A control room robot for automatically opening and closing cabinet doors and taking photos and an operation method thereof

Abstract

The present invention discloses a main control room robot for automatically opening and closing cabinet doors and taking photos, and an operation method thereof, which relates to the technical field of power grid equipment survey, and comprises a robot body, wherein a driving chassis is arranged on the lower surface of the robot body, a first mechanical arm and a second mechanical arm are arranged on the upper surface of the robot body, and a camera is fixedly connected to one end of the first mechanical arm. The beneficial effects of the present invention are as follows: the layout information of the cabinet in the main control room is stored in a robot database through manual programming; a sensing device which enables the robot to obtain position information is installed on the cabinet to guide the robot to locate, the mechanical arm gripping action of the cabinet door and the camera movement shooting steps are written into the robot controller, the driving chassis drives the robot body to the cabinet door, the door is opened through program control, and the wiring conditions of multiple devices in the cabinet are photographed, so that the operation and maintenance personnel can better understand the internal conditions of the equipment, and the survey work of the operation and maintenance personnel is brought to a convenience.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid equipment survey, and in particular to a main control room robot for automatically opening and closing a panel cabinet door and taking photos, and an operation method thereof. Background Art

[0002] The power grid dispatching department pays special attention to the operating status of the equipment in the station, especially the defects of the equipment in the station, event alarm information and fault handling. When a defect or alarm occurs in the secondary equipment, the operation and maintenance personnel are required to deal with the fault in time. The operation and maintenance personnel call the on-site camera to inspect the secondary equipment in each cabinet on site. However, the fixed camera and the fixed track robot's camera have limited range of activity and cannot cover most areas of the cabinet. They cannot automatically open the cabinet door for inspection and take pictures of the device wiring inside the cabinet, which brings inconvenience to fault elimination and affects the power recovery time.

[0003] Secondly, when the secondary equipment of the substation needs to increase or modify the wiring, the secondary design personnel of the design institute have to go to the site for investigation. The main process and content of the on-site investigation are relatively fixed and single. It is mainly to investigate the internal device wiring and terminal block wiring of each panel cabinet based on the working principle of the secondary device. With the increase in the number of substations, the number of technical transformation and infrastructure projects, it is still necessary to go to the substation manually by car for investigation. The journey is long, time-consuming and labor-intensive. The on-site robot cannot open and close the panel cabinet door for investigation. There is a lack of efficient and convenient remote investigation methods. For this reason, we proposed a control room robot and operation method for automatically opening and closing the panel cabinet door and taking pictures. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a main control room robot and an operation method for automatically opening and closing screen cabinet doors and taking photos, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a main control room robot for automatically opening and closing screen cabinet doors and taking pictures, comprising a robot body, a driving chassis is arranged on the lower surface of the robot body, a first mechanical arm and a second mechanical arm are arranged on the upper surface of the robot body, a camera is fixedly connected to one end of the first mechanical arm, a mounting block is fixedly connected to one end of the second mechanical arm, a first motor is fixedly installed inside the mounting block, an output end of the first motor extends to the outside of the mounting block and is fixedly connected to a clamping mechanism, a door opening mechanism is fixedly installed on the upper surface of the mounting block, and the mounting block An annular slide groove is provided on one side, and an annular slider is rotatably connected to the inner cavity of the annular slide groove, and the annular slider is fixedly connected to the clamping mechanism. The door opening mechanism includes a second fixed plate, a connecting block is fixedly installed on one side of the second fixed plate, one end of the connecting block is fixedly connected to the fixing block, a first spring groove is provided inside the fixing block, one end of the first spring groove is fixedly connected to the first telescopic spring, one end of the first telescopic spring is fixedly connected to the first limit block, one end of the first limit block extends to the outside of the first spring groove, one side of the first limit block is arc-shaped, and an electromagnet is fixedly installed inside the fixing block.

[0006] Optionally, the clamping mechanism includes a first fixed plate, a clamping block is provided on one side of the first fixed plate, a first sliding groove is opened on one side of the first fixed plate, a bidirectional screw rod is rotatably connected to the inner cavity of the first sliding groove, and the surfaces of both ends of the bidirectional screw rod are threadedly sleeved with a first slider, and the first slider is fixedly connected to the clamping block.

[0007] Optionally, a second motor is fixedly mounted on the back side of the first fixed plate, and an output end of the second motor extends to the inner cavity of the first slide groove and is fixedly connected to the bidirectional screw rod.

[0008] Optionally, a storage groove is provided inside the robot body, the inner cavity of the storage groove is provided with a third fixed plate, a storage box is fixedly installed on one side of the third fixed plate, a second slide groove is provided inside the robot body and below the storage groove, the inner cavity of the second slide groove is rotatably connected to a first screw rod, a second slider is threadedly sleeved on the surface of the first screw rod, the second slider is fixedly connected to the third fixed plate, a third motor is fixedly installed inside the robot body, and the output end of the third motor extends to the inside of the second slide groove and is fixedly connected to the first screw rod.

[0009] Optionally, a third slide groove is opened inside the robot body and above the storage groove, a guide rod is fixedly installed in the inner cavity of the third slide groove, a third slider is movably sleeved on the surface of the guide rod, and the third slider is fixedly connected to a third fixed plate.

[0010] Optionally, a key slot is provided inside the storage box, a lifting block is provided in the inner cavity of the key slot, a limiting slot is provided on one side of the lifting block, a rotating slot is provided inside the storage box, the inner cavity of the rotating slot is rotatably connected to a rotating rod, a first bevel gear is fixedly sleeved on the surface of the rotating rod, a fourth motor is fixedly installed inside the storage box, and the output end of the fourth motor extends to the inner cavity of the rotating slot and is fixedly connected to the rotating rod.

[0011] Optionally, a fourth slide groove is opened inside the storage box, and the inner cavity of the fourth slide groove is rotatably connected to a second screw rod, one end of the second screw rod extends to the inner cavity of the rotating groove and is fixedly connected to a second bevel gear, and the second bevel gear is meshed with the first bevel gear.

[0012] Optionally, a fourth slider is threadedly sleeved on the surface of the second screw rod, an electric telescopic rod is fixedly installed on the lower surface of the fourth slider, an output end of the electric telescopic rod is fixedly connected to a movable block, a second spring groove is provided inside the movable block, a second telescopic spring is fixedly installed in the inner cavity of the second spring groove, one end of the second telescopic spring is fixedly connected to a second limit block, one end of the second limit block extends to the inner cavity of the limit groove, and the lower surface of the second limit block is an arc surface.

[0013] A method for operating a main control room robot for automatically opening and closing a cabinet door and taking photos, comprising the following steps:

[0014] S1: The layout information of the control room cabinets is stored in the robot database through manual programming; the layout information of the control room cabinets is stored through the robot's built-in path learning method; the robot is guided to locate by installing a sensing device on the cabinet that allows the robot to obtain position information. At the same time, the mechanical arm gripper action of the switch cabinet door and the camera movement shooting steps are written into the robot controller, and the robot body is driven by the chassis to move, so that the robot body reaches the cabinet door;

[0015] S2: The first screw is driven to rotate by the third motor to move the storage box out of the inner cavity of the storage slot, and the rotating rod is driven to rotate by the fourth motor to drive the second screw to rotate, so that the fourth slider drives the movable block to move in the inner cavity of the fourth slide slot, and the movable block is driven to move upward by the electric telescopic rod, and the elasticity of the second telescopic spring is used to push the second limit block into the inner cavity of the limit slot, so as to drive the lifting block to move upward, so that the key extends out of the inner cavity of the key slot;

[0016] S3: Use the first robotic arm to drive the clamping mechanism to move to the top of the storage box, use the second motor to drive the bidirectional screw to rotate, so that the two clamping blocks are close to each other, and the key is clamped. Through the control program, the second robotic arm drives the clamping mechanism, inserts the key into the keyhole to unlock and pushes it forward, so that the handle pops out, and the handle pushes the first limit block to move toward the inner cavity of the first spring groove to squeeze the first telescopic spring. When the handle enters between the two connecting blocks, the elasticity of the first telescopic spring is used to push the first limit block to move and grab the handle. The second robotic arm drives the door opening mechanism to move and open the cabinet door. Through program control, the wiring status of multiple devices in the cabinet is photographed.

[0017] The present invention provides a main control room robot and an operation method for automatically opening and closing a cabinet door and taking photos, which has the following beneficial effects:

[0018] 1. The main control room robot and operation method for automatically opening and closing the screen cabinet door and taking pictures, store the main control room screen cabinet layout information into the robot database through manual programming; store the main control room screen cabinet layout information through the robot's own path learning method; guide the robot to locate by installing a sensing device on the screen cabinet that allows the robot to obtain position information, and at the same time, write the mechanical arm gripper action of opening and closing the cabinet door and the camera movement shooting steps into the robot controller, drive the chassis to move the robot body, so that the robot body arrives in front of the screen cabinet door, use the second mechanical arm to drive the installation block to move, so that the clamping mechanism inserts the key into the keyhole to unlock and pushes it forward, so that the handle pops out, and the handle can be grasped by the door opening mechanism, and the door of the screen cabinet can be opened by the cooperation of the door opening mechanism and the second mechanical arm, and the various positions inside it can be photographed and recorded by the cooperation of the first mechanical arm and the camera, so that the operation and maintenance personnel can better understand the internal situation of the equipment, which brings convenience to the operation and maintenance personnel's survey work.

[0019] 2. The main control room robot and operation method for automatically opening and closing the cabinet door and taking photos, through the cooperation of the clamping mechanism and the door opening mechanism, utilizes the second motor to drive the bidirectional screw to rotate, so that the two first sliding blocks move in the inner cavity of the first sliding groove, drive the two clamping blocks to approach each other, clamp the key, and insert the key into the keyhole through the second mechanical arm to unlock the door. When the handle pops out, one side of the first limit block is an arc surface, so that the handle pushes the first limit block to move toward the inner cavity of the first spring groove to squeeze the first telescopic spring. When the handle enters between the two connecting blocks, the elasticity of the first telescopic spring is utilized to push the first limit block to move, so that the handle can be restricted between the two connecting blocks, and the cabinet door can be opened more conveniently using the second mechanical arm.

[0020] 3. The main control room robot and operation method for automatically opening and closing the screen cabinet door and taking pictures, drives the first screw rod to rotate through the third motor, so that the second slider moves in the inner cavity of the second slide slot, drives the third fixed plate to move, and moves the storage box out of the inner cavity of the storage slot, and drives the rotating rod to rotate through the fourth motor to rotate the first bevel gear. Since the first bevel gear is meshed with the second bevel gear, the second screw rod can be driven to rotate, so that the fourth slider slides in the inner cavity of the fourth slide slot, drives the electric telescopic rod to move, and moves the movable block in the inner cavity of the fourth slide slot. When the movable block moves to the position corresponding to one of the lifting blocks, the electric telescopic rod is used to drive the movable block to move upward so that it reaches one side of the lifting block, and the elasticity of the second telescopic spring is used to push the second limit block into the inner cavity of the limit slot, drive the lifting block to move upward, so that the key extends out from the inner cavity of the key slot, so as to facilitate the replacement of the key. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 It is a schematic cross-sectional structural diagram of the mounting block of the present invention;

[0023] Figure 3 It is a schematic diagram of a cross-sectional structure of the clamping mechanism of the present invention when viewed from above;

[0024] Figure 4 It is a schematic diagram of the cross-sectional structure of the door opening mechanism of the present invention when viewed from above;

[0025] Figure 5 It is a schematic diagram of the cross-sectional structure of the storage box of the present invention when viewed from above;

[0026] Figure 6 It is a structural schematic diagram of the cross-section of the lifting block and the movable block of the present invention.

[0027] In the figure: 1, robot body; 2, first mechanical arm; 3, second mechanical arm; 4, camera; 5, mounting block; 6, first motor; 7, clamping mechanism; 8, door opening mechanism; 9, annular slide; 10, annular slider; 11, first fixed plate; 12, clamping block; 13, first slide; 14, bidirectional screw rod; 15, first slider; 16, second motor; 17, second fixed plate; 18, connecting block; 19, fixing block; 20, first spring slot; 21, first telescopic spring; 22, first limit block; 23, electromagnet; 24, driving chassis; 25, storage slot; 26, The third fixed plate; 27, the second slide groove; 28, the first screw rod; 29, the second slider; 30, the third motor; 31, the third slide groove; 32, the guide rod; 33, the third slider; 34, the storage box; 35, the key slot; 36, the lifting block; 37, the limit slot; 38, the rotating slot; 39, the rotating rod; 40, the first bevel gear; 41, the fourth motor; 42, the fourth slide groove; 43, the second screw rod; 44, the fourth slider; 45, the second bevel gear; 46, the electric telescopic rod; 47, the movable block; 48, the second spring slot; 49, the second telescopic spring; 50, the second limit block. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] See also Figures 1 to 6The present invention provides a technical solution: a main control room robot for automatically opening and closing screen cabinet doors and taking pictures, comprising a robot body 1, a driving chassis 24 is arranged on the lower surface of the robot body 1, a moving wheel is arranged on the lower surface of the driving chassis 24, a first mechanical arm 2 and a second mechanical arm 3 are arranged on the upper surface of the robot body 1, a camera 4 is fixedly connected to one end of the first mechanical arm 2, a mounting block 5 is fixedly connected to one end of the second mechanical arm 3, a first motor 6 is fixedly installed inside the mounting block 5, an output end of the first motor 6 extends to the outside of the mounting block 5 and is fixedly connected to a clamping mechanism 7, a door opening mechanism 8 is fixedly installed on the upper surface of the mounting block 5, an annular slide groove 9 is arranged on one side of the mounting block 5, an annular slide block 10 is rotatably connected to the inner cavity of the annular slide groove 9, and the annular slide block 10 is fixedly connected to the clamping mechanism 7, and the main control room screen cabinet layout information is stored in the robot through manual programming. database; the layout information of the cabinet in the main control room is stored through the robot's built-in path learning method; the robot is guided to locate by installing a sensing device on the cabinet that enables the robot to obtain position information. At the same time, the mechanical arm gripper action of the switch cabinet door and the camera 4 movement shooting steps are written into the robot controller, and the robot body 1 is driven to move by driving the chassis 24, so that the robot body 1 arrives in front of the cabinet door, and the second mechanical arm 3 is used to drive the mounting block 5 to move, so that the clamping mechanism 7 inserts the key into the keyhole to unlock and pushes it forward, so that the handle pops out, and the door opening mechanism 8 can be used to grab the handle, and the door opening mechanism 8 and the second mechanical arm 3 cooperate to open the cabinet door. The first mechanical arm 2 and the camera 4 cooperate to take pictures and record various positions inside it, so that the operation and maintenance personnel can better understand the internal situation of the equipment, which brings convenience to the operation and maintenance personnel's survey work.

[0030] Among them, the door opening mechanism 8 includes a second fixed plate 17, a connecting block 18 is fixedly installed on one side of the second fixed plate 17, one end of the connecting block 18 is fixedly connected to a fixed block 19, a first spring groove 20 is opened inside the fixed block 19, one end of the first spring groove 20 is fixedly connected to a first telescopic spring 21, one end of the first telescopic spring 21 is fixedly connected to a first limit block 22, one end of the first limit block 22 extends to the outside of the first spring groove 20, one side of the first limit block 22 is arc-shaped, an electromagnet 23 is fixedly installed inside the fixed block 19, the clamping mechanism 7 includes a first fixed plate 11, a clamping block 12 is provided on one side of the first fixed plate 11, a first slide groove 13 is opened on one side of the first fixed plate 11, a bidirectional screw rod 14 is rotatably connected to the inner cavity of the first slide groove 13, the surfaces of both ends of the bidirectional screw rod 14 are threadedly sleeved with first sliders 15, the first slider 15 is fixedly connected to the clamping block 12, and the first fixed A second motor 16 is fixedly installed on the back of the fixed plate 11, and the output end of the second motor 16 extends to the inner cavity of the first slide groove 13 and is fixedly connected to the bidirectional screw rod 14. Through the cooperation of the clamping mechanism 7 and the door opening mechanism 8, the second motor 16 drives the bidirectional screw rod 14 to rotate, so that the two first sliding blocks 15 move in the inner cavity of the first slide groove 13, drive the two clamping blocks 12 to approach each other, and clamp the key. The key can be inserted into the keyhole through the second mechanical arm 3 to unlock the door. When the handle pops out, the first limit block 22 is used as an arc surface on one side, so that the handle pushes the first limit block 22 to move toward the inner cavity of the first spring groove 20, and squeezes the first telescopic spring 21. When the handle enters between the two connecting blocks 18, the elasticity of the first telescopic spring 21 is used to push the first limit block 22 to move, so that the handle can be restricted between the two connecting blocks 18, and the cabinet door can be opened by the second mechanical arm 3, which is more convenient.

[0031] Among them, a storage groove 25 is opened inside the robot body 1, and the inner cavity of the storage groove 25 is provided with a third fixing plate 26, and a storage box 34 is fixedly installed on one side of the third fixing plate 26. A second slide groove 27 is opened inside the robot body 1 and below the storage groove 25. The inner cavity of the second slide groove 27 is rotatably connected with a first screw rod 28, and a second slider 29 is threadedly sleeved on the surface of the first screw rod 28. The second slider 29 is fixedly connected to the third fixing plate 26. A third motor 30 is fixedly installed inside the robot body 1, and the output end of the third motor 30 extends to the inside of the second slide groove 27 and is fixedly connected to the first screw rod 28. A third slide groove 31 is opened inside the robot body 1 and above the storage groove 25. The inner cavity of the third slide groove 31 is rotatably connected with a first screw rod 28. A guide rod 32 is fixedly installed in the cavity, and a third slider 33 is movably sleeved on the surface of the guide rod 32. The third slider 33 is fixedly connected to the third fixed plate 26. A key slot 35 is provided inside the storage box 34, and a lifting block 36 is provided in the inner cavity of the key slot 35. A limiting slot 37 is provided on one side of the lifting block 36. A rotating slot 38 is provided inside the storage box 34, and a rotating rod 39 is rotatably connected to the inner cavity of the rotating slot 38. A first bevel gear 40 is fixedly sleeved on the surface of the rotating rod 39. A fourth motor 41 is fixedly installed inside the storage box 34, and the output end of the fourth motor 41 extends to the inner cavity of the rotating slot 38 and is fixedly connected to the rotating rod 39. A fourth slide slot 42 is provided inside the storage box 34, and the inner cavity of the fourth slide slot 42 is rotatably connected to the first bevel gear 40. The second screw rod 43 has one end extending to the inner cavity of the rotating groove 38 and is fixedly connected with a second bevel gear 45, and the second bevel gear 45 is meshed with the first bevel gear 40. The surface of the second screw rod 43 is threadedly sleeved with a fourth slider 44, and the lower surface of the fourth slider 44 is fixedly installed with an electric telescopic rod 46. The output end of the electric telescopic rod 46 is fixedly connected with a movable block 47, and a second spring groove 48 is provided inside the movable block 47. A second telescopic spring 49 is fixedly installed in the inner cavity of the second spring groove 48, and one end of the second telescopic spring 49 is fixedly connected with a second limit block 50. One end of the second limit block 50 extends to the inner cavity of the limit groove 37, and the lower surface of the second limit block 50 is an arc surface. The first screw rod is driven by the third motor 30 28 rotates, so that the second slider 29 moves in the inner cavity of the second slide groove 27, drives the third fixed plate 26 to move, and moves the storage box 34 out of the inner cavity of the storage groove 25. The fourth motor 41 drives the rotating rod 39 to rotate, so that the first bevel gear 40 rotates. Since the first bevel gear 40 is meshed with the second bevel gear 45, the second screw rod 43 can be driven to rotate, so that the fourth slider 44 slides in the inner cavity of the fourth slide groove 42, drives the electric telescopic rod 46 to move, and the movable block 47 moves in the inner cavity of the fourth slide groove 42. When the movable block 47 moves to the position corresponding to one of the lifting blocks 36, the electric telescopic rod 46 is used to drive the movable block 47 to move upward, so that it reaches one side of the lifting block 36, and the elasticity of the second telescopic spring 49 is used.Push the second limit block 50 into the inner cavity of the limit slot 37, drive the lifting block 36 to move upward, and make the key extend from the inner cavity of the key slot 35, so as to facilitate the replacement and removal of the key.

[0032] A method for operating a main control room robot for automatically opening and closing a cabinet door and taking photos, comprising the following steps:

[0033] S1: The layout information of the main control room cabinet is stored in the robot database through manual programming; the layout information of the main control room cabinet is stored through the robot's own path learning method; the robot is guided to locate by installing a sensing device on the cabinet that enables the robot to obtain position information, and at the same time, the mechanical arm gripper action of the switch cabinet door and the camera 4 moving shooting steps are written into the robot controller, and the robot body 1 is driven to move by the driving chassis 24, so that the robot body 1 reaches the front of the cabinet door;

[0034] S2: The first screw rod 28 is driven to rotate by the third motor 30, so that the storage box 34 is moved out of the inner cavity of the storage slot 25, and the rotating rod 39 is driven to rotate by the fourth motor 41, so that the first bevel gear 40 drives the second screw rod 43 to rotate, and then the fourth slider 44 drives the movable block 47 to move in the inner cavity of the fourth slide slot 42, and the movable block 47 is driven to move upward by the electric telescopic rod 46. The second telescopic spring 49 is used to push the second limit block 50 into the inner cavity of the limit slot 37, and drive the lifting block 36 to move upward, so that the key extends out of the inner cavity of the key slot 35;

[0035] S3: Use the first mechanical arm 2 to drive the clamping mechanism 7 to move to the top of the storage box 34, use the second motor 16 to drive the bidirectional screw 14 to rotate, so that the two clamping blocks 12 are close to each other, and the key is clamped. Through the control program, the second mechanical arm 3 drives the clamping mechanism 7, inserts the key into the keyhole to unlock and pushes it forward, so that the handle pops out, and the handle pushes the first limit block 22 to move toward the inner cavity of the first spring groove 20, and squeezes the first telescopic spring 21. When the handle enters between the two connecting blocks 18, the elasticity of the first telescopic spring 21 is used to push the first limit block 22 to move, and the handle is grabbed. The second mechanical arm 3 drives the door opening mechanism 8 to move, and the screen cabinet door is opened. The wiring status of multiple devices in the screen cabinet is taken pictures through program control.

[0036] In summary, the main control room robot and operation method for automatically opening and closing cabinet doors and taking photos, when in use, first, the main control room cabinet layout information is stored in the robot database through manual programming; the main control room cabinet layout information is stored through the robot's own path learning method; the robot is guided to locate by installing a sensing device on the cabinet that enables the robot to obtain position information, and at the same time, the mechanical arm gripper action of opening and closing the cabinet door and the camera 4 movement shooting steps are written into the robot controller, and the robot body 1 is driven to move by the driving chassis 24, so that the robot body 1 arrives in front of the cabinet door, and the third motor 30 is started, and the third motor 30 is driven The first screw rod 28 rotates, causing the second slider 29 to move in the inner cavity of the second slide groove 27, driving the third fixed plate 26 to move, causing the storage box 34 to move out of the inner cavity of the storage groove 25, and starting the fourth motor 41. The fourth motor 41 drives the rotating rod 39 to rotate, causing the first bevel gear 40 to rotate. Since the first bevel gear 40 is meshed with the second bevel gear 45, the second screw rod 43 can be driven to rotate, causing the fourth slider 44 to slide in the inner cavity of the fourth slide groove 42, driving the electric telescopic rod 46 to move, causing the movable block 47 to move in the inner cavity of the fourth slide groove 42. When the movable block 47 moves to the position corresponding to one of the lifting blocks 36, The electric telescopic rod 46 is started, and the movable block 47 is driven to move upward by the electric telescopic rod 46, so that it reaches one side of the lifting block 36. The elasticity of the second telescopic spring 49 is used to push the second limit block 50 into the inner cavity of the limit groove 37, driving the lifting block 36 to move upward, so that the key extends out of the inner cavity of the key groove 35, and the clamping mechanism 7 is driven to move by the first mechanical arm 2. The second motor 16 is started, and the bidirectional screw rod 14 is driven to rotate by the second motor 16, so that the two first sliders 15 move in the inner cavity of the first slide groove 13, driving the two clamping blocks 12 to approach each other, and the key is clamped. The key can be inserted into the second mechanical arm 3. The first mechanical arm 3 is used to open the cabinet door, and the camera 4 is driven by the first mechanical arm 2 to move the cabinet door to the cabinet. The first mechanical arm 2 is used to drive the camera 4 to move, and the angle of the camera 4 is adjusted. The camera 4 is used to take pictures and record various positions inside the cabinet.

[0037] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A control room robot for automatically opening and closing cabinet doors and taking photos, comprising a robot body (1), characterized in that: A driving chassis (24) is disposed on the lower surface of the robot body (1), and a first mechanical arm (2) and a second mechanical arm (3) are disposed on the upper surface of the robot body (1); one end of the first mechanical arm (2) is fixedly connected to a camera (4), and one end of the second mechanical arm (3) is fixedly connected to a mounting block (5); a first motor (6) is fixedly mounted inside the mounting block (5). The output end of the first motor (6) extends to the outside of the mounting block (5) and is fixedly connected to a clamping mechanism (7); a door opening mechanism (8) is fixedly installed on the upper surface of the mounting block (5); an annular slide groove (9) is provided on one side of the mounting block (5); an annular slider (10) is rotatably connected to the inner cavity of the annular slide groove (9); the annular slider (10) is fixedly connected to the clamping mechanism (7); the door opening mechanism (8) comprises a second fixed plate (17); a connecting block (18) is fixedly installed on one side of the second fixed plate (17); one end of the connecting block (18) is fixedly connected to a fixing block (19); a first spring groove (20) is provided inside the fixing block (19); one end of the first spring groove (20) is fixedly connected to a first telescopic spring (21); one end of the first telescopic spring (21) is fixedly connected to a first limit block (22); one end of the first limit block (22) extends to the first spring groove (20). The outside of the first limit block (22) has one side in an arc shape, and an electromagnet (23) is fixedly installed inside the fixing block (19); The robot body (1) is provided with a storage groove (25) inside, the inner cavity of the storage groove (25) is provided with a third fixing plate (26), a storage box (34) is fixedly installed on one side of the third fixing plate (26), a second slide groove (27) is provided inside the robot body (1) and below the storage groove (25), the inner cavity of the second slide groove (27) is rotatably connected to a first screw rod (28), a second slider (29) is threadedly sleeved on the surface of the first screw rod (28), the second slider (29) is fixedly connected to the third fixing plate (26), a third motor (30) is fixedly installed inside the robot body (1), the output end of the third motor (30) extends to the inside of the second slide groove (27) and is fixedly connected to the first screw rod (28), and a key slot (35) is provided inside the storage box (34), The inner cavity of the key slot (35) is provided with a lifting block (36), and a limiting groove (37) is provided on one side of the lifting block (36). The interior of the storage box (34) is provided with a rotating groove (38), and the inner cavity of the rotating groove (38) is rotatably connected to a rotating rod (39), and the surface of the rotating rod (39) is fixedly sleeved with a first bevel gear (40). A fourth motor (41) is fixedly installed inside the storage box (34), and the output end of the fourth motor (41) extends to the inner cavity of the rotating groove (38) and is fixedly connected to the rotating rod (39). The storage box (34) ) is provided with a fourth slide groove (42) inside, the inner cavity of the fourth slide groove (42) is rotatably connected to a second screw rod (43), one end of the second screw rod (43) extends to the inner cavity of the rotation groove (38) and is fixedly connected to a second bevel gear (45), the second bevel gear (45) is meshed with the first bevel gear (40), the surface of the second screw rod (43) is threadedly sleeved with a fourth slider (44), the lower surface of the fourth slider (44) is fixedly mounted with an electric telescopic rod (46), the output end of the electric telescopic rod (46) is fixedly connected with a movable block (47), a second spring groove (48) is provided inside the movable block (47), the inner cavity of the second spring groove (48) is fixedly mounted with a second telescopic spring (49), one end of the second telescopic spring (49) is fixedly connected to a second limit block (50), one end of the second limit block (50) extends to the inner cavity of the limit groove (37), and the lower surface of the second limit block (50) is an arc surface.

2. A control room robot for automatically opening and closing cabinet doors and taking photos according to claim 1, characterized in that: The clamping mechanism (7) comprises a first fixed plate (11), a clamping block (12) is arranged on one side of the first fixed plate (11), a first sliding groove (13) is opened on one side of the first fixed plate (11), a bidirectional screw rod (14) is rotatably connected to the inner cavity of the first sliding groove (13), and first sliders (15) are threadedly sleeved on the surfaces of both ends of the bidirectional screw rod (14), and the first slider (15) is fixedly connected to the clamping block (12).

3. A control room robot for automatically opening and closing cabinet doors and taking photos according to claim 2, characterized in that: A second motor (16) is fixedly mounted on the back of the first fixing plate (11), and an output end of the second motor (16) extends to the inner cavity of the first sliding groove (13) and is fixedly connected to the bidirectional screw rod (14).

4. According to claim 1, a control room robot for automatically opening and closing cabinet doors and taking photos, characterized in that: A third slide groove (31) is provided inside the robot body (1) and above the storage groove (25); a guide rod (32) is fixedly installed in the inner cavity of the third slide groove (31); a third slider (33) is movably sleeved on the surface of the guide rod (32); and the third slider (33) is fixedly connected to the third fixing plate (26).

5. According to claim 1, the method for operating a main control room robot for automatically opening and closing cabinet doors and taking photos is characterized in that: The following steps are involved: S1: Store the layout information of the control room cabinets into the robot database through manual programming; The layout information of the cabinets in the main control room is stored by the robot's own path learning method; the robot is guided to locate by installing a sensing device on the cabinet that enables the robot to obtain position information; at the same time, the mechanical arm gripper action of the cabinet door and the camera (4) movement shooting steps are written into the robot controller, and the robot body (1) is driven to move by the driving chassis (24), so that the robot body (1) arrives in front of the cabinet door; S2: The first screw rod (28) is driven to rotate by the third motor (30), so that the storage box (34) is moved out from the inner cavity of the storage slot (25), and the rotating rod (39) is driven to rotate by the fourth motor (41), so that the first bevel gear (40) drives the second screw rod (43) to rotate, and then the fourth slider (44) drives the movable block (47) to move in the inner cavity of the fourth slide slot (42), and the movable block (47) is driven to move upward by the electric telescopic rod (46), and the second limit block (50) is pushed into the inner cavity of the limit slot (37) by utilizing the elasticity of the second telescopic spring (49), so as to drive the lifting block (36) to move upward, so that the key extends out from the inner cavity of the key slot (35); S3: Using the first mechanical arm (2) to drive the clamping mechanism (7) to move to the top of the storage box (34), using the second motor (16) to drive the bidirectional screw rod (14) to rotate, so that the two clamping blocks (12) are close to each other to clamp the key, and the second mechanical arm (3) is driven by the control program to drive the clamping mechanism (7), insert the key into the keyhole to unlock and push it forward, so that the handle pops out, so that the handle pushes the first limit block (22) to move toward the inner cavity of the first spring groove (20), and squeezes the first telescopic spring (21). When the handle enters between the two connecting blocks (18), the first telescopic spring (21) is used to push the first limit block (22) to move and grab the handle, and the second mechanical arm (3) is used to drive the door opening mechanism (8) to move, open the cabinet door, and realize the picture of the wiring status of multiple devices in the cabinet through program control.

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