A wheeled robot

Abstract

This invention provides a wheeled robot with an end effector switch tool. The end effector switch tool includes a third fixing member, a motor mounted on the third fixing member, and a transmission rod coaxially fixedly connected to the motor output shaft. The transmission rod is inclined at 45° relative to the robotic arm. The transmission rod and the third fixing member are rotatably connected. An operating member is provided at the end of the transmission rod. The operating member is a cylindrical structure and is sleeved on the outside of the transmission rod. A portion of the cross-section of the transmission rod is non-circular. The operating member has a non-circular through hole that mates with the transmission rod. A spring-loaded member is provided between the operating member and the transmission rod. The operating member has a docking slot structure for docking the switch. The docking slot structure is a slot structure composed of two overlapping and intersecting cuboids.

Description

Technical Field

[0001] This invention relates to a wheeled robot. Background Technology

[0002] With the development of the robotics industry, a wide variety of end effector tools are available on the market to meet various working conditions. These tools engage with cuboid switches and are then rotated to open them. However, existing end effector tools often fail to engage accurately, making machine operation inconvenient and prolonging the time required to open the switch. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a wheeled robot.

[0004] The present invention adopts the following technical solution

[0005] A wheeled robot includes a drive steering mechanism, a robotic arm, and an end effector switch. The drive steering mechanism has a fixed chassis, and the robotic arm is mounted on the fixed chassis. The end effector switch includes a third fixing member at the end of the robotic arm, a motor mounted on the third fixing member, and a transmission rod fixedly connected to the motor output shaft. The transmission rod is inclined at 45° relative to the robotic arm, and the transmission rod and the third fixing member are rotatably connected. An actuating member is provided at the end of the transmission rod, and the actuating member is sleeved outside the transmission rod. Part of the transmission rod is a non-rotating structure. The actuating member has a through hole corresponding to the transmission rod. A spring-loaded member is provided between the actuating member and the transmission rod, and the spring-loaded member is sleeved outside the transmission rod. The transmission rod has a boss extending in a radial direction. One end of the spring-loaded member is connected to the boss, and the other end of the spring-loaded member is connected to the actuating member. The actuating member has a docking slot structure for docking with the switch.

[0006] Optionally, the operating element is a cylindrical structure, sleeved on the transmission rod. A portion of the transmission rod has a non-circular cross-section. The operating element has a non-circular through hole that mates with the transmission rod. A spring-loaded spring is provided between the operating element and the transmission rod. The spring-loaded spring is sleeved on the transmission rod. The transmission rod has a boss extending radially. One end of the spring-loaded spring is connected to the boss, and the other end is connected to the operating element. The operating element has a docking slot structure for connecting to a switch. The docking slot structure is a slot structure composed of two overlapping and intersecting cuboids.

[0007] Optionally, the transmission rod and the third fixing member are connected by bearings.

[0008] Optionally, two overlapping and intersecting cubes make the docking hole groove structure form eight corners, and the eight corners are evenly distributed circumferentially within the docking hole groove structure.

[0009] Optionally, the corner is a corner formed by the edge of a curved surface transitioning to a corner.

[0010] Optionally, the end face of the mating hole groove structure is an inwardly extending inclined transition surface.

[0011] Optionally, it also includes a protective sleeve for protecting the spring-loaded component, the protective sleeve being sleeved outside the transmission rod, and the protective sleeve being fixedly connected to the boss.

[0012] Optionally, it also includes a ground knife operating structure, which includes a fixed base, a movable base, and a frame assembly. The fixed base is mounted on the fixed chassis, and the movable base and the fixed base are slidably connected by a second slide rail. The fixed base is provided with a transmission mechanism to drive the movable base to move, and the frame assembly is located on the movable base.

[0013] Optionally, the transmission mechanism includes a second motor, a screw, and a feed member. The second motor and the fixed base are fixedly connected. The screw and the fixed base are connected by a bearing. The feed member is located on a movable base and has a threaded hole that mates with the screw. The second motor drives the screw to rotate through a synchronous belt and a synchronous pulley.

[0014] Optionally, the movable base is provided with a rotation and lifting mechanism for rotating and raising the frame assembly.

[0015] Optionally, the rotary lifting mechanism includes a first driving member, a second driving member, a bottom nut, an upper nut, and a ball screw. The ball screw is fixed to the movable base. The bottom nut and the upper nut are both sleeved on the ball screw. The bottom nut includes a first inner ring and a first outer ring, which are connected by a bearing. The first inner ring is sleeved around the ball screw and is keyed to the ball screw. The first inner ring can only move linearly relative to the ball screw. The first outer ring is fixedly connected to the frame assembly. The upper nut includes a second inner ring and a second outer ring, which are connected by a bearing. The second inner ring has a thread that mates with the ball screw. The second outer ring is fixedly connected to the frame assembly. The first driving member and the second driving member are both mounted on the frame assembly. The first driving member and the first inner ring are synchronously belt driven connected, and the second driving member and the second inner ring are synchronously belt driven connected.

[0016] Compared with the prior art, the technical solution provided by this invention has the following advantages:

[0017] The present invention provides a wheeled robot whose end effector switch tool has a docking slot structure that engages with the switch. The docking slot structure is composed of two overlapping and intersecting cuboids, which makes it easy for the cuboid switch to enter the docking slot structure, reducing the operation alignment time. Attached Figure Description

[0018] Figure 1 This is the assembly drawing of the robot operating the present invention;

[0019] Figure 2 This is one of the schematic diagrams of the operating structure of the ground cutting tool of the present invention;

[0020] Figure 3 This is a second schematic diagram of the operating structure of the ground cutting tool of the present invention;

[0021] Figure 4 This is one of the cross-sectional views of the operating structure of the ground cutting tool of the present invention;

[0022] Figure 5 This is one of the cross-sectional views of the telescopic mechanism of the present invention;

[0023] Figure 6 This is one of the exploded views of the actuator of the present invention;

[0024] Figure 7 This is one of the cross-sectional views of the actuator of the present invention;

[0025] Figure 8 This is a schematic diagram of the pressure cap assembly of the present invention;

[0026] Figure 9 This is a longitudinal sectional view of the pressure cap assembly of the present invention;

[0027] Figure 10 This is a schematic diagram of the adjusting component of the present invention;

[0028] Figure 11 This is a cross-sectional view of the adjusting component of the present invention;

[0029] Figure 12 This is the third schematic diagram of the ground knife operating structure of the present invention;

[0030] Figure 13 This is a schematic diagram of the telescopic mechanism of the present invention;

[0031] Figure 14 This is a second cross-sectional view of the telescopic mechanism of the present invention;

[0032] Figure 15 This is the fourth schematic diagram of the ground knife operation structure of the present invention;

[0033] Figure 16This is a second cross-sectional view of the ground knife operating structure of the present invention;

[0034] Figure 17 This is a schematic diagram of the feeding component of the present invention;

[0035] Figure 18 This is a second cross-sectional view of the actuator of the present invention;

[0036] Figure 19 This is the second exploded view of the actuator of the present invention;

[0037] Figure 20 This is a schematic diagram of the steering mechanism of the present invention;

[0038] Figure 21 This is a cross-sectional view of the steering mechanism of the present invention;

[0039] Figure 22 This is a schematic diagram of the connecting frame of the present invention;

[0040] Figure 23 This is an exploded view of the connecting frame of the present invention;

[0041] Figure 24 This is a schematic diagram of the angle limiting structure of the present invention;

[0042] Figure 25 This is a schematic diagram of the actuator of the present invention;

[0043] Figure 26 This is a second cross-sectional view of the actuator of the present invention;

[0044] Figure 27 This is the second exploded view of the actuator of the present invention;

[0045] Figure 28 This is a schematic diagram of the end-effector clamping tool of the present invention;

[0046] Figure 29 This is a cross-sectional view of the end-effector of the present invention;

[0047] Figure 30 This is an exploded view of the end-effector of the present invention;

[0048] Figure 31 This is a schematic diagram of the end-effector tool of the present invention;

[0049] Figure 32 This is a cross-sectional view of the end effector of the present invention;

[0050] Figure 33 This is an exploded view of the end effector tool of the present invention;

[0051] Figure 34 This is a schematic diagram of the end-effector control switch tool of the present invention;

[0052] Figure 35 This is a cross-sectional view of the end-effector switch tool of the present invention;

[0053] Figure 36 This is an exploded view of the end-effector switch tool of the present invention;

[0054] Figure 37 This is a schematic diagram of the end-tightening tool of the present invention;

[0055] Figure 38 This is a cross-sectional view of the end-tightening tool of the present invention;

[0056] Figure 39 This is an exploded view of the end-tightening tool of the present invention.

[0057] Explanation of the labels in the diagram:

[0058] 1. Frame assembly; 11. Outer sleeve assembly; 12. First sensor; 13. Limiting component; 14. Spring wire; 15. Fixing frame; 2. Movable base; 21. Second sensor; 3. Telescopic mechanism; 31. First motor; 32. Lead screw; 33. Feed nut; 34. Feed sleeve; 35. Pushing component; 351. First slider; 4. Actuating mechanism; 41. Transmission component; 411. Endoscope; 412. Second connecting part; 42. Actuating component; 421. Second blocking part; 422. Moving hole; 423. First slot structure; 4231. Inclined surface; 43. Elastic buffer; 44. Limiting component; 441. First blocking part; 442. Third sensor; 5. Pressure cap assembly; 51. 52. Pressure cap end; 53. Adjusting component; 54. First connecting component; 55. Mounting bracket; 6. First depth camera; 7. Rotary lifting mechanism; 71. First driving component; 72. Second driving component; 73. Bottom nut; 74. Top nut; 75. Ball screw; 76. First sensing component; 761. Stop; 77. Second sensing component; 8. Fixed base; 81. Second slide rail; 82. Second motor; 83. Screw; 84. Feed component; 9. Centering auxiliary component; 91. First connecting part; 92. Universal joint structure; 921. Connecting block; 922. Pressurized elastic component; 923. Ball; 101. Drive steering mechanism; 1011. Fixed chassis; 102. Ground knife operating structure; 1021. Robotic arm;

[0059] A. End-effector clamping tool; A1. First fixing component; A2. First power source; A31. Fixing body; A311. Sliding hole; A32. Second power source; A4. Clamping component; A41. Fourth connecting component; A412. Positioning part; A42. Shuttle hole; A43. Click switch component; A44. Return elastic component; A45. Clamping part; A46. Semi-recessed part; A47. Clamping hole; A51. First gear; A52. Second gear; A53. Threaded rod; A6. Second depth camera;

[0060] B. End effector; B1. Second fixing component; B2. Guide sleeve; B21. Accommodating slot structure; B211. First section; B212. Second section; B213. Third section; B214. Rubber ring; B3. Operating lever; B31. Stop component; B4. Elastic auxiliary component; B5. Mounting component; B51. Cavity slot; B6. Third depth camera;

[0061] C. End-effector switch tool; C1. Third fixing component; C2. Motor; C3. Transmission rod; C31. First anti-detachment part; C32. Boss; C4. Operating component; C41. Spring-loaded component; C42. Docking hole groove structure; C421. Transition surface; C43. Second anti-detachment part; C5. Protective sleeve; C6. Fourth depth camera;

[0062] D. End-effector screwing tool; D1. Fourth fixing component; D2. Power mechanism; D3. Drive rod; D31. Second blocking part; D32. Elastic release component; D33. Platform part; D4. Kit; D41. First blocking part; D42. First stop part; D5. Screwing component; D51. Avoidance hole; D52. Notch; D6. Fixing sleeve; D61. Second stop part; D7. Fifth depth camera;

[0063] E1, Fixed shell; E2, Rolling wheel; E3, Connecting frame; E31, Second connecting member; E32, Third connecting member; E33, Shock-absorbing elastic member; E34, Preload member; E35, Connecting part; E36, Sliding rail; E37, Sliding block; E4, Steering drive mechanism; E41, Angle constraint member; E42, Constrained member; E421, Notch; E5, Travel drive mechanism. Detailed Implementation

[0064] To further understand the content of this invention, please refer to the accompanying drawings. Figure 1-39 The present invention will be described in detail with reference to the embodiments.

[0065] Combined with appendix Figure 1-39This embodiment of a wheeled robot includes a drive steering mechanism 101 and a ground-operating structure 102. A fixed chassis 1011 is mounted on the drive steering mechanism 101, and the ground-operating structure 102 is mounted on the fixed chassis 1011. The ground-operating structure 102 includes a fixed base 8, a movable base 2, and a frame assembly 1. The fixed base 8 is mounted on the fixed chassis 1011, and the movable base 2 and the fixed base 8 are slidably connected. The fixed base 8 is provided with a transmission mechanism to drive the movable base 2. The frame assembly 1 is located on the movable base 2, and the movable base 2 is provided with a rotation and lifting mechanism 7 to rotate and raise the frame assembly 1. The robot also includes a control system. The transmission mechanism and the control system are electrically connected, and the rotation and lifting mechanism 7 is electrically connected to the control system. The frame assembly 1 is provided with a telescopic mechanism 3, and an actuator 4 is provided at the end of the telescopic mechanism 3.

[0066] The drive steering mechanism 101 includes a rolling wheel E2, a connecting frame E3, a steering drive mechanism E4, and a travel drive mechanism E5. The steering drive mechanism E4 is housed within a fixed housing E1, which is mounted on a fixed chassis 1011. The output shaft of the steering drive mechanism E4 is drivenly connected to one end of the connecting frame E3, which is bearing-connected to the fixed housing E1. The other end of the connecting frame E3 is fixedly connected to the travel drive mechanism E5. The travel drive mechanism E5 is mounted on the connecting frame E3 via a travel drive motor housing. The output shaft of the travel drive mechanism E5 is drivenly connected to the rolling wheel E2, and the travel drive motor housing is bearing-connected to the rolling wheel E2. The steering drive mechanism E4 drives the rolling wheel E2 to turn via the connecting frame E3 and the travel drive mechanism E5, and the travel drive mechanism E5 drives the rolling wheel E2 to rotate. The steering drive mechanism E4 and the travel drive mechanism E5 are both electrically connected to the control system.

[0067] The connecting frame E3 has a suspension mechanism, comprising a second connecting member E31 and a third connecting member E32, which are slidably connected. The second connecting member E31 is drive-connected to the output shaft of the steering drive mechanism E4, and the third connecting member E32 is fixedly connected to the drive motor housing of the drive drive mechanism E5. The suspension mechanism includes a shock-absorbing elastic member E33 disposed between the second connecting member E31 and the third connecting member E32. A pre-compression structure is provided between the second connecting member E31 and the third connecting member E32 to compress the shock-absorbing elastic member E33. The pre-compression structure includes a pre-compression member E34 disposed on one of the second connecting member E31 and the third connecting member E32, and a connecting portion E35 disposed on the other. The pre-compression member E34 and the connecting portion E35 are connected; when the pre-compression member E34 and the connecting portion E35 are connected, the shock-absorbing elastic member E33 is in a compressed state. In this embodiment, the preload member E34 is a connecting shaft located on the third connecting member E32, and the connecting part E35 is a connecting hole located on the second connecting member E31. The connecting shaft passes through the connecting hole, and a preload nut is provided at the end of the connecting shaft. The preload nut and the third connecting member E32 abut against each other to prevent the connecting shaft from disengaging from the connecting hole. The shock-absorbing elastic member E33 is a spring. One end of the shock-absorbing elastic member E33 is connected to the second connecting member E31, and the other end is connected to the third connecting member E32. The second connecting member E31 and the third connecting member E32 are slidably connected through the cooperation of the connecting shaft and the connecting hole, so that the second connecting member E31 slides axially relative to the third connecting member E32 but is circumferentially fixed, allowing the second connecting member E31 to transmit torque through the third connecting member E32. The compression state of the shock-absorbing elastic member E33 can increase the rigidity of the shock-absorbing elastic member E33. When the rolling wheel E2 jumps, the elastic change of the shock-absorbing elastic member E33 will not be too large, preventing the ground knife operating structure 102 from becoming unstable.

[0068] One of the second connecting member E31 and the third connecting member E32 is provided with a sliding rail E36, and the other is provided with a sliding block E37 that cooperates with the sliding rail E36. The second connecting member E31 and the third connecting member E32 are slidably connected through the sliding rail E36 and the sliding block E37. The steering drive mechanism E4 includes a rotary drive motor, a reducer and an encoder connected in sequence.

[0069] An angle limiting structure is provided between the connecting frame E3 and the fixed shell E1 to limit the rotation angle of the connecting frame E3. The angle limiting structure includes an angle constraint member E41 and a constrained member E42. The angle constraint member E41 is fixedly connected to the fixed shell E1, and the constrained member E42 is directly or indirectly fixedly connected to the connecting frame E3. After the constrained member E42 rotates to a fixed angle, it abuts against one side of the angle constraint member E41. After the constrained member E42 reverses to a fixed angle, it abuts against the other side of the angle constraint member E41. In this embodiment, the constrained member E42 is cylindrical, and one side of the constrained member E42 has a notch E421. Part of the angle constraint member E41 is located inside the notch E421. After the constrained member E42 rotates to a fixed angle, the bottom wall of the notch E421 abuts against one side of the angle constraint member E41. After the constrained member E42 rotates to the opposite direction to a fixed angle, the bottom wall of the notch E421 abuts against the other side of the angle constraint member E41.

[0070] The fixed base 8 is provided with a second slide rail 81, and the movable base 2 is provided with a second slider that cooperates with the slide rail. The transmission mechanism includes a second motor 82, a screw 83, and a feed member 84. The second motor 82 is fixedly connected to the fixed base 8, the screw 83 is connected to the fixed base 8 through bearings, and the feed member 84 is located on the movable base 2. The feed member 84 has a threaded hole that cooperates with the screw 83. The second motor 82 drives the screw 83 to rotate through a synchronous belt and a synchronous pulley. The rotation of the screw 83 can drive the movable base 2 to slide on the second slide rail 81.

[0071] The rotary lifting mechanism 7 includes a first driving component 71, a second driving component 72, a bottom nut 73, an upper nut 74, and a ball screw 75. The ball screw 75 is fixed to the movable base 2. The bottom nut 73 and the upper nut 74 are both sleeved on the ball screw 75. The bottom nut 73 includes a first inner ring and a first outer ring, which are connected by a bearing. The first inner ring is sleeved around the ball screw 75 and is keyed to the ball screw 75. The first inner ring can only move linearly relative to the ball screw 75, being circumferentially fixed and axially sliding relative to the ball screw 75. The first outer ring is fixedly connected to the frame assembly 1. The upper nut 74 includes a second inner ring and a second outer ring, which are connected by a bearing. The second inner ring has a thread that mates with the ball screw 75. The second outer ring is fixedly connected to the frame assembly 1. The first drive unit 71 and the second drive unit 72 are both mounted on the frame assembly 1. The output shaft of the first drive unit 71 is connected to the first inner ring synchronous belt, and the output shaft of the second drive unit 72 is connected to the second inner ring synchronous belt.

[0072] Both the bottom nut 73 and the top nut 74 are mounted on the frame assembly 1. A synchronous pulley is fixed to the output shaft of the first drive component 71, and a synchronous pulley is fixed to the first inner ring of the bottom nut 73, with a synchronous belt surrounding the pulley. A synchronous pulley is fixed to the output shaft of the second drive component 72, and a synchronous pulley is fixed to the second inner ring of the top nut 74, with a synchronous belt surrounding the pulley. The frame assembly 1 can achieve rotational motion, linear motion, and a combination of linear and rotational motion through the rotary lifting mechanism 7.

[0073] Specifically, the linear-rotational composite motion is achieved by activating the first drive member 71. Since the first inner ring is circumferentially fixed relative to the ball screw 75, activating the first drive member 71 will drive the frame assembly 1 to rotate around the ball screw 75. The rotation of the frame assembly 1 will cause the second inner ring to rotate through the synchronous belt transmission between the second drive member 72 and the second inner ring. The rotation of the second inner ring will drive the frame assembly 1 to perform linear motion relative to the ball screw 75.

[0074] Linear motion is achieved by activating the second drive unit 72. Activating the second drive unit 72 drives the second inner ring to rotate, and the rotation of the second inner ring causes the frame assembly 1 to move linearly relative to the ball screw 75.

[0075] The rotational motion is achieved by simultaneously activating the first drive member 71 and the second drive member 72. As described above, activating the first drive member 71 enables the linear-rotational combined motion of the frame assembly 1. At this time, it is only necessary to reverse the second drive member 72 and keep its rotational speed consistent with that of the first drive member 71 to keep the second inner ring stationary. Therefore, the frame assembly 1 will not perform linear motion, but only rotational motion.

[0076] A limiting structure for restricting the rotation angle of the frame assembly 1 is provided between the frame assembly 1 and the ball screw 75. The limiting structure includes a limiting member 13 and a blocking member. The limiting member 13 is fixed to the frame assembly 1, and the blocking member is directly or indirectly fixedly connected to the first inner ring / ball screw 75. The blocking member has two stops 761, and the limiting member 13 is limited between the two stops 761. In a specific application, the blocking member is fixed to the timing pulley of the first inner ring.

[0077] It also includes a detection mechanism, which comprises a first sensor 12 and a first sensing element 76. The first sensor 12 is fixed to the frame assembly 1, and the first sensing element 76 is directly or indirectly fixedly connected to the first inner ring. The first sensor 12 can sense the first sensing element 76. The first sensor 12 is electrically connected to the control system. In specific applications, the first sensing element 76 and the blocking element are integrated. The first sensing element 76 has a metal part and is a sensor that can sense metal. When the first sensor 12 senses the first sensing element 76, the position of the frame assembly 1 is set to the origin position, and then the rotation angle of the frame assembly 1 is confirmed by the encoder of the first drive element 71.

[0078] The detection mechanism also includes a second sensor 21 and a second sensing element 77. The second sensor 21 is fixed to the movable base 2, and the second sensing element 77 is directly or indirectly fixedly connected to the first inner ring. The second sensor 21 can sense the second sensing element 77. The second sensor 21 is electrically connected to the control system. In specific applications, the second sensing element 77 is a metal part, and the second sensor 21 is a sensor capable of sensing metal. When the frame assembly 1 moves to the bottom, the second sensing element 77 reaches the position of the second sensor 21, and the second sensor 21 senses the second sensing element 77 and transmits the sensing signal to the control system. The fixed base 8 is provided with a fourth sensor, and the movable base 2 is provided with a fourth sensing element. The fourth sensor can sense the fourth sensing element. In specific applications, the fourth sensing element is a metal part, and the fourth sensor is a sensor capable of sensing metal. When the movable base 2 moves to the end of the fixed base 8, the fourth sensing element reaches the position of the fourth sensor, and the fourth sensor senses the fourth sensing element and transmits the sensing signal to the control system.

[0079] The telescopic mechanism 3 includes a drive mechanism and a lead screw telescopic mechanism mounted on the frame assembly 1. The drive mechanism and the control system are electrically connected. The drive mechanism includes a first motor 31, and the lead screw telescopic mechanism includes a lead screw 32 and a feed assembly that cooperates with the lead screw 32. The lead screw 32 and the frame assembly 1 are connected by bearings. The output shaft of the first motor 31 is equipped with a synchronous pulley, and the lead screw 32 is fixedly equipped with a synchronous pulley. The first motor 31 drives the lead screw 32 to rotate through the synchronous belt and the synchronous pulley. The feed assembly and the frame assembly 1 are slidably connected. The frame assembly 1 includes an outer sleeve assembly 11, which is sleeved on the outside of the feed assembly. The feed assembly includes a feed nut 33 and a feed sleeve 34. The feed nut 33 and the feed sleeve 34 are fixedly connected, and the outer sleeve assembly 11 and the feed sleeve 34 are keyed together, so that the feed assembly and the outer sleeve assembly 11 are circumferentially fixed and axially sliding relative to each other. The frame assembly 1 is equipped with a rotary drive, which is electrically connected to the control system. The rotary drive drives the outer sleeve assembly 11 to rotate, which in turn drives the feed sleeve 34 to rotate. The actuator 4 is located at the end of the feed sleeve 34.

[0080] When the frame assembly 1 is working, the control system controls the first motor 31 to drive the lead screw extension mechanism to extend and retract, bringing the actuator 4 closer to the switch cabinet switch that is being operated. Then, the control system controls the rotary drive output shaft to rotate, driving the actuator 4 to rotate and thus opening the switch cabinet switch. Since the rotation of the rotary drive also drives the feed assembly to rotate, it will cause the feed assembly to move relative to the lead screw 32. To solve this problem, the control system only needs to control the lead screw 32 to rotate in the opposite direction via the first motor 31.

[0081] It also includes a pressure cap assembly 5, which is connected to the feed sleeve 34 by a bearing. Typically, switchgear switches have a grounding switch docking hole baffle. Before operating the switchgear switch, the grounding switch docking hole baffle needs to be opened. The pressure cap assembly 5 is used to open the grounding switch docking hole baffle of the switchgear. The pressure cap assembly 5 includes a pressure cap end 51, a first connecting member 53, and a mounting bracket 54. One end of the first connecting member 53 is fixedly connected to the pressure cap end 51, and the other end of the first connecting member 53 is fixedly connected to the mounting bracket 54. The mounting bracket 54 is connected to the feed sleeve 34 by a bearing. The pressure cap end 51 is a pressure plate with sides on both sides. Each side of the pressure plate has an adjusting member 52, which has an inwardly extending inclined surface. In this embodiment, the adjusting member 52 has two inclined surfaces, namely a first inclined surface 521 and a second inclined surface 522, which are adjacent surfaces. Both the first inclined surface 521 and the second inclined surface 522 are triangular surfaces. The junction of the first inclined surface 521 and the second inclined surface 522 is smoothly transitioned by a curved surface. The first inclined surface 521 faces the front of the pressure cap end, and the second inclined surface 522 faces the bottom of the pressure cap end. An ejector elastic element 523 is provided between the two sides of the adjusting member and the pressure plate to keep the adjusting member in the pop-out state. In specific applications, the ejector elastic element 523 is a spring.

[0082] The pressure end 51 opens the grounding switch docking hole baffle by pressing down. When the grounding switch docking hole baffle enters the pressure end 51, if the surfaces of the pressure end 51 and the grounding switch docking hole baffle are not parallel, or if the pressure end 51 and the grounding switch docking hole baffle are slightly misaligned, after the first inclined surface 521 / second inclined surface 522 of the two adjusting components contacts the grounding switch docking hole baffle, the pressure end 51 presses down, and the force generated between the first inclined surface 521 / second inclined surface 522 and the grounding switch docking hole baffle causes the pressure end assembly 5 to rotate slightly relative to the feed sleeve 34, so that the pressure end 51 and the grounding switch docking hole baffle return to a parallel state, so that the pressure end 51 can accurately dock with the grounding switch docking hole baffle of the switch cabinet. Furthermore, the two adjusting components limit the grounding switch docking hole baffle to the middle position of the pressure end 51, so that the pressure end 51 can maintain stability when applying a downward pressing force to the grounding switch docking hole baffle.

[0083] In another embodiment, the telescopic mechanism 3 includes a drive mechanism and a lead screw telescopic mechanism disposed on the frame assembly 1. The drive mechanism is electrically connected to the control system. The drive mechanism includes a first motor 31, and the lead screw telescopic mechanism includes a lead screw 32 and a feed assembly that cooperates with the lead screw 32. The first motor 31 is fixed to the frame assembly 1, and the lead screw 32 is bearing-connected to the frame assembly 1. The first motor 31 and the lead screw 32 are drively connected. The feed assembly includes a feed nut 33, a pusher 35, a pressure cap assembly 5, and a feed sleeve 34. The feed nut 33 is sleeved on the lead screw 32. The feed nut 33 and the pusher 35 are fixedly connected. The pusher 35 and the pressure cap assembly 5 are fixedly connected. The pressure cap assembly 5 and the feed sleeve 34 are bearing-connected. The frame assembly 1 includes an outer sleeve assembly 11, which is sleeved on the outside of the feed sleeve 34. The feed sleeve 34 and the outer sleeve assembly 11 are keyed together. The outer sleeve assembly 11 restricts the feed sleeve 34 to only perform linear motion. The feed sleeve 34 is circumferentially fixed relative to the outer sleeve assembly 11 and axially relative to it.

[0084] The frame assembly 1 also includes a fixed frame 15, on which a first motor 31 is mounted. A pusher 35 is slidably connected to the fixed frame 15. The fixed frame 15 has a first slide rail, and the pusher 35 has a first slider 351 that mates with the first slide rail. The cap assembly 5 includes a cap end 51, a first connecting member 53, and a mounting bracket 54. One end of the first connecting member 53 is fixedly connected to the cap end 51, and the other end is fixedly connected to the mounting bracket 54. The mounting bracket 54 and the feed sleeve 34 are connected via bearings, and the mounting bracket 54 and the pusher 35 are also fixedly connected. The cap end 51 is a pressure plate with side edges on both sides. The output shaft of the first motor 31 rotates, driving a lead screw 32 to rotate, causing the feed nut 33 to drive the pusher 35, the cap assembly 5, and the feed sleeve 34 in linear motion. Because the cap assembly 5 and the pusher 35 are fixedly connected, the cap assembly 5 will not deflect relative to the feed sleeve 34. Since the gland assembly 5 and the feed sleeve 34 are connected by a bearing, the rotary drive drives the outer sleeve assembly 11 to rotate, which in turn drives the feed sleeve 34 and the actuator 4 to rotate, thus preventing the feed assembly from moving.

[0085] The frame assembly 1 is equipped with a fifth sensor, and the feed assembly is equipped with a fifth sensor element. The fifth sensor element is a metal component, and the fifth sensor is a sensor capable of sensing metal. When the feed nut 33 is at the open end of the lead screw 32, the fifth sensor element is in the position of the fifth sensor element. The fifth sensor element is electrically connected to the control system. When the fifth sensor element senses the position of the fifth sensor element, it transmits a sensing signal to the control system, and the control system determines that the feed assembly has returned to its original position. In specific applications, the fifth sensor element is located on the pusher 35, and the fifth sensor element is located on the fixed frame 15.

[0086] An actuator 4 is provided at the end of the feed sleeve 34. The actuator 4 includes a transmission component 41 and an actuator 42. One end of the actuator 42 is slidably connected to one end of the transmission component 41, and the actuator 42 is circumferentially fixed relative to the transmission component 41 while being axially slidable relative to it. One of the actuator 42 and the transmission component 41 has a non-cylindrical body, and the other has a moving hole 422 that matches the shape of the non-cylindrical body. In specific applications, the non-cylindrical body can be a square prism or a regular pentagonal prism, and the actuator 42 and the transmission component 41 can also be connected by a key. Furthermore, an elastic buffer 43 is provided between one end of the actuator 42 and one end of the transmission component 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 component 41 is fixedly connected to the feed sleeve 34. The actuator 4 also includes a limiting member 44, which is sleeved on a non-circular cylinder. One end of the limiting member 44 is fixedly connected to the transmission member 41, and the other end of the limiting member 44 has a first abutment 441. The actuator 42 has a second abutment 421. When the actuator 42 moves to a fixed position relative to the transmission member 41, the first abutment 441 abuts against the second abutment 421 to prevent the actuator 42 from disengaging from the limiting member 44. The other end of the actuator 42 is used to operate the switch of the switch cabinet. The other end of the actuator 42 is provided with a first slot structure 423 that cooperates with the switch. The top wall of the first slot structure 423 has an inwardly extending inclined surface 4231. The first slot structure 423 is a hexagonal slot structure. The corners of the hexagonal slot structure are corners formed by the edges of the rounded curved surfaces.

[0087] The rack assembly 1 is equipped with a first depth camera 6, which is located above the telescopic mechanism 3 and is electrically connected to the control system. The first depth camera 6 is used to collect the position information of the switch in the switchgear and then feeds it back to the control system. The control system then drives the rotary lifting mechanism 7, the transmission mechanism, and the telescopic mechanism 3 to bring the first slot structure 423 closer to the switch in the switchgear. However, slight positioning errors may occur, causing the first slot structure 423 and the switch in the switchgear to be slightly misaligned. In this case, the inclined surface 4231 of the top wall of the first slot structure 423 will help the switch slide into the first slot structure 423.

[0088] The limiting member 44 is fixed with a third sensor 442, which can sense the actuator 42. The frame assembly 1 has a receiving space containing a spring wire 14. The feed sleeve 34 is hollow, and either the feed sleeve 34 or the frame assembly 1 has a wire hole through which one end of the spring wire 14 passes. One end of the spring wire 14 is electrically connected to the third sensor 442 via the wire hole, and the other end is connected to a power source. In other embodiments, the third sensor 442 and the transmission member 41 are fixedly connected. In specific applications, the actuator 42 is a metal part, and the third sensor 442 is a sensor capable of sensing metal. When the first slot structure 423 and the switch of the switch cabinet are misaligned, the telescopic mechanism 3 drives the actuator 42 to touch the switch of the switch cabinet, subjecting it to reverse pressure. This causes the actuator 42 to slide backward relative to the transmission member 41, compressing the elastic buffer member 43. When the actuator 42 retracts to the position of the third sensor 442, the third sensor 442 senses the actuator 42. When the first slot structure 423 and the switch of the switch cabinet are engaged, the actuator 42 will suddenly return to its original position. The third sensor 442 senses the signal that the actuator 42 has left and feeds the signal back to the control system. The control system determines that the engagement of the first slot structure 423 and the switch of the switch cabinet is complete.

[0089] The transmission component 41 is equipped with an endoscope 411, and the actuator 42 is a cylindrical structure. The endoscope 411 can monitor the situation outside the actuator 42 through the cylindrical structure. The endoscope 411 is electrically connected to the control system, and the endoscope 411 and the first depth camera 6 are used to jointly monitor the position of the switch cabinet switch. The feed sleeve 34 is a hollow structure, and one end of the spring wire 14 is electrically connected to the endoscope 411 through the hollow structure, while the other end of the spring wire 14 is connected to the power supply.

[0090] In another embodiment, the actuator 4 has a centering structure. The actuator 4 includes an actuator 42, a transmission member 41, and a centering auxiliary member 9. The connection between the actuator 42 and the transmission member 41 is the same as the connection structure between the actuator 42 and the transmission member 41 described above. In this embodiment, the transmission member 41 is connected to the feed sleeve 34 via the centering auxiliary member 9, and the centering auxiliary member 9 and the feed sleeve 34 are fixedly connected. The transmission member 41 and the centering auxiliary member 9 are connected by a centering structure, which includes a universal joint structure 92, a pressure-bearing elastic member 922, and a return member between the transmission member 41 and the centering auxiliary member 9. The universal joint structure 92 includes a connecting block 921. One end of the centering auxiliary member 9 has two outwardly extending, opposing first connecting portions 91. One end of the transmission member 41 has two outwardly extending, opposing second connecting portions 412. The two first connecting portions 91 are hinged to opposite sides of the connecting block 921, and the two second connecting portions 412 are hinged to the other opposite sides of the connecting block 921, so that the transmission member 41 and the centering auxiliary member 9 are approximately in a straight line. However, due to the universal joint structure 92, the transmission member 41 can tilt relative to the centering auxiliary member 9. A pressure-bearing elastic member 922 is provided between the connecting block 921 and the transmission member 41, and between the connecting block 921 and the centering auxiliary member 9. In specific applications, the pressure-bearing elastic member 922 is a disc spring. The compressed elastic element 922 is in a compressed state, which allows the transmission element 41 to tilt relative to the centering auxiliary element 9 and then return to its original position, restoring the transmission element 41 and the centering auxiliary element 9 to a state where they are approximately in a straight line. The return element is a ball bearing 923 or a rubber pad, which is installed at the end of the first connecting part 91 and abuts against the transmission element 41. The return element is also installed at the end of the second connecting part 412 and abuts against the centering auxiliary element 9. The return element helps the transmission element 41 return to its original position after tilting relative to the centering auxiliary element 9. The universal joint structure, the clearance fit between the transmission element 41 and the actuator 42 form the bipolar floating of the actuator 4, allowing the actuator 4 to adapt to offsets of ±3° in the deflection angle and ±1mm in the eccentricity.

[0091] It also includes a robotic arm, which is mounted on a fixed chassis. A control system controls the movement of the robotic arm 1021. The robotic arm 1021 has four end-effectors at its end, all angled at the same angle relative to the robotic arm 1021. The four end-effectors are evenly distributed circumferentially around the end of the robotic arm 1021. Each of the four end-effectors is tilted at 45° relative to the robotic arm 1021. Each pair of end-effectors is perpendicular to the others. The four end-effectors are: end-effector gripping tool A, end-effector operating tool B, end-effector control switch tool C, and end-effector screwing tool D.

[0092] The end effector A includes a first fixing member A1 mounted on the robotic arm 1021, a first power source A2 mounted on the first fixing member A1, and a first actuation component. The first actuation component includes a fixed body A31, a second power source A32 mounted on the fixed body A31, and two clamping members A4. The fixed body A31 has a clamping transmission structure, and the second power source A32 uses the clamping transmission structure to bring the two clamping members A4 closer together or separate them. The fixed body A31 and the first fixing member A1 are connected by bearings, and the fixed body A31 and the output shaft of the first power source A2 are connected by a transmission drive. The first power source A2 drives the first actuation component to rotate. In specific applications, the fixed body A31 is a fixed outer shell.

[0093] The clamping transmission structure includes a gear set and a threaded rod A53. The gear set includes a first gear A51 and a second gear A52. In specific applications, both the first gear A51 and the second gear A52 are bevel gears, perpendicular to each other and meshing with each other. The gear set is installed inside the fixed body A31, and the output shaft of the second power source A32 is connected to the gear set for transmission. The output shafts of the first gear A51 and the second power source A32 are coaxially and fixedly connected. The second gear A52 and the threaded rod A53 are coaxially and fixedly connected, and the threaded rod A53 is rotatably connected to the fixed body A31. A fourth connecting member A41 is fixedly connected to each of the two clamping members A4. The fourth connecting member A41 is located inside the fixed body A31 and has a threaded hole that mates with the threaded rod A53. The helical directions of the threads in the two threaded holes are opposite. In other embodiments, the threaded hole can be directly provided in the clamping member A4. The fixed body A31 is provided with a sliding hole A311 through which the fourth connector A41 passes, and the sliding hole A311 restricts the fourth connector A41 to only perform linear movement. The fourth connector A41 is provided with a positioning part A412, which abuts against the inner wall of the fixed body A31 to prevent the fourth connector A41 from deflecting and restricts the fourth connector A41 to only perform linear movement.

[0094] The clamping member A4 has a shuttle hole A42, within which a click switch A43 is installed. A return elastic member A44 is provided between the click switch A43 and the clamping member A4. The clamping member A4 has clamping portions A45 extending to both sides. When two clamping members A4 approach each other, the clamping portions A45 of the two clamping members A4 abut against each other. The clamping member A4 has a semi-recessed portion A46. When two clamping members A4 approach each other, the semi-recessed portions A46 of the two clamping members A4 overlap to form a complete clamping hole A47. In specific applications, the clamping hole A47 is a square hole. It also includes a second depth camera A6, which is mounted on the first fixing member A1. The second depth camera A6 is mounted above the fixed body A31. The second depth camera A6 is electrically connected to the control system. The second depth camera A6 detects the position of the switch in the switch cabinet. The control system then controls the robotic arm 1021 to bring the end effector A close to the switch in the switch cabinet. The second power source A32 is then driven, causing the two grippers A4 to clamp the switch. The first power source A2 is then driven, causing the grippers A4 to rotate and turn the switch open. The click switch component A43 allows the user to click the button switch under the drive of the robotic arm 1021. The grippers A4 can hold square switches, and the gripping part A45 can also hold handle-shaped / strip-shaped switches.

[0095] The end effector B includes a second fixing member B1 mounted on the robotic arm 1021, a guide sleeve B2 fixed to the second fixing member B1, and an operating lever B3. The operating lever B3 and the guide sleeve B2 are slidably connected, and an elastic auxiliary member B4 is provided between the operating lever B3 and the guide sleeve B2. A pressure sensor for detecting spring pressure is provided between the elastic auxiliary member B4 and the guide sleeve B2, or between the elastic auxiliary member B4 and the operating lever B3. The pressure sensor is electrically connected to the control system. A stop structure for limiting the sliding position of the operating lever B3 is provided between the operating lever B3 and the guide sleeve B2. The stop structure includes a stop member B31 connected to one end of the operating lever B3 and a stop portion provided on the guide sleeve B2. When the operating lever B3 moves to a fixed position relative to the guide sleeve B2, the stop member B31 and the stop portion abut against each other to prevent the operating lever B3 from disengaging from the guide sleeve B2.

[0096] The guide sleeve B2 has a receiving groove structure B21, and one end of the operating rod B3 is located within the receiving groove structure B21. The receiving 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 passes through the first section B211 and the second section B212 and enters the third section B213. The size of the first section B211 is adapted to the outer diameter of the operating rod B3. A rubber ring B214 is provided inside the second section B212, which completely fills the space inside the second section B212. A stop B31 is provided inside the third section B213, and the stop B31 is fixedly connected to one end of the operating rod B3. The stop is the bottom of the rubber ring B214. The stop part B31 and the stop part cooperate to prevent the operating rod B3 from disengaging from the guide sleeve B2. An elastic auxiliary part B4, which is a spring, is provided inside the third section B213. A mounting part B5 is also provided inside the third section B213. The mounting part B5 has an approximate T-shaped cross-section. One end of the mounting part B5 is located inside the third section B213 and has a cavity groove B51. The other end of the mounting part B5 is fixedly connected to the guide sleeve B2. The elastic auxiliary part B4 is located inside the cavity groove B51. One end of the elastic auxiliary part B4 is connected to the stop part B31, and the other end is connected to the bottom wall of the cavity groove B51. In practical applications, the stop part B31 is equipped with a pressure sensor, which abuts against the elastic auxiliary part B4.

[0097] The second fixing member B1 is fixed with a third depth camera B6, which is located above the guide sleeve B2 and is electrically connected to the control system. The third depth camera B6 detects the position of the switch in the switch cabinet. The control system then controls the robotic arm 1021 to bring the end effector B close to the switch in the switch cabinet. The operating lever B3 can click a button-type switch. When the robotic arm 1021 controls the operating lever B3 to click the switch, a pressure sensor detects the pressure on the elastic auxiliary member B4, i.e., the pressure of the operating lever B3 on the button switch. The pressure sensor transmits the pressure signal to the control system, which can determine the force with which the operating lever B3 clicks the switch based on the sensor's signal.

[0098] The end effector switch tool C includes a third fixing member C1 mounted on the robotic arm 1021, a motor C2 mounted on the third fixing member C1, and a transmission rod C3 coaxially fixedly connected to the output shaft of the motor C2. The transmission rod is inclined at 45° relative to the robotic arm. The transmission rod C3 and the third fixing member C1 are connected by bearings. An operating member C4 is provided at the end of the transmission rod C3. The operating member C4 and the transmission rod C3 are circumferentially fixed relative to each other and axially sliding relative to each other. A portion of the cross-section of the transmission rod C3 is non-circular, and the operating member C4 has a non-circular through hole that mates with the transmission rod C3. In specific applications, the cross-section of a portion of the transmission rod C3 is square, regular pentagon, or equilateral triangle, or the operating member C4 and the transmission rod C3 are keyed together. A spring-loaded spring C41 is provided between the operating member C4 and the transmission rod C3. The operating member C4 has a docking slot structure C42 for docking with the switch cabinet switch. The docking slot structure C42 is a slot structure composed of two overlapping and intersecting cuboids. Two overlapping, intersecting cubes create eight corners in the mating hole groove structure C42, which are evenly distributed circumferentially within the structure. Each corner is formed by the edge of a rounded, curved transition surface. The end face of the mating hole groove structure C42 is an inwardly extending, inclined transition surface C421.

[0099] A detachment prevention structure is provided between the transmission rod C3 and the operating member C4 to prevent separation between them. The detachment prevention structure includes a first detachment prevention part C31 located at the end of the transmission rod C3 and a second detachment prevention part C43 located on the operating member C4. When the operating member C4 slides to the end of the transmission rod C3, the first detachment prevention part C31 and the second detachment prevention part C43 abut against each other to prevent the operating member C4 from detaching from the transmission rod C3. The operating member C4 is a cylindrical structure, sleeved outside the transmission rod C3. The first detachment prevention part C31 is a screw fixed to the end of the transmission rod C3, the screw being larger than the size of the transmission rod C3. The second detachment prevention part C43 is a stepped platform located inside the operating member C4. A spring-loaded member C41 is sleeved outside the transmission rod C3. The transmission rod C3 has a boss C32 extending radially. One end of the spring-loaded member C41 is connected to the boss C32, and the other end is connected to the operating member C4. It also includes a protective sleeve C5 for protecting the spring-loaded component C41. The spring-loaded component C41 is located inside the protective sleeve C5. The protective sleeve is fitted over C5 and is located outside the transmission rod C3. The protective sleeve and the boss C32 are fixedly connected.

[0100] The fourth depth camera C6 is fixed to the third fixing component C1 and is electrically connected to 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 in the switch cabinet and then transmit the position signal of the switch cabinet to the control system. The control system controls the robotic arm 1021 to bring the end effector C closer to the switch in the switch cabinet. The docking slot structure C42 of the manipulator C4 can engage with the square switch in the switch cabinet. When the docking slot structure C42 misaligns with the square switch, the inclined transition surface C421 helps the docking slot structure C42 to engage with the square switch. The docking slot structure C42 has eight corners, formed by two overlapping and intersecting cubes, making it easier for the square switch to enter the docking slot structure C42. The motor C2 drives the transmission rod C3 to rotate. When any corner of the docking slot structure C42 contacts any corner of the square switch, the docking slot structure C42 will quickly engage with the other parts of the square switch. Then, the motor C2 continues to rotate, causing the manipulator C4 to turn the switch open.

[0101] The end effector D includes a fourth fixing member D1 mounted on the robotic arm 1021, a power mechanism D2 mounted on the fourth fixing member D1, and a drive rod assembly connected to the output shaft of the power mechanism D2. The drive rod assembly is connected to the fourth fixing member D1 by a bearing, and a screwing component D5 is provided at the end of the drive rod assembly. The drive rod assembly includes a drive rod D3 and a sleeve D4. The sleeve D4 and the drive rod D3 are circumferentially fixed relative to each other and axially sliding relative to each other. The sleeve D4 is fitted onto the drive rod D3. The cross-section of the drive rod D3 is non-circular, and the sleeve D4 has a sleeve hole adapted to the shape of the drive rod D3. In specific applications, the cross-section of the drive rod D3 is square, regular pentagonal, or triangular, or the sleeve D4 and the drive rod D3 are keyed together. An elastic release element D32 is provided between the drive rod D3 and the sleeve D4, and the sleeve D4 and the screwing component D5 are fixedly connected. The screwing component D5 has a avoidance hole D51 for avoiding the drive rod D3.

[0102] A stop structure is provided between the kit D4 and the drive rod D3 to limit the sliding position of the kit D4. The stop structure includes a first blocking part D41 on the kit D4 and a second blocking part D31 on the drive rod D3. When the kit D4 slides relative to the drive rod D3 to a fixed position, the first blocking part D41 and the second blocking part D31 abut against each other to prevent the kit D4 from disengaging from the drive rod D3. A fourth fixing member D1 is fixedly connected to a fixing sleeve D6, which is sleeved on the drive rod assembly. A bearing is provided between the drive rod assembly and the fixing sleeve D6. A stop structure is provided between the kit D4 and the fixing sleeve D6 to limit the sliding position of the kit D4. The stop structure includes a first stop part D42 on the kit D4 and a second stop part D61 on the fixing sleeve D6. When the kit D4 slides relative to the drive rod D3 to a fixed position, the first stop part D42 and the second stop part D61 abut against each other to limit the kit D4 from continuing to move. The range of motion of kit D4 is limited between the second blocking part D31 and the second blocking part D61. In specific applications, the first blocking part D41 and the first blocking part D42 are configured as a single unit.

[0103] The elastic release element D32 is fitted onto the drive rod D3. The drive rod D3 has a platform portion D33 that abuts against one end of the elastic release element D32, and the other end of the elastic release element D32 abuts against the kit D4. The screwing component D5 is a cylindrical structure, with four evenly spaced notches D52 circumferentially arranged at its end, symmetrically positioned in pairs. The end of the drive rod D3 has a blocking nut, which forms a second blocking portion D31.

[0104] The fifth depth camera D7 is fixed to the fourth fixing member D1 and is electrically connected to the control system. The fifth depth camera D7 is located above the drive rod D3. The fifth depth camera D7 can detect the position of the switch in the switch cabinet and then transmit the position signal of the switch cabinet to the control system. The control system controls the robotic arm 1021 to bring the end effector D5 closer to the switch in the switch cabinet. The notch D52 at the end of the end effector D5 can engage the handle-shaped / strip-shaped switch. After the switch is engaged, the power mechanism D2 is driven to make the end effector D5 turn the switch. Some switches require pressing to open after turning. In this case, the robotic arm 1021 needs to press the end effector D5, so that the end effector D5 will retract relative to the drive rod D3, and the end of the drive rod D3 will press the switch. After the switch is opened, the elastic release member D32 can return the end effector D5 to its initial position.

[0105] The robot is equipped with a dual-view gimbal, partial discharge sensors, and environmental monitoring sensors. The switch room operation robot has the following functions:

[0106] (1) Drive steering mechanism: It adopts an all-directional four-wheel drive sports chassis, which is reliable and flexible in control. It adopts high-precision trackless autonomous positioning and navigation, and has autonomous obstacle avoidance and anti-fall functions to ensure operational safety.

[0107] (2) Robotic arm: a six-degree-of-freedom collaborative robotic arm with free drive and collision protection functions, achieving high-precision end-effector posture adjustment and motion planning, and working with special tools to perform specific tasks.

[0108] (3) End-of-line operation tools: Equipped with a depth camera, it can perform daily switching operations, emergency operations, protection information viewing and button functions through multiple tool switching.

[0109] (4) Grounding switch operation structure: Using a multi-degree-of-freedom gimbal platform, combined with a high-torque drive module, and through a 3D vision positioning system, the grounding switch can be opened and closed.

[0110] (5) Dual-view PTZ: Equipped with a visible light camera and an infrared image sensor, it can realize the daily inspection function and operation monitoring function of the switch cabinet.

[0111] (6) Partial discharge sensor: Using ultra-high frequency partial discharge detection technology, partial discharge detection of switchgear is realized.

[0112] (7) Environmental monitoring sensor: to monitor ambient temperature, humidity and toxic and harmful gases.

[0113] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A wheeled robot, comprising a drive steering mechanism, a ground blade operating structure, a robotic arm, and an end effector switch, wherein the drive steering mechanism is provided with a fixed chassis, the ground blade operating structure is mounted on the fixed chassis, and the robotic arm is mounted on the fixed chassis, characterized in that, The end effector switch tool includes a third fixing member at the end of a robotic arm, a motor mounted on the third fixing member, and a transmission rod fixedly connected to the motor output shaft. The transmission rod is inclined at 45° relative to the robotic arm. The transmission rod and the third fixing member are rotatably connected. An operating member is provided at the end of the transmission rod, and the operating member is sleeved outside the transmission rod. Part of the transmission rod is a non-rotating structure. The operating member has a through hole that corresponds to and mates with the transmission rod. A spring-loaded member is provided between the operating member and the transmission rod, and the spring-loaded member is sleeved outside the transmission rod. The transmission rod has a boss extending in a radial direction. One end of the spring-loaded member is connected to the boss, and the other end of the spring-loaded member is connected to the operating member. The operating member has a mating slot structure for docking with the switch. The end face of the mating hole groove structure is an inwardly extending, inclined transition surface. It also includes a protective sleeve for protecting the spring-loaded component, the protective sleeve being sleeved on the transmission rod and the protective sleeve being fixedly connected to the boss; The ground knife operating structure includes a fixed base, a movable base, and a frame assembly. The fixed base is mounted on a fixed chassis, and the movable base and the fixed base are slidably connected. The fixed base is equipped with a transmission mechanism that drives the movable base to move. The frame assembly is located on the movable base, and the movable base is equipped with a rotation and lifting mechanism that allows the frame assembly to rotate and rise. It also includes a control system. The transmission mechanism and the control system are electrically connected, the rotation and lifting mechanism and the control system are electrically connected, and the frame assembly is equipped with a telescopic mechanism. The end of the telescopic mechanism is equipped with an actuator. The drive steering mechanism includes a rolling wheel, a connecting frame, a steering drive mechanism, and a travel drive mechanism. The steering drive mechanism is housed within a fixed housing, which is mounted on a fixed chassis. The output shaft of the steering drive mechanism is driven by one end of the connecting frame, which is connected to the fixed housing by a bearing. The other end of the connecting frame is fixedly connected to the travel drive mechanism. The travel drive mechanism is mounted on the connecting frame via a travel drive motor housing. The output shaft of the travel drive mechanism is driven by the rolling wheel, and the travel drive motor housing is connected to the rolling wheel by a bearing. The steering drive mechanism drives the rolling wheel to steer via the connecting frame and the travel drive mechanism, and the travel drive mechanism drives the rolling wheel to rotate. The steering drive mechanism and the travel drive mechanism are electrically connected to the control system. The connecting frame has a suspension mechanism. The connecting frame includes a second connecting member and a third connecting member. The second connecting member and the third connecting member are slidably connected. The second connecting member is drive-connected to the output shaft of the steering drive mechanism. The third connecting member is fixedly connected to the housing of the travel drive motor of the travel drive mechanism. The suspension mechanism includes a shock-absorbing elastic member disposed between the second connecting member and the third connecting member. A pre-compression structure is provided between the second connecting member and the third connecting member to compress the shock-absorbing elastic member. The pre-compression structure includes a pre-compression member disposed on one of the second connecting member and the third connecting member and a connecting part disposed on the other. The pre-compression member and the connecting part are connected. When the pre-compression member and the connecting part are connected, the shock-absorbing elastic member is in a compressed state. The rotary lifting mechanism includes a first driving component, a second driving component, a bottom nut, an upper nut, and a ball screw. The ball screw is fixed to a movable base. Both the bottom nut and the upper nut are fitted onto the ball screw. The bottom nut includes a first inner ring and a first outer ring, which are connected by a bearing. The first inner ring is fitted around the ball screw and is keyed to the ball screw. The first inner ring can only move linearly relative to the ball screw. The first inner ring is circumferentially fixed relative to the ball screw but axially relative to it. The first outer ring is fixedly connected to the frame assembly. The upper nut includes a second inner ring and a second outer ring, which are connected by bearings. The second inner ring has a thread that mates with the ball screw. The second outer ring is fixedly connected to the frame assembly. Both the first driving component and the second driving component are mounted on the frame assembly. The output shaft of the first driving component is connected to the first inner ring via a synchronous belt drive, and the output shaft of the second driving component is also connected to the second inner ring via a synchronous belt drive. A limiting structure for limiting the rotation angle of the frame assembly is provided between the frame assembly and the ball screw. The limiting structure includes a limiting member and a blocking member. The limiting member is fixed to the frame assembly, and the blocking member is directly or indirectly fixedly connected to the first inner ring or the ball screw. The blocking member has two stops, and the limiting member is limited between the two stops. The telescopic mechanism includes a drive mechanism and a lead screw telescopic mechanism located on the frame assembly. The drive mechanism is electrically connected to the control system. The drive mechanism includes a first motor, and the lead screw telescopic mechanism includes a lead screw and a feed assembly that cooperates with the lead screw. The lead screw and the frame assembly are connected by bearings. The output shaft of the first motor is equipped with a synchronous pulley, and the lead screw is fixed with the synchronous pulley. The first motor drives the lead screw to rotate through the synchronous belt and the synchronous pulley. The feed assembly and the frame assembly are slidably connected. The frame assembly includes an outer sleeve assembly, which is sleeved on the outside of the feed assembly. The feed assembly includes a feed nut and a feed sleeve, which are fixedly connected. The outer sleeve assembly and the feed sleeve are keyed together, so that the feed assembly and the outer sleeve assembly are circumferentially fixed and axially sliding. A rotary drive is provided inside the frame assembly. The rotary drive is electrically connected to the control system. The rotary drive drives the outer sleeve assembly to rotate, thereby driving the feed sleeve to rotate. The actuator is located at the end of the feed sleeve. When the frame assembly is working, the control system controls the first motor to drive the lead screw pair telescopic mechanism to extend and retract, so that the actuator approaches the switch cabinet switch that is in contact with the target operation. Then, the control system controls the rotary drive output shaft to rotate, which drives the actuator to rotate, thereby rotating and opening the switch cabinet switch. When the rotary drive rotates, it drives the feed assembly to rotate. The control system controls the lead screw to rotate in the opposite direction through the first motor, so that the feed assembly is stationary relative to the lead screw.

2. A wheeled robot according to claim 1, characterized in that, The transmission rod and the third fixing member are connected by bearings.

3. A wheeled robot according to claim 1, characterized in that, The docking hole groove structure has eight corner portions, which are evenly distributed circumferentially within the docking hole groove structure.

4. A wheeled robot according to claim 3, characterized in that, The corner is formed by the edge of the transition angle of the arc-shaped curved surface.

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