the mechanical arm to push the screwing part, and make the screwing part retreat against the switch cabinet;

[0018] Step 6: drive the rod to eject the press switch.

[0019] Optionally, the end screwing tool comprises a fourth fixing part arranged on the mechanical arm, a power mechanism arranged on the fourth fixing part, and a driving rod assembly connected with the output shaft of the power mechanism, the driving rod assembly is rotatably connected with the fourth fixing part, and the end of the driving rod assembly is provided with a screwing part.

[0020] Optionally, the driving rod assembly comprises a driving rod and a sleeve, the sleeve is fixedly arranged in the circumferential direction of the driving rod and is axially slidable relative to the driving rod, an elastic buffer is arranged between the driving rod and the sleeve, and the sleeve is fixedly connected with the screwing part.

[0021] Optionally, the sleeve is arranged on the driving rod, the cross section of the driving rod is non-circular, and the sleeve is provided with a sleeve hole matched with the shape of the driving rod.

[0022] Optionally, the screwing part is provided with an avoiding hole for avoiding the driving rod.

[0023] Optionally, a stop structure for limiting the sliding position of the sleeve is arranged between the sleeve and the driving rod.

[0024] Optionally, the stop structure comprises a first stop portion arranged on the sleeve and a second stop portion arranged on the driving rod, and when the sleeve slides to a fixed position relative to the driving rod, the first stop portion and the second stop portion abut against each other to limit the continuous movement of the sleeve.

[0025] Optionally, a fixing sleeve is fixedly connected with the fourth fixing part, the fixing sleeve is arranged outside the driving rod assembly, a bearing is arranged between the driving rod assembly and the fixing sleeve, and a stop structure for limiting the sliding position of the sleeve is arranged between the sleeve and the fixing sleeve.

[0026] Optionally, the stop structure comprises a first stop portion arranged on the sleeve and a second stop portion arranged on the fixing sleeve, and when the sleeve slides to a fixed position relative to the driving rod, the first stop portion and the second stop portion abut against each other to limit the continuous movement of the sleeve.

[0027] Optionally, the elastic release member is sleeved on the driving rod, the driving rod is provided with a platform part abutting with one end of the elastic release member, and the other end of the elastic release member abuts with the sleeve.

[0028] Compared with the prior art, the technical scheme provided by the application has the following beneficial effects:

[0029] The end screwing tool of the inspection robot provided by the application has simple mechanical structure, convenient operation and application. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is the assembly drawing of the operation robot of the application;

[0031] Figure 2 It is one of the schematic diagrams of the ground knife operation structure of the application;

[0032] Figure 3 It is the second schematic diagram of the ground knife operation structure of the application;

[0033] Figure 4 It is one of the sectional views of the ground knife operation structure of the application;

[0034] Figure 5 It is one of the sectional views of the telescopic mechanism of the application;

[0035] Figure 6 It is one of the exploded views of the execution mechanism of the application;

[0036] Figure 7 It is one of the sectional views of the execution mechanism of the application;

[0037] Figure 8 It is the schematic diagram of the gland assembly of the application;

[0038] Figure 9 It is the longitudinal sectional view of the gland assembly of the application;

[0039] Figure 10 It is the schematic diagram of the adjusting member of the application;

[0040] Figure 11 It is the transverse sectional view of the adjusting member of the application;

[0041] Figure 12 It is the third schematic diagram of the ground knife operation structure of the application;

[0042] Figure 13 It is the schematic diagram of the telescopic mechanism of the application;

[0043] Figure 14 It is the second sectional view of the telescopic mechanism of the application;

[0044] Figure 15Figure 4 is a schematic view of the ground engaging tool operating structure of the present application;

[0045] Figure 16 Figure 5 is a cross-sectional view of the ground engaging tool operating structure of the present application;

[0046] Figure 17 Figure 6 is a schematic view of the feed assembly of the present application;

[0047] Figure 18 Figure 7 is a cross-sectional view of the actuator of the present application;

[0048] Figure 19 Figure 8 is an exploded view of the actuator of the present application;

[0049] Figure 20 Figure 9 is a schematic view of the drive steering mechanism of the present application;

[0050] Figure 21 Figure 10 is a cross-sectional view of the drive steering mechanism of the present application;

[0051] Figure 22 Figure 11 is a schematic view of the connecting frame of the present application;

[0052] Figure 23 Figure 12 is an exploded view of the connecting frame of the present application;

[0053] Figure 24 Figure 13 is a schematic view of the angle limiting structure of the present application;

[0054] Figure 25 Figure 14 is a schematic view of the actuator of the present application;

[0055] Figure 26 Figure 15 is a cross-sectional view of the actuator of the present application;

[0056] Figure 27 Figure 16 is an exploded view of the actuator of the present application;

[0057] Figure 28 Figure 17 is a schematic view of the end gripping tool of the present application;

[0058] Figure 29 Figure 18 is a cross-sectional view of the end gripping tool of the present application;

[0059] Figure 30 Figure 19 is an exploded view of the end gripping tool of the present application;

[0060] Figure 31 Figure 20 is a schematic view of the end operating tool of the present application;

[0061] Figure 32 Figure 21 is a cross-sectional view of the end operating tool of the present application;

[0062] Figure 33 Figure 22 is an exploded view of the end operating tool of the present application;

[0063] Figure 34 Schematic diagram of the end manipulation switch tool of the present application;

[0064] Figure 35 Sectional view of the end manipulation switch tool of the present application;

[0065] Figure 36 Exploded view of the end manipulation switch tool of the present application;

[0066] Figure 37 Schematic diagram of the end screwing tool of the present application;

[0067] Figure 38 Sectional view of the end screwing tool of the present application;

[0068] Figure 39 Exploded view of the end screwing tool of the present application.

[0069] Explanation of the reference numerals in the schematic diagram:

[0070] 1, rack assembly; 11, outer sleeve assembly; 12, first inductor; 13, limiting piece; 14, spring wire; 15, fixed frame; 2, moving base; 21, second inductor; 3, telescopic mechanism; 31, first motor; 32, screw rod; 33, feed nut; 34, feed sleeve; 35, pushing piece; 351, first sliding block; 4, execution mechanism; 41, transmission piece; 411, endoscope; 412, second connecting part; 42, execution piece; 421, second resisting part; 422, moving hole; 423, first hole and groove structure; 4231, inclined surface; 43, elastic buffer piece; 44, limiting piece; 441, first resisting part; 442, third inductor; 5, gland assembly; 51, gland end; 52, adjusting piece; 53, first connecting piece; 54, mounting frame; 6, first depth camera; 7, rotary lifting mechanism; 71, first driving piece; 72, second driving piece; 73, bottom nut; 74, upper nut; 75, ball screw; 76, first sensing piece; 761, resisting part; 77, second sensing piece; 8, fixed base; 81, second sliding rail; 82, second motor; 83, screw rod; 84, feeding piece; 9, centering auxiliary piece; 91, first connecting part; 92, universal joint structure; 921, connecting block; 922, pressure elastic piece; 923, ball; 101, driving steering mechanism; 1011, fixed base plate; 102, ground knife operation structure; 1021, mechanical arm;

[0071] A, end clamping tool; A1, first fixing part; A2, first power source; A31, fixed main body; A311, sliding hole; A32, second power source; A4, clamping part; A41, fourth connecting part; A412, positioning part; A42, shuttle hole; A43, click switch part; A44, return elastic part; A45, clamping part; A46, half concave part; A47, clamping hole; A51, first gear; A52, second gear; A53, threaded rod; A6, second depth camera;

[0072] B, end operation tool; B1, second fixing part; B2, guide sleeve; B21, accommodating hole groove structure; B211, first section; B212, second section; B213, third section; B214, rubber ring; B3, operation rod; B31, stop part; B4, elastic auxiliary part; B5, mounting part; B51, cavity groove; B6, third depth camera;

[0073] C, end operating switch tool; C1, third fixing part; C2, motor; C3, transmission rod; C31, first anti-drop part; C32, boss; C4, operating part; C41, rebound part; C42, butt joint hole groove structure; C421, transition surface; C43, second anti-drop part; C5, protection sleeve; C6, fourth depth camera;

[0074] D, end screwing tool; D1, fourth fixing part; D2, power mechanism; D3, driving rod; D31, second blocking part; D32, elastic slow-release part; D33, platform part; D4, sleeve; D41, first blocking part; D42, first blocking part; D5, screwing part; D51, avoidance hole; D52, notch; D6, fixed sleeve; D61, second blocking part; D7, fifth depth camera;

[0075] E1, fixed shell; E2, rolling wheel; E3, connecting frame; E31, second connecting part; E32, third connecting part; E33, damping elastic part; E34, pre-pressing part; E35, connecting part; E36, sliding rail; E37, sliding block; E4, turning driving mechanism; E41, angle constraint part; E42, constrained part; E421, notch; E5, walking driving mechanism. DETAILED DESCRIPTION

[0076] For further understanding of the present application, the application will be described in detail with reference to the drawings. Figures 1-39 and examples.

[0077] For further understanding of the present application, the application will be described in detail with reference to the drawings. Figures 1-39The application discloses a method for using a terminal screwing tool of a patrol robot, and the terminal screwing tool comprises a fourth fixing element D1 arranged on a mechanical arm, a power mechanism D2 arranged on the fourth fixing element D1, and a driving rod assembly which is in transmission connection with an output shaft of the power mechanism D2. The driving rod assembly is in bearing connection with the fourth fixing element D1, and a screwing element D5 is arranged at the end of the driving rod assembly. The driving rod assembly comprises a driving rod D3 and a sleeve D4. The sleeve D4 is in circumferential relative fixing and axial relative sliding with the driving rod D3, and the sleeve D4 is sleeved on the driving rod D3. The cross section of the driving rod D3 is non-circular, and the sleeve D4 is provided with a sleeve hole which is matched with the shape of the driving rod D3. In specific application, the cross section of the driving rod D3 is square, regular pentagonal or triangular, or the sleeve D4 and the driving rod D3 are in key connection. An elastic buffer D32 is arranged between the driving rod D3 and the sleeve D4, and the sleeve D4 is fixedly connected with the screwing element D5. The screwing element D5 is provided with an avoiding hole D51 which is used for avoiding the driving rod D3.

[0078] A stop structure for limiting the sliding position of the sleeve D4 is arranged between the sleeve D4 and the driving rod D3. The stop structure comprises a first blocking part D41 arranged on the sleeve D4 and a second blocking part D31 arranged on the driving rod D3. When the sleeve D4 slides to a fixed position relative to the driving rod D3, the first blocking part D41 and the second blocking part D31 abut against each other to prevent the sleeve D4 from being separated from the driving rod D3. A fixed sleeve D6 is fixedly connected with the fourth fixing element D1, the fixed sleeve D6 is sleeved on the driving rod assembly, and a bearing is arranged between the driving rod assembly and the fixed sleeve D6. A stop structure for limiting the sliding position of the sleeve D4 is arranged between the sleeve D4 and the fixed sleeve D6. The stop structure comprises a first stop part D42 arranged on the sleeve D4 and a second stop part D61 arranged on the fixed sleeve D6. When the sleeve D4 slides to a fixed position relative to the driving rod D3, the first stop part D42 and the second stop part D61 abut against each other to limit the continuous movement of the sleeve D4. The movement range of the sleeve D4 is limited between the second blocking part D31 and the second stop part D61. In specific application, the first blocking part D41 and the first stop part D42 are arranged as an integrated structure.

[0079] The elastic buffer D32 is sleeved on the driving rod D3, the driving rod D3 is provided with a platform part D33 which abuts against one end of the elastic buffer D32, and the other end of the elastic buffer D32 abuts against the sleeve D4. The screwing element D5 is a cylindrical structure, four notches D52 are uniformly arranged at the end of the screwing element D5, and the notches D52 are symmetrically arranged in pairs. A blocking nut is arranged at the end of the driving rod D3, and the blocking nut forms the second blocking part D31.

[0080] The fourth fixing member D1 is fixed with a fifth depth camera D7, and the fifth depth camera D7 is electrically connected with the control system. The fifth depth camera D7 is located above the driving rod D3. The fifth depth camera D7 can detect the position of the switch of the switch cabinet, and then transmit the position signal of the switch cabinet to the control system, and the control system controls the mechanical arm to make the end of the screwing tool D close to the switch of the switch cabinet. The notch D52 at the end of the screwing member D5 can engage the handle-shaped / strip-shaped switch, and then drive the driving power mechanism D2 to make the screwing member D5 screw the switch. Some switches need to be pressed after being screwed to open the switch, which requires the mechanical arm to press the screwing member D5, so that the screwing member D5 retreats relative to the driving rod D3, and the end of the driving rod D3 presses the switch. After opening the switch, the elastic release member D32 can make the screwing member D5 return to the initial position.

[0081] The mechanical arm is applied to an operating robot, which comprises a driving steering mechanism 101 and a land cutter operating structure 102. The driving steering mechanism 101 is provided with a fixed chassis 1011, and the land cutter operating structure 102 is installed on the fixed chassis 1011. The land cutter operating structure 102 comprises a fixed base 8, a moving base 2 and a rack assembly 1. The fixed base 8 is installed on the fixed chassis 1011, and the moving base 2 is connected to the fixed base 8 in a sliding manner. The fixed base 8 is provided with a transmission mechanism for driving the moving base 2 to move. The rack assembly 1 is arranged on the moving base 2, and the moving base 2 is provided with a rotating and lifting mechanism 7 for rotating and lifting the rack assembly 1. The operating robot further comprises a control system. The transmission mechanism is electrically connected with the control system, and the rotating and lifting mechanism 7 is electrically connected with the control system. The rack assembly 1 is provided with an extension mechanism 3, and the extension mechanism 3 is provided with an execution mechanism 4 at the end thereof.

[0082] The driving steering mechanism 101 comprises a rolling wheel E2, a connecting frame E3, a steering driving mechanism E4 and a walking driving mechanism E5. The steering driving mechanism E4 is arranged in a fixed shell E1, and the fixed shell E1 is installed on the fixed chassis 1011. The output shaft of the steering driving mechanism E4 is in transmission connection with one end of the connecting frame E3. The connecting frame E3 is in bearing connection with the fixed shell E1. The other end of the connecting frame E3 is in fixed connection with the walking driving mechanism E5. The walking driving mechanism E5 is installed on the connecting frame E3 through a walking driving motor shell. The output shaft of the walking driving mechanism E5 is in transmission connection with the rolling wheel E2. The walking driving motor shell is in bearing connection with the rolling wheel E2. The steering driving mechanism E4 drives the rolling wheel E2 to steer through the connecting frame E3 and the walking driving mechanism E5. The walking driving mechanism E5 drives the rolling wheel E2 to rotate. The steering driving mechanism E4 is electrically connected with the control system, and the walking driving mechanism E5 is electrically connected with the control system.

[0083] The connecting frame E3 has a suspension mechanism, the connecting frame E3 comprises a second connecting piece E31 and a third connecting piece E32, the second connecting piece E31 and the third connecting piece E32 are slidingly connected. The second connecting piece E31 is drivingly connected with the output shaft of the steering drive mechanism E4, and the third connecting piece E32 is fixedly connected with the walking drive motor housing of the walking drive mechanism E5. The suspension mechanism comprises a damping elastic piece E33 arranged between the second connecting piece E31 and the third connecting piece E32. A pre-pressing structure is arranged between the second connecting piece E31 and the third connecting piece E32 to compress the damping elastic piece E33. The pre-pressing structure comprises a pre-pressing piece E34 arranged on one of the second connecting piece E31 and the third connecting piece E32, and a connecting part E35 arranged on the other one, the pre-pressing piece E34 and the connecting part E35 are connected, and when the pre-pressing piece E34 and the connecting part E35 are connected, the damping elastic piece E33 is in a compressed state. In this embodiment, the pre-pressing piece E34 is a connecting shaft arranged on the third connecting piece E32, the connecting part E35 is a connecting hole arranged on the second connecting piece E31, the connecting shaft passes through the connecting hole, and the end of the connecting shaft is provided with a pre-pressing nut, the pre-pressing nut and the third connecting piece E32 abut to prevent the connecting shaft from separating from the connecting hole. The damping elastic piece E33 is a spring, one end of the damping elastic piece E33 is connected with the second connecting piece E31, and the other end of the damping elastic piece E33 is connected with the third connecting piece E32. The second connecting piece E31 and the third connecting piece E32 are slidingly connected through the cooperation of the connecting shaft and the connecting hole, so that the second connecting piece E31 is axially relatively slidable and circumferentially relatively fixed with respect to the third connecting piece E32, and the second connecting piece E31 can transmit torque through the third connecting piece E32. The damping elastic piece E33 in the compressed state can increase the rigidity of the damping elastic piece E33, and when the rolling wheel E2 jumps, the elastic change of the damping elastic piece E33 will not be too large to prevent the ground knife operation structure 102 from being unstable.

[0084] One of the second connecting piece E31 and the third connecting piece E32 is provided with a sliding rail E36, and the other one is provided with a sliding block E37 matched with the sliding rail E36, and the second connecting piece E31 and the third connecting piece E32 are slidingly connected through the cooperation of the sliding rail E36 and the sliding block E37. The steering drive mechanism E4 comprises a rotary drive motor, a speed reducer and an encoder connected in sequence.

[0085] An angle limiting structure is arranged between the connecting frame E3 and the fixed shell E1 to limit the rotation angle of the connecting frame E3. The angle limiting structure comprises an angle constraint E41 and a constrained part E42. The angle constraint E41 is fixedly connected with the fixed shell E1, and the constrained part E42 is directly or indirectly fixedly connected with the connecting frame E3. The constrained part E42 is opposite to one side of the angle constraint E41 after rotating to a fixed angle, and the constrained part E42 is opposite to the other side of the angle constraint E41 after reversing to a fixed angle. In this embodiment, the constrained part E42 is in a cylindrical shape, and the constrained part E42 has a notch E421 on one side. The angle constraint E41 is partially arranged in the notch E421. After the constrained part E42 rotates to a fixed angle, the bottom wall of the notch E421 is opposite to one side of the angle constraint E41. After the constrained part E42 reverses to a fixed angle, the bottom wall of the notch E421 is opposite to the other side of the angle constraint E41.

[0086] The fixed base 8 is provided with a second sliding rail 81, and the moving base 2 is provided with a second sliding block matched with the sliding rail. The transmission mechanism comprises a second motor 82, a screw rod 83 and a feeding part 84. The second motor 82 is fixedly connected with the fixed base 8, the screw rod 83 is connected with the fixed base 8 through a bearing, and the feeding part 84 is arranged on the moving base 2. The feeding part 84 is provided with a threaded hole matched with the screw rod 83, and the second motor 82 drives the screw rod 83 to rotate through a synchronous belt and a synchronous pulley. The rotation of the screw rod 83 can drive the moving base 2 to slide on the second sliding rail 81.

[0087] The rotary lifting mechanism 7 comprises a first driving part 71, a second driving part 72, a bottom nut 73, an upper nut 74 and a ball screw 75. The ball screw 75 is fixed to the moving base 2, and the bottom nut 73 and the upper nut 74 are both sleeved on the ball screw 75. The bottom nut 73 comprises a first inner ring and a first outer ring, which are connected through a bearing. The first inner ring is sleeved on the periphery of the ball screw 75, and is keyed connected with the ball screw 75. The first inner ring can only make linear motion relative to the ball screw 75, and can slide relative to the ball screw 75 in the axial direction. The first outer ring is fixedly connected with the rack assembly 1. The upper nut 74 comprises a second inner ring and a second outer ring, which are connected through a bearing. The second inner ring is provided with a thread matched with the ball screw 75, and the second outer ring is fixedly connected with the rack assembly 1. The first driving part 71 and the second driving part 72 are both mounted on the rack assembly 1. The output shaft of the first driving part 71 is synchronously belt-driven connected with the first inner ring, and the output shaft of the second driving part 72 is synchronously belt-driven connected with the second inner ring.

[0088] The bottom nut 73 and the upper nut 74 are both mounted on the rack assembly 1. The output shaft of the first driving member 71 is fixed with a synchronous pulley, the first inner ring of the bottom nut 73 is fixed with a synchronous pulley, and the synchronous pulley is externally provided with a synchronous belt. The output shaft of the second driving member 72 is fixed with a synchronous pulley, the second inner ring of the upper nut 74 is fixed with a synchronous pulley, and the synchronous pulley is externally provided with a synchronous belt. The rotating lifting mechanism 7 can realize the rotating movement, the linear movement and the linear-rotating compound movement of the rack assembly 1.

[0089] Specifically, the linear-rotating compound movement is realized by starting the first driving member 71. Since the first inner ring is fixed in the circumferential direction relative to the ball screw 75, starting the first driving member 71 will drive the rack assembly 1 to rotate around the ball screw 75, and the rotation of the rack assembly 1 will drive the second inner ring to rotate through the synchronous belt transmission between the second driving member 72 and the second inner ring, and the rotation of the second inner ring will drive the rack assembly 1 to move linearly relative to the ball screw 75.

[0090] The linear movement is realized by starting the second driving member 72. Starting the second driving member 72 will drive the second inner ring to rotate, and the rotation of the second inner ring will drive the rack assembly 1 to move linearly relative to the ball screw 75.

[0091] The rotating movement is realized by simultaneously starting the first driving member 71 and the second driving member 72. As known from the above, starting the first driving member 71 realizes the linear-rotating compound movement of the rack assembly 1. At this time, only the second driving member 72 needs to be reversed, and the rotation speed needs to be kept consistent with that of the first driving member 71, so that the second inner ring is in a stationary state, and therefore the rack assembly 1 will not move linearly, but only rotate.

[0092] The rack assembly 1 and the ball screw 75 are provided with a limiting structure for limiting the rotation angle of the rack assembly 1. The limiting structure includes a limiting member 13 and a blocking member, the limiting member 13 is fixed to the rack assembly 1, and the blocking member is directly or indirectly fixedly connected with the first inner ring / ball screw 75, the blocking member is provided with two blocking portions 761, and the limiting member 13 is limited between the two blocking portions 761. In specific applications, the blocking member is fixed to the synchronous pulley of the first inner ring.

[0093] It also includes a detection mechanism, which includes a first inductor 12 and a first inductive member 76, the first inductor 12 is fixed to the rack assembly 1, the first inductive member 76 is directly or indirectly fixedly connected with the first inner ring, and the first inductor 12 can induct the first inductive member 76. The first inductor 12 is electrically connected with the control system. In specific applications, the first inductive member 76 and the blocking member are integrally provided. The first inductive member 76 has a metal member, and the first inductive member 76 is a sensor that can induct metal. When the first inductor 12 inducts the first inductive member 76, the position of the rack assembly 1 at this time is set as the original position, and then the rotation angle of the rack assembly 1 is confirmed through the encoder of the first driving member 71.

[0094] The detection mechanism further comprises a second inductor 21 fixed to the moving base 2 and a second inductive element 77 directly or indirectly fixed to the first inner ring, the second inductor 21 can induct the second inductive element 77. The second inductor 21 is electrically connected to the control system. In specific applications, the second inductive element 77 is a metal element, and the second inductor 21 is a sensor that can induct metal. When the rack assembly 1 moves to the bottom, the second inductive element 77 reaches the position of the second inductor 21, the second inductor 21 inducts the second inductive element 77 and transmits the inductive signal to the control system. The fixed base 8 is provided with a fourth inductor, and the moving base 2 is provided with a fourth inductive element, the fourth inductor can induct the fourth inductive element. In specific applications, the fourth inductive element is a metal element, and the fourth inductor is a sensor that can induct metal. When the moving base 2 moves to the end of the fixed base 8, the fourth inductive element reaches the position of the fourth inductor, the fourth inductor inducts the fourth inductive element and transmits the inductive signal to the control system.

[0095] The telescopic mechanism 3 comprises a driving mechanism provided on the rack assembly 1 and a screw rod pair telescopic mechanism, and the driving mechanism is electrically connected to the control system. The driving mechanism comprises a first motor 31, and the screw rod pair telescopic mechanism comprises a lead screw 32 and a feeding assembly matched with the lead screw 32. The lead screw 32 is connected to the rack assembly 1 through a bearing, and the output shaft of the first motor 31 is provided with a synchronous pulley, and the lead screw 32 is fixed with a synchronous pulley, and the first motor 31 drives the lead screw 32 to rotate through a synchronous belt and the synchronous pulley. The feeding assembly is slidably connected to the rack assembly 1, and the rack assembly 1 comprises an outer sleeve assembly 11, and the outer sleeve assembly 11 is sleeved on the feeding assembly. The feeding assembly comprises a feeding nut 33 and a feeding sleeve 34, the feeding nut 33 and the feeding sleeve 34 are fixedly connected, and the outer sleeve assembly 11 and the feeding sleeve 34 are key-connected, so that the feeding assembly and the outer sleeve assembly 11 are relatively fixed in the circumferential direction and relatively slide in the axial direction. A rotary drive is arranged in the rack assembly 1, and the rotary drive is electrically connected to the control system. The rotary drive drives the outer sleeve assembly 11 to rotate, and further drives the feeding sleeve 34 to rotate. The execution mechanism 4 is arranged at the end of the feeding sleeve 34.

[0096] When the rack assembly 1 works, the first motor 31 is controlled by the control system to drive the screw rod pair telescopic mechanism to expand or contract, so that the execution mechanism 4 approaches and contacts the switch cabinet switch to be operated. Then, the control system controls the rotary drive output shaft to rotate to drive the execution mechanism 4 to rotate, and further rotates to open the switch of the switch cabinet. Since the rotary drive also drives the feeding assembly to rotate when rotating, it will cause the feeding assembly to move relative to the lead screw 32. In order to solve this problem, the control system only needs to control the lead screw 32 to rotate in the opposite direction through the first motor 31.

[0097] The grommet assembly 5 is in bearing connection with the feeding sleeve 34. Generally, the switch of the switch cabinet is provided with a ground blade butt joint hole baffle, and the ground blade butt joint hole baffle needs to be opened before the switch of the switch cabinet is operated. The grommet assembly 5 is used for opening the ground blade butt joint hole baffle of the switch cabinet. The grommet assembly 5 comprises a grommet end 51, a first connecting piece 53 and a mounting frame 54. One end of the first connecting piece 53 is fixedly connected with the grommet end 51, and the other end of the first connecting piece 53 is fixedly connected with the mounting frame 54. The mounting frame 54 is in bearing connection with the feeding sleeve 34. The grommet end 51 is a pressing plate provided with side edges on both sides. The pressing plate is provided with adjusting pieces 52 on both side edges. The adjusting pieces 52 are provided with inwardly extending inclined surfaces. In the embodiment, the adjusting pieces 52 have two inclined surfaces, i.e., a first inclined surface 521 and a second inclined surface 522. The first inclined surface 521 and the second inclined surface 522 are two adjacent surfaces. The first inclined surface 521 and the second inclined surface 522 are both triangular surfaces. The junction of the first inclined surface 521 and the second inclined surface 522 is connected by a smooth curved surface. The first inclined surface 521 faces the front of the grommet end, and the second inclined surface 522 faces the lower side of the grommet end. The adjusting pieces and the two side edges of the pressing plate are provided with ejection elastic pieces 523 for keeping the adjusting pieces in a popped state. In specific applications, the ejection elastic pieces 523 are springs.

[0098] The grommet end 51 opens the ground blade butt joint hole baffle by pressing downward. When the ground blade butt joint hole baffle enters the grommet end 51, the surface of the grommet end 51 and the ground blade butt joint hole baffle are not parallel, or the grommet end 51 and the ground blade butt joint hole baffle are slightly misaligned. After the first inclined surface 521 / second inclined surface 522 of the two adjusting pieces contacts the ground blade butt joint hole baffle, the grommet end 51 is pressed downward, and the action force between the first inclined surface 521 / second inclined surface 522 and the ground blade butt joint hole baffle makes the grommet assembly 5 slightly rotate relative to the feeding sleeve 34, so that the grommet end 51 and the ground blade butt joint hole baffle return to the parallel state, thereby facilitating the accurate butt joint of the grommet end 51 to the ground blade butt joint hole baffle of the switch cabinet. Moreover, the two adjusting pieces limit the ground blade butt joint hole baffle to enter the middle position of the grommet end 51, so that the grommet end 51 stably exerts the downward action force on the ground blade butt joint hole baffle.

[0099] In another embodiment, the telescopic mechanism 3 comprises a driving mechanism and a screw rod pair telescopic mechanism arranged on the rack assembly 1, and the driving mechanism and the control system are electrically connected. The driving mechanism comprises a first motor 31, and the screw rod pair telescopic mechanism comprises a screw rod 32 and a feeding assembly matched with the screw rod 32. The first motor 31 is fixed to the rack assembly 1, the screw rod 32 is bearingly connected with the rack assembly 1, and the first motor 31 is in transmission connection with the screw rod 32. The feeding assembly comprises a feeding nut 33, a pushing piece 35, a gland assembly 5 and a feeding sleeve 34, the feeding nut 33 is sleeved outside the screw rod 32, the feeding nut 33 is fixedly connected with the pushing piece 35, the pushing piece 35 is fixedly connected with the gland assembly 5, and the gland assembly 5 is bearingly connected with the feeding sleeve 34. The rack assembly 1 comprises an outer sleeve assembly 11, the outer sleeve assembly 11 is sleeved outside the feeding sleeve 34, the feeding sleeve 34 is in key connection with the outer sleeve assembly 11, the outer sleeve assembly 11 limits the feeding sleeve 34 to only make linear motion, and the feeding sleeve 34 is relatively fixed in the circumferential direction relative to the outer sleeve assembly 11 and relatively slides in the axial direction.

[0100] The rack assembly 1 further comprises a fixed frame 15, the first motor 31 is installed on the fixed frame 15, and the pushing piece 35 is in sliding connection with the fixed frame 15. The fixed frame 15 is provided with a first sliding rail, and the pushing piece 35 is provided with a first sliding block 351 matched with the first sliding rail. The gland assembly 5 comprises a gland end 51, a first connecting piece 53 and a mounting frame 54. One end of the first connecting piece 53 is fixedly connected with the gland end 51, the other end of the first connecting piece 53 is fixedly connected with the mounting frame 54, the mounting frame 54 is connected with the feeding sleeve 34 through a bearing, and the mounting frame 54 is fixedly connected with the pushing piece 35. The gland end 51 is a pressing plate provided with side edges on both sides. The output shaft of the first motor 31 rotates to drive the screw rod 32 to rotate, so that the feeding nut 33 drives the pushing piece 35, the gland assembly 5 and the feeding sleeve 34 to move linearly. Since the gland assembly 5 is fixedly connected with the pushing piece 35, the gland assembly 5 will not be deflected relative to the feeding sleeve 34. Since the gland assembly 5 is bearingly connected with the feeding sleeve 34, rotating the driving outer sleeve assembly 11 to drive the feeding sleeve 34 and the executing mechanism 4 to rotate will not cause the feeding assembly to move.

[0101] The rack assembly 1 is provided with a fifth inductor, and the feeding assembly is provided with a fifth inductive piece. The fifth inductive piece is a metal piece, and the fifth inductor is a sensor that can sense metal. When the feeding nut 33 is at the starting end of the screw rod 32, the fifth inductive piece is at the position of the fifth inductor. The fifth inductive piece is electrically connected with the control system, and when the fifth inductive piece senses the position of the fifth inductor, the fifth inductive piece transmits an induction signal to the control system, and the control system judges that the feeding assembly has been returned. In specific application, the fifth inductive piece is arranged on the pushing piece 35, and the fifth inductor is arranged on the fixed frame 15.

[0102] The end of the feeding sleeve 34 is provided with an actuator 4. The actuator 4 comprises a transmission member 41 and an execution member 42, one end of the execution member 42 is slidably connected with one end of the transmission member 41, and the execution member 42 slides axially relative to the transmission member 41 which is relatively fixed in the circumferential direction. One of the execution member 42 and the transmission member 41 is provided with a non-cylindrical body, and the other is provided with a moving hole 422 matched with the shape of the non-cylindrical body. In specific applications, the non-cylindrical body is a square column, and can also be a regular pentagonal column. The execution member 42 and the transmission member 41 can also be connected by a key. An elastic buffer 43 is arranged between one end of the execution member 42 and one end of the transmission member 41. In specific applications, the elastic buffer 43 is a spring, and the elastic buffer 43 is sleeved on the non-cylindrical body. The other end of the transmission member 41 is fixedly connected with the feeding sleeve 34. The actuator 4 further comprises a limiting member 44, which is sleeved on the non-cylindrical body. One end of the limiting member 44 is fixedly connected with the transmission member 41, and the other end of the limiting member 44 has a first abutting portion 441. The execution member 42 has a second abutting portion 421. When the execution member 42 moves relative to the transmission member 41 to a fixed position, the first abutting portion 441 abuts against the second abutting portion 421 to prevent the execution member 42 from disengaging from the limiting member 44. The other end of the execution member 42 is used to operate the switch of the switch cabinet, and the other end of the execution member 42 is provided with a first hole groove structure 423 matched with the switch. The top wall of the first hole groove structure 423 has an inclined surface 4231 extending inward. The first hole groove structure 423 is a hexagonal hole groove structure. The corner of the hexagonal hole groove structure is a corner formed by a circular arc curved surface transition link corner side face.

[0103] The rack assembly 1 is provided with a first depth camera 6 located above the telescopic mechanism 3, and the first depth camera 6 is electrically connected with the control system. The first depth camera 6 is used to collect the position information of the switch of the switch cabinet, and then feedback to the control system. The control system then drives the rotating lifting mechanism 7, the transmission mechanism and the telescopic mechanism 3, so that the first hole groove structure 423 approaches the switch of the switch cabinet. However, there may be some errors in positioning, which may cause the first hole groove structure 423 and the switch of the switch cabinet to be slightly staggered. At this time, the inclined surface 4231 on the top wall of the first hole groove structure 423 will help the switch to slide into the first hole groove structure 423.

[0104] The limiting piece 44 is fixed with a third inductor 442, which can induct the executing piece 42. The rack assembly 1 is provided with a containing space, in which a spring wire 14 is arranged. The feeding sleeve 34 is a hollow structure, and the feeding sleeve 34 or the rack assembly 1 is provided with a wire hole through which one end of the spring wire 14 passes. The other end of the spring wire 14 is connected with a power supply. In other embodiments, the third inductor 442 is fixedly connected with the transmission piece 41. In specific applications, the executing piece 42 is a metal piece, and the third inductor 442 is a sensor that can induct metal. When the first hole groove structure 423 is misaligned with the switch of the switch cabinet, the driving of the telescopic mechanism 3 will make the executing piece 42 touch the switch of the switch cabinet and be subjected to reverse pressure, so that the executing piece 42 slides back relative to the transmission piece 41, and the elastic buffer 43 is compressed. When the executing piece 42 retreats to the position of the third inductor 442, the third inductor 442 senses the executing piece 42. When the first hole groove structure 423 is engaged with the switch of the switch cabinet, the executing piece 42 will suddenly reset, and the third inductor 442 senses the signal that the executing piece 42 leaves. The signal is fed back to the control system, and the control system judges that the first hole groove structure 423 is engaged with the switch of the switch cabinet.

[0105] The transmission piece 41 is provided with an endoscope 411, and the executing piece 42 is a cylindrical structure. The endoscope 411 can monitor the situation outside the executing piece 42 through the cylindrical structure. The endoscope 411 is electrically connected with the control system, and the endoscope 411 and the first depth camera 6 are used to jointly monitor the position of the switch of the switch cabinet.

[0106] In another embodiment, the actuating mechanism 4 has a centering structure, the actuating mechanism 4 comprises an actuating piece 42, a transmission piece 41 and a centering auxiliary piece 9. The connection between the actuating piece 42 and the transmission piece 41 is consistent with the connection between the actuating piece 42 and the transmission piece 41 described above. In this embodiment, the transmission piece 41 is connected with the feed sleeve 34 through the centering auxiliary piece 9, and the centering auxiliary piece 9 is fixedly connected with the feed sleeve 34. The transmission piece 41 and the centering auxiliary piece 9 are connected through a centering structure, which comprises a universal joint structure 92 between the transmission piece 41 and the centering auxiliary piece 9, a compression elastic piece 922 and a return piece. The universal joint structure 92 comprises a connecting block 921, one end of the centering auxiliary piece 9 is provided with two opposite first connecting parts 91 extending outward, one end of the transmission piece 41 is provided with two opposite second connecting parts 412 extending outward, the two first connecting parts 91 are respectively hinged to the opposite two side surfaces of the connecting block 921, and the two second connecting parts 412 are respectively hinged to the other opposite two side surfaces of the connecting block 921, so that the transmission piece 41 and the centering auxiliary piece 9 are substantially on a straight line. However, due to the arrangement of the universal joint structure 92, the transmission piece 41 can be tilted relative to the centering auxiliary piece 9. The compression elastic piece 922 is arranged between the connecting block 921 and the transmission piece 41, and between the connecting block 921 and the centering auxiliary piece 9. In specific applications, the compression elastic piece 922 is a disc spring. The compression elastic piece 922 is in a compressed state, and the compression elastic piece 922 can make the transmission piece 41 return to the original state after being tilted relative to the centering auxiliary piece 9, so that the transmission piece 41 and the centering auxiliary piece 9 return to the state of being substantially on a straight line. The return piece is a ball 923 or a rubber pad, which is installed at the end of the first connecting part 91 and abuts against the transmission piece 41. The return piece is also installed at the end of the second connecting part 412 and abuts against the centering auxiliary piece 9. The return piece helps the transmission piece 41 return to the original state after being tilted relative to the centering auxiliary piece 9. The clearance fit of the universal joint structure, the transmission piece 41 and the actuating piece 42 forms a double-pole floating of the actuating mechanism 4, so that the actuating mechanism 4 can adapt to the offset of the deflection angle ±3° and the eccentricity ±1mm.

[0107] The mechanical arm is installed on the fixed base plate, the control system controls the movement of the mechanical arm 1021, and the end of the mechanical arm 1021 is provided with four end tools, the four end tools are arranged at the same inclination angle relative to the mechanical arm 1021, and the four end tools are uniformly distributed around the end of the mechanical arm 1021. The four end tools are inclined by 45° relative to the mechanical arm 1021. The four end tools are perpendicular to each other. The four end tools are end clamping tool A, end operating tool B, end operating switch tool C and end screwing tool D.

[0108] The end clamping tool A comprises a first fixing member A1 arranged on the mechanical arm 1021, a first power source A2 arranged on the first fixing member A1, a first execution assembly, the first execution assembly comprising a fixed body A31, a second power source A32 arranged on the fixed body A31, and two clamping members A4. The fixed body A31 is internally provided with a clamping transmission structure, and the second power source A32 drives the two clamping members A4 to approach or separate from each other through the clamping transmission structure. The fixed body A31 is bearing-connected with the first fixing member A1, and the fixed body A31 is drivingly connected with an output shaft of the first power source A2. The first power source A2 drives the first execution assembly to rotate. In a specific application, the fixed body A31 is a fixed shell.

[0109] The clamping transmission structure comprises a gear set and a threaded rod A53. The gear set comprises a first gear A51 and a second gear A52. In a specific application, the first gear A51 and the second gear A52 are both bevel gears, and the first gear A51 and the second gear A52 are perpendicular to and meshed with each other. The gear set is arranged in the fixed body A31, and an output shaft of the second power source A32 is drivingly connected with the gear set. The first gear A51 is coaxially and fixedly connected with the output shaft of the second power source A32, the second gear A52 is coaxially and fixedly connected with the threaded rod A53, and the threaded rod A53 is rotationally connected with the fixed body A31. The two clamping members A4 are both fixedly connected with a fourth connecting member A41, the fourth connecting member A41 is arranged in the fixed body A31, the fourth connecting member A41 is provided with threaded holes matched with the threaded rod A53, and the screw directions of the threads in the two threaded holes are opposite. In other embodiments, the threaded holes can be directly arranged on the clamping members A4. The fixed body A31 is provided with a sliding hole A311 through which the fourth connecting member A41 passes, and the sliding hole A311 limits the fourth connecting member A41 to only make linear motion. The fourth connecting member A41 is provided with a positioning portion A412, the positioning portion A412 abuts against the inner wall of the fixed body A31 to prevent the fourth connecting member A41 from deflecting, and limits the fourth connecting member A41 to only make linear motion.

[0110] The clamping piece A4 is provided with a shuttle hole A42, and a click switch piece A43 is arranged in the shuttle hole A42. A return elastic piece A44 is arranged between the click switch piece A43 and the clamping piece A4. The clamping piece A4 is provided with clamping portions A45 extending to two sides. When the two clamping pieces A4 are close to each other, the clamping portions A45 of the two clamping pieces A4 abut against each other. The clamping piece A4 is provided with a half concave portion A46. When the two clamping pieces A4 are close to each other, the half concave portions A46 of the two clamping pieces A4 are combined into a complete clamping hole A47. In specific application, the clamping hole A47 is a square hole. The application further comprises a second depth camera A6, which is installed on the first fixing piece A1. The second depth camera A6 is installed at an upper position of the fixed main body A31. The second depth camera A6 is electrically connected with the control system. The second depth camera A6 can detect the position of a switch of a switch cabinet, and then the control system controls the mechanical arm 1021 to make the end clamping tool A close to the switch of the switch cabinet, and then drives the second power source A32 to make the two clamping pieces A4 clamp the switch, and then drives the first power source A2 to make the clamping piece A4 rotate to unscrew the switch. The click switch piece A43 can click a button switch under the drive of the mechanical arm 1021. The clamping piece A4 can clamp a square switch, and can also clamp a handle-shaped / strip-shaped switch by using the clamping portion A45.

[0111] The end operation tool B comprises a second fixing piece B1 arranged on the mechanical arm 1021, a guide sleeve B2 fixed to the second fixing piece B1, an operation rod B3, and an elastic auxiliary piece B4 arranged between the operation rod B3 and the guide sleeve B2. A pressure sensor for detecting spring pressure is arranged between the elastic auxiliary piece B4 and the guide sleeve B2 or between the elastic auxiliary piece B4 and the operation rod B3. The pressure sensor is electrically connected with the control system. A stop structure for limiting the sliding position of the operation rod B3 is arranged between the operation rod B3 and the guide sleeve B2. The stop structure comprises a stop piece B31 connected to one end of the operation rod B3 and a stop portion arranged on the guide sleeve B2. When the operation rod B3 moves relative to the guide sleeve B2 to a fixed position, the stop piece B31 and the stop portion abut against each other to prevent the operation rod B3 from being separated from the guide sleeve B2.

[0112] The guide sleeve B2 is provided with a containing hole groove structure B21, and one end of the operating rod B3 is arranged in the containing hole groove structure B21. The containing hole groove structure B21 is divided into a first section B211, a second section B212 and a third section B213, the size of the first section B211 is smaller than the size of the second section B212, and the size of the second section B212 is smaller than the size of the third section B213. One end of the operating rod B3 enters the third section B213 through the first section B211 and the second section B212. The size of the first section B211 is adapted to the outer diameter size of the operating rod B3. The second section B212 is provided with a rubber ring B214 arranged outside the operating rod B3, and the rubber ring B214 fills the space in the second section B212. The third section B213 is provided with a stop B31 fixedly connected with one end of the operating rod B3. The stop portion is the bottom of the rubber ring B214, and the stop B31 and the stop portion cooperate to prevent the operating rod B3 from being separated from the guide sleeve B2. The third section B213 is provided with an elastic auxiliary part B4, and the elastic auxiliary part B4 is a spring. The third section B213 is provided with a mounting part B5, the cross section of the mounting part B5 is substantially a T-shaped structure, one end of the mounting part B5 is arranged in the third section B213 and has a cavity groove B51, the other end of the mounting part B5 is fixedly connected with the guide sleeve B2, and the elastic auxiliary part B4 is arranged in the cavity groove B51. One end of the elastic auxiliary part B4 is connected with the stop B31, and the other end of the elastic auxiliary part B4 is connected with the bottom wall of the cavity groove B51. In specific application, the stop B31 is provided with a pressure sensor, and the pressure sensor abuts against the elastic auxiliary part B4.

[0113] The second fixing part B1 is fixedly provided with a third depth camera B6, the third depth camera B6 is located above the guide sleeve B2, and the third depth camera B6 is electrically connected with the control system. The third depth camera B6 can detect the position of the switch of the switch cabinet, and then the control system controls the mechanical arm 1021 to make the end operating tool B close to the switch of the switch cabinet. The operating rod B3 can click the button type switch, when the mechanical arm 1021 controls the operating rod B3 to click the switch, the pressure sensor can sense the pressure received by the elastic auxiliary part B4, that is, the pressure of the operating rod B3 on the button switch. The pressure sensor transmits the pressure signal to the control system, and the control system can judge the force of the operating rod B3 clicking the switch according to the sensing signal of the pressure sensor.

[0114] The end operating switch tool C includes a third fixing part C1 arranged on the mechanical arm 1021, a motor C2 arranged on the third fixing part C1, and a transmission rod C3 connected with the output shaft of the motor C2. The transmission rod C3 is bearing connected with the third fixing part C1. The end of the transmission rod C3 is provided with an operating part C4, the operating part C4 is fixedly connected with the transmission rod C3 in the circumferential direction and slidably connected with the transmission rod C3 in the axial direction, part of the transmission rod C3 is non-circular in cross section, and the operating part C4 has a non-circular through hole matched with the transmission rod C3. In specific application, part of the transmission rod C3 is square or regular pentagonal or regular triangular in cross section, or the operating part C4 is keyed connected with the transmission rod C3. A spring C41 is arranged between the operating part C4 and the transmission rod C3. The operating part C4 is provided with a butt joint groove structure C42 for butt joint with the switch of the switch cabinet. The butt joint groove structure C42 is a groove structure composed of two superimposed staggered cubes. The two superimposed staggered cubes make the butt joint groove structure C42 form eight corner parts, and the eight corner parts are uniformly distributed in the circumferential direction of the butt joint groove structure C42. The corner part is a corner part formed by the edge surface of the circular arc transition joint. The end face of the butt joint groove structure C42 is an inwardly extending inclined transition surface C421.

[0115] A separation prevention structure is arranged between the transmission rod C3 and the operating part C4 to prevent separation between the operating part C4 and the transmission rod C3. The separation prevention structure includes a first separation prevention part C31 arranged at the end of the transmission rod C3 and a second separation prevention part C43 arranged on the operating part C4. When the operating part C4 slides to the end of the transmission rod C3, the first separation prevention part C31 and the second separation prevention part C43 abut each other to prevent the operating part C4 from separating from the transmission rod C3. The operating part C4 is a cylindrical structure, the operating part C4 is sleeved on the transmission rod C3, the first separation prevention part C31 is a screw fixed on the end of the transmission rod C3, the size of the screw is larger than the size of the transmission rod C3, and the second separation prevention part C43 is a stepped platform arranged in the operating part C4. The spring C41 is sleeved on the transmission rod C3, the transmission rod C3 is provided with a boss C32 extending in the radial direction, one end of the spring C41 is connected with the boss C32, and the other end of the spring C41 is connected with the operating part C4. A protective sleeve C5 for protecting the spring C41 is further included, the spring C41 is located in the protective sleeve C5, the protective sleeve C5 is sleeved on the transmission rod C3, and the protective sleeve and the boss C32 are fixedly connected.

[0116] The third fixing part C1 is fixed with the fourth depth camera C6, and the fourth depth camera C6 is electrically connected with the control system. The fourth depth camera C6 is located above the transmission rod C3. The fourth depth camera C6 can detect the position of the switch of the switch cabinet, and then transmit the position signal of the switch cabinet to the control system, and the control system controls the mechanical arm 1021 to make the end control switch tool C close to the switch of the switch cabinet. The butt joint groove structure C42 of the control part C4 can be engaged with the square switch of the switch cabinet. When the butt joint groove structure C42 is misaligned with the square switch, the inclined transition surface C421 can help the butt joint groove structure C42 to butt joint the square switch. The butt joint groove structure C42 has eight corners formed by two superimposed staggered cubes, so that the square switch can be easily inserted into the butt joint groove structure C42. The motor C2 drives the transmission rod C3 to rotate, and when any corner of the butt joint groove structure C42 contacts any corner of the square switch, the butt joint groove structure C42 will quickly butt joint the other part of the square switch. Then the motor C2 continues to rotate to make the control part C4 unscrew the switch.

[0117] A method for using the end screwing tool of the inspection robot, comprising the following steps:

[0118] Step 1: control the depth camera to shoot the image information of the current switch cabinet;

[0119] Step 2: determine the position of the switch of the switch cabinet according to the image information;

[0120] Step 3: control the end screwing tool to approach the switch of the switch cabinet, so that the screwing part of the end screwing tool is butt jointed with the switch;

[0121] Step 4: control the screwing part to rotate and screw the switch;

[0122] Step 5: control the mechanical arm to push the screwing part, so that the screwing part retreats against the switch cabinet;

[0123] Step 6: drive the rod to eject the press switch.

[0124] Further, comprising the following steps:

[0125] Step 1: after the inspection robot moves to the position, control the fifth depth camera to shoot the image information of the current switch cabinet;

[0126] Step 2: determine the position of the switch of the switch cabinet according to the image information;

[0127] Step 3: control the mechanical arm to move, so that the end screwing tool approaches the switch of the switch cabinet, and the screwing part is butt jointed with the switch;

[0128] Step 4: control the power mechanism to rotate the driving rod, so that the screwing part rotates and screws the switch;

[0129] Step 5: Control the mechanical arm to push the screwing part, and make the screwing part retreat against the switch cabinet;

[0130] Step 6: Drive the rod to eject the press switch.

[0131] The robot is provided with a double-viewing cloud platform, a partial discharge sensor and an environmental monitoring sensor. The switch room operating robot has the following functions:

[0132] (1) Drive the steering mechanism: adopt a four-wheel drive motion chassis, reliable performance, flexible control, high-precision trackless autonomous positioning navigation, and self-obstacle avoidance and anti-falling functions to ensure safety.

[0133] (2) Mechanical arm: six degrees of freedom collaborative level mechanical arm, with free driving and collision protection functions, realizing high-precision end pose adjustment and motion planning, and cooperating with special operation tools to perform specific operation tasks.

[0134] (3) End operation tool: equipped with a depth camera, through multi-tool switching, can realize daily switching operation, emergency operation, protection information viewing and key functions.

[0135] (4) Ground knife operation structure: use a multi-degree-of-freedom cloud platform, cooperate with a large torque drive module, and through a 3D vision positioning system, can realize the ability of grounding knife switch opening and closing operation.

[0136] (5) Double-viewing cloud platform: equipped with a visible light camera and an infrared image sensor, can realize the functions of daily inspection and operation monitoring of switch cabinets.

[0137] (6) Partial discharge sensor: uses ultra-high frequency partial discharge detection technology to realize partial discharge detection of switch cabinets.

[0138] (7) Environmental monitoring sensor: realizes the monitoring of environmental temperature and humidity, and toxic and harmful gases.

[0139] The above describes the present application and its embodiments in a schematic manner, which is not restrictive, and the drawings only show one of the embodiments of the present application, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired thereby, without departing from the spirit of the present application, similar structural modes and embodiments can be designed without creativity, which shall belong to the protection scope of the present application.

Claims

1. A method for using an end effector screwing tool on an inspection robot, the end effector screwing tool comprising a fourth fixed member on the robotic arm, a power mechanism mounted on the fourth fixed member, and a drive rod assembly connected to the output shaft of the power mechanism. The drive rod assembly and the fourth fixed member are rotatably connected. A screwing component is provided at the end of the drive rod assembly. The drive rod assembly includes a drive rod and a sleeve. The sleeve is fitted onto the drive rod. The cross-section of the drive rod is non-circular. The sleeve has a hole adapted to the shape of the drive rod. The sleeve and the drive rod are circumferentially fixed and axially sliding relative to each other. A stop structure is provided between the sleeve and the drive rod to limit the sliding position of the sleeve. The stop structure includes a first blocking part on the sleeve and a second blocking part on the drive rod. The sleeve is positioned relative to the drive rod. When the drive rod slides to a fixed position, the first blocking part and the second blocking part abut against each other to limit the continued movement of the kit. The fourth fixing member is fixedly connected to a fixing sleeve, which is sleeved outside the drive rod assembly. A bearing is provided between the drive rod assembly and the fixing sleeve. A blocking structure is provided between the kit and the fixing sleeve to limit the sliding position of the kit. The blocking structure includes a first blocking part on the kit and a second blocking part on the fixing sleeve. When the kit slides relative to the drive rod to a fixed position, the first blocking part and the second blocking part abut against each other to limit the continued movement of the kit. An elastic release element is provided between the drive rod and the kit. The kit and the screwing element are fixedly connected. The inspection robot is equipped with a depth camera. The method comprises the following steps: Step 1: controlling a depth camera to shoot image information of a current switch cabinet; Step 2: judging the position of a switch of the switch cabinet according to the image information; Step 3: controlling an end screwing tool to approach the switch of the switch cabinet, so that a screwing part of the end screwing tool is butted against the switch; Step 4: controlling the screwing part to rotate and screw the switch; Step 5: controlling a mechanical arm to push the screwing part, so that the screwing part retreats against the switch cabinet; Step 6: driving a rod to push out a press switch.

2. The method of claim 1, wherein the end-of-arm screwing tool is a robotized inspection robot. The elastic release member is sleeved on the driving rod, the driving rod is provided with a platform part abutting against one end of the elastic release member, and the other end of the elastic release member abuts against the sleeve.

Images