An inspection robot with improved end tool

Abstract

The application provides an improved inspection robot with an end tool, comprising a mechanical arm, an end screwing tool arranged at the end of the mechanical arm, a fourth fixing member arranged at the end of the mechanical arm, a power mechanism mounted on the fourth fixing member, and a driving rod assembly, wherein the driving rod assembly comprises a driving rod, a sleeve, a screwing member and a fixing sleeve, the sleeve is sleeved on the driving rod, the cross section of the driving rod is non-circular, the sleeve is provided with a sleeve hole matched with the shape of the driving rod, the sleeve and the screwing member are fixedly connected, the screwing member is provided with an avoiding hole for avoiding the driving rod, the fixing sleeve is fixedly connected with the fourth fixing member, the fixing sleeve is sleeved on the driving rod, a bearing is arranged between the driving rod and the fixing sleeve, the output shaft of the power mechanism is coaxially fixedly connected with the driving rod, and an elastic release member is arranged between the driving rod and the sleeve.

Description

TECHNICAL FIELD

[0001] The application relates to an improved inspection robot with an end tool. BACKGROUND

[0002] With the development of the robot industry, in order to meet the requirements of various working conditions, there are various end screwing tools on the market. The end screwing tool is used for clamping a switch and then screwing the switch. However, the existing end screwing tool has a complex mechanical structure and redundant parts, which causes waste of maintenance cost and unnecessary waste of resources. SUMMARY

[0003] To solve the above technical problems, the application provides an improved inspection robot with an end tool.

[0004] The application adopts the following technical scheme:

[0005] An improved inspection robot with an end tool, comprising a driving steering mechanism and a mechanical arm, a fixed chassis is arranged on the driving steering mechanism, the mechanical arm is installed on the fixed chassis, an end screwing tool is arranged at the end of the mechanical arm, the end screwing tool comprises a fourth fixing part arranged at the end of the mechanical arm, a power mechanism installed on the fourth fixing part, and a driving rod assembly, the driving rod assembly comprises a driving rod, a sleeve, a screwing part and a fixed sleeve, the sleeve is sleeved on the driving rod, the cross section of the driving rod is non-circular, the sleeve is provided with a sleeve hole matched with the shape of the driving rod, the sleeve and the screwing part are fixedly connected, the screwing part is provided with an avoidance hole for avoiding the driving rod, the fixed sleeve is fixedly connected with the fourth fixing part, the fixed sleeve is sleeved outside the driving rod, a bearing is arranged between the driving rod and the fixed sleeve, the output shaft of the power mechanism is coaxially fixedly connected with the driving rod, and an elastic release part is arranged between the driving rod and the sleeve.

[0006] Optionally, the end of the driving rod is provided with a second blocking part, the sleeve is provided with a first blocking part, the fixed sleeve is provided with a second blocking part, when the sleeve slides to the end of the driving rod, the first blocking part and the second blocking part abut against each other, when the sleeve slides to a fixed position relative to the driving rod, the first blocking part and the second blocking part abut against each other, and the first blocking part is limited between the second blocking part and the second blocking part.

[0007] Optionally, the end of the driving rod is provided with a blocking nut, and the blocking nut forms the second blocking part.

[0008] Optionally, the screwing part is a cylindrical structure, four notches are uniformly arranged at the end of the screwing part in the circumferential direction, and the notches are arranged in pairs in symmetry.

[0009] Optionally, 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.

[0010] Optionally, the elastic release member is a spring.

[0011] Optionally, the driving steering mechanism comprises a fixed shell, a rolling wheel, a connecting frame, a steering driving mechanism and a walking driving mechanism, the fixed shell is fixedly connected with the fixed chassis, the steering driving mechanism is arranged in the fixed shell, the steering driving mechanism is in transmission connection with one end of the connecting frame, the connecting frame is in rotation connection with the fixed shell, the other end of the connecting frame is fixedly connected with the walking driving mechanism, the walking driving mechanism is in transmission connection with the rolling wheel, and the walking driving mechanism is in rotation connection with the rolling wheel.

[0012] Optionally, the connecting frame comprises a second connecting member and a third connecting member, the second connecting member and the third connecting member are in sliding connection, the second connecting member and the third connecting member are in relative axial sliding relative to the circumferential direction, the second connecting member is in transmission connection with the steering driving mechanism, the third connecting member is fixedly connected with the walking driving mechanism, and a suspension mechanism is arranged between the second connecting member and the third connecting member, the suspension mechanism comprises a damping elastic member.

[0013] Optionally, the suspension mechanism further comprises a pre-pressing structure arranged between the second connecting member and the third connecting member and used for compressing the damping elastic member.

[0014] Optionally, the pre-pressing structure comprises a pre-pressing member arranged on one of the second connecting member and the third connecting member and a connecting part arranged on the other one, the pre-pressing member is connected with the connecting part, and when the pre-pressing member is connected with the connecting part, the damping elastic member is in a compressed state.

[0015] Compared with the prior art, the technical scheme provided by the application has the following beneficial effects:

[0016] The terminal tool improved patrol robot provided by the application has simple mechanical structure of a terminal screwing tool, less constituent parts and cost saving. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a general assembly view of the robot operated by the application;

[0018] Figure 2 It is one of the schematic views of the operation structure of the road cutter of the application;

[0019] Figure 3 It is the second schematic view of the operation structure of the road cutter of the application;

[0020] Figure 4 Figure 3 is a cross-sectional view of the ground engaging tool actuation structure of the present application;

[0021] Figure 5 Figure 4 is a cross-sectional view of the extension and retraction mechanism of the present application;

[0022] Figure 6 Figure 5 is an exploded view of the actuation mechanism of the present application;

[0023] Figure 7 Figure 6 is a cross-sectional view of the actuation mechanism of the present application;

[0024] Figure 8 Figure 7 is a schematic view of the gland assembly of the present application;

[0025] Figure 9 Figure 8 is a longitudinal cross-sectional view of the gland assembly of the present application;

[0026] Figure 10 Figure 9 is a schematic view of the alignment member of the present application;

[0027] Figure 11 Figure 10 is a transverse cross-sectional view of the alignment member of the present application;

[0028] Figure 12 Figure 11 is a schematic view of the ground engaging tool actuation structure of the present application;

[0029] Figure 13 Figure 12 is a schematic view of the extension and retraction mechanism of the present application;

[0030] Figure 14 Figure 13 is a cross-sectional view of the extension and retraction mechanism of the present application;

[0031] Figure 15 Figure 14 is a schematic view of the ground engaging tool actuation structure of the present application;

[0032] Figure 16 Figure 15 is a cross-sectional view of the ground engaging tool actuation structure of the present application;

[0033] Figure 17 Figure 16 is a schematic view of the feed assembly of the present application;

[0034] Figure 18 Figure 17 is a cross-sectional view of the actuation mechanism of the present application;

[0035] Figure 19 Figure 18 is an exploded view of the actuation mechanism of the present application;

[0036] Figure 20 Figure 19 is a schematic view of the drive steering mechanism of the present application;

[0037] Figure 21 Figure 20 is a cross-sectional view of the drive steering mechanism of the present application;

[0038] Figure 22Fig. 1 is a perspective view of the connecting frame of the present application;

[0039] Figure 23 Fig. 2 is an exploded view of the connecting frame of the present application;

[0040] Figure 24 Fig. 3 is a perspective view of the angle limiting structure of the present application;

[0041] Figure 25 Fig. 4 is a perspective view of the actuator of the present application;

[0042] Figure 26 Fig. 5 is a cross-sectional view of the actuator of the present application;

[0043] Figure 27 Fig. 6 is an exploded view of the actuator of the present application;

[0044] Figure 28 Fig. 7 is a perspective view of the end gripping tool of the present application;

[0045] Figure 29 Fig. 8 is a cross-sectional view of the end gripping tool of the present application;

[0046] Figure 30 Fig. 9 is an exploded view of the end gripping tool of the present application;

[0047] Figure 31 Fig. 10 is a perspective view of the end operating tool of the present application;

[0048] Figure 32 Fig. 11 is a cross-sectional view of the end operating tool of the present application;

[0049] Figure 33 Fig. 12 is an exploded view of the end operating tool of the present application;

[0050] Figure 34 Fig. 13 is a perspective view of the end switch operating tool of the present application;

[0051] Figure 35 Fig. 14 is a cross-sectional view of the end switch operating tool of the present application;

[0052] Figure 36 Fig. 15 is an exploded view of the end switch operating tool of the present application;

[0053] Figure 37 Fig. 16 is a perspective view of the end screwing tool of the present application;

[0054] Figure 38 Fig. 17 is a cross-sectional view of the end screwing tool of the present application;

[0055] Figure 39 Fig. 18 is an exploded view of the end screwing tool of the present application.

[0056] Explanation of reference numerals in the drawings:

[0057] 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 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, blocking 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;

[0058] A, end clamping tool; A1, first fixed piece; A2, first power source; A31, fixed main body; A311, sliding hole; A32, second power source; A4, clamping piece; A41, fourth connecting piece; A412, positioning part; A42, shuttle hole; A43, click switch piece; A44, return elastic piece; A45, clamping part; A46, semi-recessed part; A47, clamping hole; A51, first gear; A52, second gear; A53, threaded rod; A6, second depth camera;

[0059] B, end operation tool; B1, second fixed piece; 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 piece; B4, elastic auxiliary piece; B5, mounting piece; B51, cavity groove; B6, third depth camera;

[0060] C, end control switch tool; C1, third fixed piece; C2, motor; C3, transmission rod; C31, first anti-drop part; C32, boss; C4, control piece; C41, rebound piece; C42, butt joint hole groove structure; C421, transition surface; C43, second anti-drop part; C5, protective sleeve; C6, fourth depth camera;

[0061] D, end screwing tool; D1, fourth fixing part; D2, power mechanism; D3, driving rod; D31, second blocking part; D32, elastic 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;

[0062] 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, steering driving mechanism; E41, angle constraint part; E42, constrained part; E421, notch; E5, walking driving mechanism. DETAILED DESCRIPTION

[0063] For further understanding of this application, the Figures 1-39 application will be described in detail with examples.

[0064] For further understanding of this application, the Figures 1-39 application will be described in detail with examples. The end tool improved inspection robot of the embodiment comprises a driving steering mechanism 101 and a ground cutter operation structure 102. The driving steering mechanism 101 is provided with a fixed chassis 1011, and the ground cutter operation structure 102 is installed on the fixed chassis 1011. The ground cutter operation 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 inspection robot further comprises a control system. The transmission mechanism is electrically connected to the control system, and the rotating and lifting mechanism 7 is electrically connected to the control system. The rack assembly 1 is provided with an extension mechanism 3, and the end of the extension mechanism 3 is provided with an execution mechanism 4.

[0065] 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 which is installed on a 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 in electrical connection with a control system. The walking driving mechanism E5 is in electrical connection with the control system.

[0066] 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 in sliding connection. The second connecting piece E31 is in transmission connection with the output shaft of the steering driving mechanism E4. The third connecting piece E32 is in fixed connection with the walking driving motor shell of the walking driving 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 is connected with the connecting part E35. When the pre-pressing piece E34 is connected with the connecting part E35, 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. 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. 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 in sliding connection through the cooperation of the connecting shaft and the connecting hole. The second connecting piece E31 is axially relatively slidable and circumferentially relatively fixed with respect to the third connecting piece E32. The second connecting piece E31 can transmit torque through the third connecting piece E32. 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.

[0067] 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 matched with the sliding rail E36, and the second connecting member E31 and the third connecting member E32 are connected by sliding matching of the sliding rail E36 and the sliding block E37. The steering driving mechanism E4 comprises a rotary driving motor, a speed reducer and an encoder connected in sequence.

[0068] An angle limiting structure limiting the rotation angle of the connecting frame E3 is arranged between the connecting frame E3 and the fixed shell E1. The angle limiting structure comprises an angle constraint member E41 and a constrained member E42, the angle constraint member E41 is fixedly connected with the fixed shell E1, and the constrained member E42 is directly or indirectly fixedly connected with the connecting frame E3. The constrained member E42 is rotatably fixed at an angle and is resisted by one side of the angle constraint member E41, and the constrained member E42 is reversely rotatably fixed at an angle and is resisted by the other side of the angle constraint member E41. In the embodiment, the constrained member E42 is in a cylindrical shape, one side of the constrained member E42 has a notch E421, and the angle constraint member E41 is partially located in the notch E421. After the constrained member E42 is rotatably fixed at an angle, the bottom wall of the notch E421 is resisted by one side of the angle constraint member E41, and after the constrained member E42 is reversely rotatably fixed at an angle, the bottom wall of the notch E421 is resisted by the other side of the angle constraint member E41.

[0069] 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 member 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, the feeding member 84 is arranged on the moving base 2, the feeding member 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 screw rod 83 is rotatable to drive the moving base 2 to slide on the second sliding rail 81.

[0070] The rotating and lifting mechanism 7 comprises a first driving member 71, a second driving member 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. 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 by 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. The first inner ring is fixed relative to the ball screw 75 in the circumferential direction and slides 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 by a bearing. The second inner ring is provided with threads matched with the ball screw 75. The second outer ring is fixedly connected with the rack assembly 1. The first driving member 71 and the second driving member 72 are both mounted on the rack assembly 1. The output shaft of the first driving member 71 is synchronously belt-connected with the first inner ring. The output shaft of the second driving member 72 is synchronously belt-connected with the second inner ring.

[0071] 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. 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. The synchronous pulley is externally provided with a synchronous belt. The rotating and lifting mechanism 7 can realize the rotating motion, the linear motion and the linear-rotating compound motion of the rack assembly 1.

[0072] Specifically, the linear-rotating compound motion is realized by starting the first driving member 71. Since the first inner ring is fixed relative to the ball screw 75 in the circumferential direction, starting the first driving member 71 will drive the rack assembly 1 to rotate around the ball screw 75. 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. The rotation of the second inner ring will drive the rack assembly 1 to make linear motion relative to the ball screw 75.

[0073] The linear motion is realized by starting the second driving member 72. Starting the second driving member 72 will drive the second inner ring to rotate, which will drive the rack assembly 1 to make linear motion relative to the ball screw 75.

[0074] The rotating motion is realized by simultaneously starting the first driving member 71 and the second driving member 72. As described above, starting the first driving member 71 realizes the linear-rotating compound motion of the rack assembly 1. At this time, only need to reverse the second driving member 72 and keep the same speed as the first driving member 71, so that the second inner ring is in a static state. Therefore, the rack assembly 1 will not make linear motion, but only make rotating motion.

[0075] 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 comprises a limiting piece 13 and a blocking piece. The limiting piece 13 is fixed to the rack assembly 1, and the blocking piece is directly or indirectly fixedly connected with the first inner ring / ball screw 75. The blocking piece is provided with two blocking portions 761, and the limiting piece 13 is limited between the two blocking portions 761. In specific applications, the blocking piece is fixed to the synchronous pulley of the first inner ring.

[0076] Further comprising a detection mechanism, which comprises a first inductor 12 and a first inductive piece 76. The first inductor 12 is fixed to the rack assembly 1, and the first inductive piece 76 is directly or indirectly fixedly connected with the first inner ring. The first inductor 12 can induct the first inductive piece 76. The first inductor 12 is electrically connected with the control system. In specific applications, the first inductive piece 76 is integrally provided with the blocking piece. The first inductive piece 76 has a metal piece, and the first inductor 12 is a sensor that can induct metal. When the first inductor 12 inducts the first inductive piece 76, the position of the rack assembly 1 is set as the original position, and then the rotation angle of the rack assembly 1 is confirmed by the encoder of the first driving piece 71.

[0077] The detection mechanism further comprises a second inductor 21 and a second inductive piece 77. The second inductor 21 is fixed to the moving base 2, and the second inductive piece 77 is directly or indirectly fixedly connected with the first inner ring. The second inductor 21 can induct the second inductive piece 77. The second inductor 21 is electrically connected with the control system. In specific applications, the second inductive piece 77 is a metal piece, and the second inductor 21 is a sensor that can induct metal. When the rack assembly 1 moves to the bottommost position, the second inductive piece 77 reaches the position of the second inductor 21. The second inductor 21 inducts the second inductive piece 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 piece. The fourth inductor can induct the fourth inductive piece. In specific applications, the fourth inductive piece is a metal piece, and the fourth inductor is a sensor that can induct metal. When the moving base 2 moves to the endmost position of the fixed base 8, the fourth inductive piece reaches the position of the fourth inductor. The fourth inductor inducts the fourth inductive piece and transmits the inductive signal to the control system.

[0078] The telescopic mechanism 3 comprises a driving mechanism arranged on the rack assembly 1 and a screw rod pair telescopic mechanism, 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 screw rod 32 is connected with the rack assembly 1 through a bearing, and the output shaft of the first motor 31 is provided with a synchronous pulley, the screw rod 32 is fixed with a synchronous pulley, and the first motor 31 drives the screw rod 32 to rotate through a synchronous belt and the synchronous pulley. The feeding assembly is slidably connected with 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, the outer sleeve assembly 11 is key-connected with the feeding sleeve 34, 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, the rotary drive is electrically connected with the control system, the rotary drive drives the outer sleeve assembly 11 to rotate, and then drives the feeding sleeve 34 to rotate, and the executing mechanism 4 is arranged at the end of the feeding sleeve 34.

[0079] 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 executing mechanism 4 approaches and contacts a switch cabinet switch to be operated, then the rotary drive output shaft is controlled by the control system to rotate and drive the executing mechanism 4 to rotate, and then the switch of the switch cabinet is rotated and opened. Since the rotary drive rotates to drive the feeding assembly to rotate, the feeding assembly will move relative to the screw rod 32. In order to solve this problem, the control system only needs to control the screw rod 32 to rotate reversely through the first motor 31.

[0080] The pressure cover assembly 5 is further arranged, and the pressure cover assembly 5 is bearing-connected with the feeding sleeve 34. Generally, the switch of the switch cabinet is provided with a ground knife butt joint hole baffle, and the ground knife butt joint hole baffle needs to be opened before the switch of the switch cabinet is operated. The pressure cover assembly 5 is used for opening the ground knife butt joint hole baffle of the switch cabinet. The pressure cover assembly 5 comprises a pressure cover 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 pressure cover 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 bearing-connected with the feeding sleeve 34. The pressure cover end 51 is a pressure plate provided with side edges on both sides, and the pressure 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, which are a first inclined surface 521 and a second inclined surface 522, and 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 transitioned by a smooth curved surface. The first inclined surface 521 faces the front of the pressure cover end, and the second inclined surface 522 faces the lower side of the pressure cover end. The adjusting pieces and the two side edges of the pressure plate are provided with ejection elastic pieces 523 for keeping the adjusting pieces in a state of being ejected, and the ejection elastic pieces 523 are springs in specific applications.

[0081] When the ground blade butt joint hole baffle enters the grommet end 51, in the state that the surface of the grommet end 51 and the ground blade butt joint hole baffle is 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 and the ground blade butt joint hole baffle are in contact, as the grommet end 51 is pressed down, the 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 feed sleeve 34, so that the grommet end 51 and the ground blade butt joint hole baffle return to the parallel state, so as to accurately butt joint the grommet end 51 and the ground blade butt joint hole baffle of the switch cabinet. And 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 exerts a downward force on the ground blade butt joint hole baffle stably.

[0082] In another embodiment, the telescopic mechanism 3 comprises a driving mechanism and a screw rod pair telescopic mechanism arranged in 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 feed 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 and the screw rod 32 are in transmission connection. The feed assembly comprises a feed nut 33, a pushing piece 35, a grommet assembly 5 and a feed sleeve 34, the feed nut 33 is sleeved outside the screw rod 32, the feed nut 33 and the pushing piece 35 are fixedly connected, the pushing piece 35 and the grommet assembly 5 are fixedly connected, and the grommet assembly 5 and the feed sleeve 34 are bearingly connected. The rack assembly 1 comprises an outer sleeve assembly 11, the outer sleeve assembly 11 is sleeved outside the feed sleeve 34, the feed sleeve 34 and the outer sleeve assembly 11 are in key connection, the outer sleeve assembly 11 limits the feed sleeve 34 to only do linear motion, and the feed sleeve 34 is relatively fixed in the circumferential direction relative to the outer sleeve assembly 11 and relatively slides in the axial direction.

[0083] The rack assembly 1 further comprises a fixed frame 15, the first motor 31 is installed on the fixed frame 15, and the pushing member 35 and the fixed frame 15 are slidingly connected. The fixed frame 15 is provided with a first sliding rail, and the pushing member 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, and 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 feed sleeve 34 through a bearing, and the mounting frame 54 is fixedly connected with the pushing member 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 lead screw 32 to rotate, so that the feed nut 33 drives the pushing member 35, the gland assembly 5 and the feed sleeve 34 to move linearly. Since the gland assembly 5 is fixedly connected with the pushing member 35, the gland assembly 5 will not be deflected relative to the feed sleeve 34. Since the gland assembly 5 is connected with the feed sleeve 34 through a bearing, rotating the drive outer sleeve assembly 11 to drive the feed sleeve 34 and the actuator 4 to rotate will not cause the feed assembly to move.

[0084] The rack assembly 1 is provided with a fifth sensor, and the feed assembly is provided with a fifth sensing member. The fifth sensing member is a metal member, and the fifth sensor is a sensor that can sense metal. When the feed nut 33 is at the starting end of the lead screw 32, the fifth sensing member is at the position of the fifth sensor. The fifth sensing member is electrically connected with the control system, and when the fifth sensing member senses the position of the fifth sensor, the fifth sensing member transmits an sensing signal to the control system, and the control system judges that the feed assembly has returned. In specific applications, the fifth sensing member is arranged on the pushing member 35, and the fifth sensor is arranged on the fixed frame 15.

[0085] 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.

[0086] 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.

[0087] 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 backward 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.

[0088] 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.

[0089] 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.

[0090] 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 operation tool B, end operating switch tool C and end screwing tool D.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 a 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.

[0095] 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.

[0096] The second fixing part B1 is fixedly connected 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.

[0097] 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 and the transmission rod C3 are fixed in the circumferential direction and slide in the axial direction, the cross section of the transmission rod C3 is non-circular, and the operating part C4 has a non-circular through hole matched with the transmission rod C3. In specific applications, the cross section of the transmission rod C3 is square or regular pentagon or regular triangle, or the operating part C4 and the transmission rod C3 are key connected. The operating part C4 and the transmission rod C3 are provided with a spring C41. The operating part C4 is provided with a butt joint hole groove structure C42 used for butt joint with the switch of the switch cabinet. The butt joint hole groove structure C42 is a hole groove structure composed of two superimposed staggered cubes. The two superimposed staggered cubes make the butt joint hole groove structure C42 form eight corner parts, and the eight corner parts are uniformly distributed in the circumferential direction of the butt joint hole 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 hole groove structure C42 is an inwardly extending inclined transition surface C421.

[0098] The transmission rod C3 and the operating part C4 are provided with an anti-separation structure for preventing the separation between the operating part C4 and the transmission rod C3. The anti-separation structure includes a first anti-separation part C31 arranged on the end of the transmission rod C3 and a second anti-separation part C43 arranged on the operating part C4. When the operating part C4 slides to the end of the transmission rod C3, the first anti-separation part C31 and the second anti-separation 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 outside of the transmission rod C3, the first anti-separation 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 anti-separation part C43 is a stepped platform arranged in the operating part C4. The spring C41 is sleeved on the outside of 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. The anti-separation structure further includes a protective sleeve C5 for protecting the spring C41, the spring C41 is located in the protective sleeve C5, the protective sleeve C5 is arranged on the outside of the transmission rod C3, and the protective sleeve and the boss C32 are fixedly connected.

[0099] 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 more 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.

[0100] The end screwing tool D includes a fourth fixing part D1 arranged on the mechanical arm 1021, a power mechanism D2 arranged on the fourth fixing part D1, and a driving rod assembly coaxially connected with the output shaft of the power mechanism D2. The driving rod assembly is bearing-connected with the fourth fixing part D1, and a screwing part D5 is arranged at the end of the driving rod assembly. The driving rod assembly includes a driving rod D3 and a sleeve D4, the sleeve D4 is fixedly arranged in the circumferential direction of the driving rod D3 and slidably arranged in the axial direction of the driving rod D3, 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 matched with the shape of the driving rod D3. The output shaft of the power mechanism is coaxially fixedly connected with the driving rod. In specific applications, the cross section of the driving rod D3 is square, regular pentagonal or triangular, or the sleeve D4 and the driving rod D3 are key-connected. An elastic buffer D32 is arranged between the driving rod D3 and the sleeve D4, the elastic buffer is a spring, and the sleeve D4 is fixedly connected with the screwing part D5. The screwing part D5 is provided with an avoidance hole D51 for avoiding the driving rod D3.

[0101] The set D4 and the driving rod D3 are provided with a gear structure limiting the sliding position of the set D4. The gear structure includes a first blocking part D41 provided on the set D4 and a second blocking part D31 provided on the driving rod D3. When the set D4 slides to a fixed position relative to the driving rod D3, the first blocking part D41 and the second blocking part D31 abut to prevent the set D4 from disengaging from the driving rod D3. The fourth fixing part D1 is fixedly connected with a fixed sleeve D6, the fixed sleeve D6 is sleeved outside the driving rod, and a bearing is arranged between the driving rod and the fixed sleeve D6. The set D4 and the fixed sleeve D6 are provided with a gear structure limiting the sliding position of the set D4. The gear structure includes a first gear part D42 provided on the set D4 and a second gear part D61 provided on the fixed sleeve D6. When the set D4 slides to a fixed position relative to the driving rod D3, the first gear part D42 and the second gear part D61 abut to limit the continuous movement of the set D4. The movement range of the set D4 is limited between the second blocking part D31 and the second gear part D61. In specific applications, the first blocking part D41 and the first gear part D42 are provided as an integral structure.

[0102] The elastic release part D32 is sleeved on the driving rod D3, the driving rod D3 is provided with a platform part D33 abutting one end of the elastic release part D32, and the other end of the elastic release part D32 abuts the set D4. The screw part D5 is a cylindrical structure, the end of the screw part D5 is uniformly provided with four notches D52, and the notches D52 are symmetrically arranged in pairs. The end of the driving rod D3 is provided with a blocking nut, and the blocking nut forms the second blocking part D31.

[0103] The fourth fixing part D1 is fixedly connected 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. The control system controls the mechanical arm 1021 to make the end screwing tool D close to the switch of the switch cabinet. The notches D52 at the end of the screw part D5 can engage with the handle-shaped / strip-shaped switch. After engaging with the switch, the driving power mechanism D2 is driven to make the screw part D5 screw the switch. Some switches need to be pressed after being screwed to open the switch. Therefore, the mechanical arm 1021 is required to press the screw part D5, so that the screw part 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 part D32 can make the screw part D5 return to the initial position.

[0104] The robot is provided with a double-viewing cloud platform, a local sensor and an environment monitoring sensor. The switch room operating robot has the following functions:

[0105] (1) Driving steering mechanism: an omnidirectional four-wheel drive motion chassis is adopted, which has reliable performance and flexible control, adopts high-precision trackless autonomous positioning navigation, and has autonomous obstacle avoidance and anti-falling functions to ensure operation safety;

[0106] (2)Mechanical arm: six degrees of freedom collaborative level mechanical arm, with free driving and collision protection function, realizing high-precision end pose and motion planning, cooperating with special operation tool to carry out specific operation task.

[0107] (3)End operation tool: equipped with depth camera, through multi-tool switching, can realize daily switching operation, emergency operation, protection information viewing and key function.

[0108] (4)Ground knife operation structure: using multi-degree of freedom cloud platform, cooperating with large torque driving module, through 3D visual positioning system, can realize the ability of grounding knife switch opening and closing operation.

[0109] (5)Dual-view cloud platform: equipped with visible light camera and infrared image sensor, can realize the daily inspection function and operation monitoring function of switch cabinet.

[0110] (6)Partial discharge sensor: using ultra-high frequency partial discharge detection technology, realizing the partial discharge detection of switch cabinet.

[0111] (7)Environment monitoring sensor: realizing the monitoring of environmental temperature and humidity, toxic and harmful gas.

[0112] The above describes the present application and its embodiments in a schematic manner, which is not restrictive, and the embodiments shown in the drawings are only 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 purpose 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. An improved inspection robot with an end tool, comprising a driving steering mechanism and a mechanical arm, wherein the driving steering mechanism is provided with a fixed chassis, and the mechanical arm is installed on the fixed chassis, characterized in that, an end screwing tool is arranged at the end of the mechanical arm, the end screwing tool comprises a fourth fixing member arranged at the end of the mechanical arm, a power mechanism installed on the fourth fixing member, and a driving rod assembly, the driving rod assembly comprises a driving rod, a sleeve, a screwing member and a fixed sleeve, the sleeve is sleeved on the driving rod, the cross section of the driving rod is non-circular, the sleeve is provided with a sleeve hole matched with the shape of the driving rod, the sleeve and the screwing member are fixedly connected, the screwing member is provided with an avoiding hole for avoiding the driving rod, the fixed sleeve is fixedly connected with the fourth fixing member, the fixed sleeve is sleeved outside the driving rod, a bearing is arranged between the driving rod and the fixed sleeve, the output shaft of the power mechanism is coaxially fixedly connected with the driving rod, and an elastic release member is arranged between the driving rod and the sleeve. The end of the driving rod is provided with a second blocking part, the sleeve is provided with a first blocking part, and the fixed sleeve is provided with a second blocking part, when the sleeve slides to the end of the driving rod, the first blocking part and the second blocking part abut against each other, when the sleeve slides to a fixed position relative to the driving rod, the first blocking part and the second blocking part abut against each other, and the first blocking part is limited between the second blocking part and the second blocking part. 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. The driving steering mechanism comprises a fixed shell, a rolling wheel, a connecting frame, a steering driving mechanism and a walking driving mechanism, the fixed shell is fixedly connected with the fixed chassis, the steering driving mechanism is arranged in the fixed shell, the steering driving mechanism is drivingly connected with one end of the connecting frame, the connecting frame is rotatably connected with the fixed shell, the other end of the connecting frame is fixedly connected with the walking driving mechanism, the walking driving mechanism is drivingly connected with the rolling wheel, and the walking driving mechanism is rotatably connected with the rolling wheel. The feeding sleeve and a gland assembly are further included, the gland assembly is used for opening the baffle of the ground knife butt joint hole of the switch cabinet, the gland assembly comprises a gland end, a first connecting member and a mounting frame, one end of the first connecting member is fixedly connected with the gland end, the other end of the first connecting member is fixedly connected with the mounting frame, the mounting frame is bearingly connected with the feeding sleeve, both sides of the gland end are provided with adjusting members, the adjusting members are provided with two inwardly extending inclined surfaces, which are a first inclined surface and a second inclined surface, the first inclined surface and the second inclined surface are two adjacent surfaces, the first inclined surface and the second inclined surface are connected through a smooth curved surface, the first inclined surface faces the front of the gland end, the second inclined surface faces the lower side of the gland end, and the adjusting members and the two side edges of the gland end are provided with ejection elastic members for keeping the adjusting members in the ejected state. ​ The grommet end is opened by pressing the ground cutter butt joint hole baffle, when the grommet end and the ground cutter butt joint hole baffle are slightly staggered, the first inclined surface / second inclined surface of the two adjusting pieces contacts the ground cutter butt joint hole baffle, and as the grommet end is pressed, the force between the first inclined surface / second inclined surface and the ground cutter butt joint hole baffle makes the grommet assembly slightly rotate relative to the feed sleeve, so that the grommet end and the ground cutter butt joint hole baffle return to the parallel state, so that the grommet end accurately butt joints the ground cutter butt joint hole baffle of the switch cabinet, and the two adjusting pieces limit the ground cutter butt joint hole baffle to enter the middle position of the grommet end, so that the grommet end exerts a stable downward force on the ground cutter butt joint hole baffle.

2. The improved inspection robot of the end tool according to claim 1, wherein The end of the driving rod is provided with a blocking nut, and the blocking nut forms the second blocking part.

3. The improved inspection robot of the end tool according to claim 1, wherein The screwing part is a cylindrical structure, and four openings are uniformly arranged at the end of the screwing part.

4. The improved inspection robot of the end tool according to claim 1, wherein The elastic slow-release part is a spring.

5. The improved inspection robot of the end tool according to claim 1, wherein The connecting frame comprises a second connecting part and a third connecting part, the second connecting part and the third connecting part are slidingly connected, the second connecting part and the third connecting part are relatively fixed in the circumferential direction and relatively slide in the axial direction, the second connecting part is drivingly connected with the steering driving mechanism, the third connecting part is fixedly connected with the walking driving mechanism, and a suspension mechanism is arranged between the second connecting part and the third connecting part, and the suspension mechanism comprises a damping elastic part.

6. The improved inspection robot of the end tool according to claim 5, wherein The suspension mechanism further comprises a pre-pressing structure arranged between the second connecting part and the third connecting part and used for compressing the damping elastic part.

7. The improved inspection robot of the end tool according to claim 6, wherein The pre-pressing structure comprises a pre-pressing part arranged on one of the second connecting part and the third connecting part and a connecting part arranged on the other one, the pre-pressing part is connected with the connecting part, and when the pre-pressing part is connected with the connecting part, the damping elastic part is in a compressed state.

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