A high-voltage switchgear operating robot end effector

Abstract

The present invention relates to an end-effector of a high-voltage switch cabinet operating robot, comprising: a mounting seat, a positioning camera, a turntable assembly, a servo motor assembly, a trolley wrench assembly, a ground knife operating assembly and a five-protection locking piece opening device. The present invention can rotate the working positions of the trolley servo motor and the ground knife servo motor by installing the turntable assembly on the mounting seat. Since the trolley wrench assembly and the ground knife operating assembly are symmetrically installed on the trolley servo motor and the ground knife servo motor respectively, the working positions of the trolley wrench assembly and the ground knife operating assembly can be rotated synchronously, so as to complete the trolley shaking in and out and ground knife switch switching operations of the high-voltage switch cabinet on the same end-effector. At the same time, a five-protection locking piece opening device is installed on the ground knife operating assembly, which can open the five-protection locking pieces of the high-voltage switch cabinet before the ground knife operating assembly is operated, so as to facilitate the subsequent ground knife switch switching operation.

Description

Technical Field

[0001] The present invention relates to the technical field of robot end effectors, and in particular to an end effector of a high-voltage switchgear operating robot. Background Art

[0002] The 10kV high-voltage switchgear is one of the main equipment in the 10kV high-voltage distribution room. Daily operation and maintenance mainly include inspection of the working status of the switchgear, operation of the switchgear trolley in and out, and switching operation of the switchgear grounding knife switch.

[0003] Currently, the most common operating method is manual operation. Due to the complex procedures of the switch cabinet trolley swinging in and out and the earthing knife switch switching operation, even the slightest mistake in manual operation will cause serious accidents, which may cause property losses or even casualties.

[0004] At present, some companies are developing their own robot products for this work, but the current robots can only realize the operation of swinging the trolley in and out. Since the torque required for the earthing knife switch switching operation is very large (more than 100Nm), no successful cases have been found so far.

[0005] Therefore, how to provide a high-voltage switchgear operating robot end effector that can complete the grounding switch switching operation after completing the trolley swinging in and out operation is a problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0006] The present invention provides an end-effector of a high-voltage switchgear operating robot, which solves the technical problem that the end-effector of the existing high-voltage switchgear operating robot cannot complete the grounding knife switch operation.

[0007] The present invention solves the above-mentioned technical problem with the following technical solution: a high-voltage switch cabinet operating robot end effector, used for opening and closing the high-voltage switch cabinet, wherein the cabinet door of the high-voltage switch cabinet is provided with a trolley operating hole and a ground knife operating hole, wherein the ground knife operating hole is provided with a five-proof locking piece, comprising: a mounting seat, a positioning camera, a turntable assembly, a servo motor assembly, a trolley wrench assembly, a ground knife operating assembly and a five-proof locking piece opening device,

[0008] The mounting base is mounted on the robotic arm of the robot; the positioning camera is mounted on the front end surface of the mounting base corresponding to the forward direction thereof;

[0009] The turntable assembly includes a turntable gearbox, a rotating motor and a turntable. The bottom end of the turntable gearbox is fixed to the top surface of the mounting base; the rotating motor is mounted on the turntable gearbox; the turntable is horizontally connected to the top end of the turntable gearbox and is in driving connection with the output shaft of the rotating motor.

[0010] The servo motor assembly includes a rotating seat, a trolley servo motor and a ground cutter servo motor. The rotating seat is fixed on the turntable. The trolley servo motor and the ground cutter servo motor are symmetrically fixed on the rotating seat.

[0011] The trolley wrench assembly and the ground knife operating assembly are respectively connected to the output shaft of the trolley servo motor and the output shaft of the ground knife servo motor; the five-proof locking piece opening device is installed on the ground knife operating assembly.

[0012] The beneficial effects of the present invention are as follows: by installing the turntable assembly on the mounting seat, the working positions of the trolley servo motor and the ground knife servo motor can be rotated; since the trolley wrench assembly and the ground knife operating assembly are symmetrically installed on the trolley servo motor and the ground knife servo motor respectively, the working positions of the trolley wrench assembly and the ground knife operating assembly can be rotated synchronously, so as to complete the trolley shaking in and out and ground knife switch switching operations of the high-voltage switch cabinet on the same end effector; at the same time, a five-protection locking piece opening device is installed on the ground knife operating assembly, which can open the five-protection locking pieces of the high-voltage switch cabinet before the ground knife operating assembly is operated, so as to facilitate the subsequent ground knife switch switching operations.

[0013] On the basis of the above technical solution, the present invention can also be improved as follows.

[0014] Furthermore, the trolley wrench assembly includes a trolley socket wrench, and the trolley socket wrench is transmission-connected to the output shaft of the trolley servo motor.

[0015] Furthermore, the trolley wrench assembly also includes a cylindrical trolley coupling and a trolley spring, the trolley coupling is sleeved on the outer peripheral side of the output shaft of the trolley servo motor and one end of it is fixed on the trolley servo motor, and the inner side wall of the other end of the trolley coupling extends radially inwardly with an annular baffle; the trolley spring is sleeved on the output shaft of the trolley servo motor corresponding to the inner side of the trolley coupling; the cross-section of the output shaft of the trolley servo motor is polygonal, one end of the trolley socket wrench is inserted into the interior of the end of the trolley coupling away from the trolley servo motor and a polygonal hole is opened therein, the polygonal hole of the trolley socket wrench is slidably and transmission-connected with the output shaft of the trolley servo motor and the outer wall of one end thereof extends radially outward to form a limit baffle, and the limit baffle can abut against the annular baffle to limit the trolley socket wrench from detaching from the trolley coupling.

[0016] A further beneficial effect of the above is that by arranging a trolley spring on the output shaft of the trolley servo motor, when the trolley socket wrench moves with the mounting seat to the specified position of the trolley operating hole of the high-voltage switch cabinet, the trolley socket wrench will not continue to move forward with the mounting seat, but will squeeze the trolley spring, thereby preventing the trolley socket wrench from damaging the high-voltage switch cabinet.

[0017] Furthermore, the ground cutter operating assembly includes a ground cutter wrench torque amplifier and a ground cutter socket wrench, the ground cutter wrench torque amplifier is transmission-connected to the output shaft of the ground cutter servo motor; the ground cutter socket wrench is transmission-connected to the end of the ground cutter wrench torque amplifier away from the ground cutter servo motor; the five-anti-locking piece opening device is slidingly connected to the end of the ground cutter wrench torque amplifier away from the ground cutter servo motor corresponding to the outer peripheral side of the ground cutter socket wrench.

[0018] A further beneficial effect of the above method is that the rotational torque of the ground knife socket wrench can be increased by adding a ground knife torque amplifier, thereby completing the grounding knife switch switching operation of the high-voltage switch cabinet.

[0019] Furthermore, the ground cutter wrench torque amplifier includes a rotating seat, a bearing, a planetary reducer and a square shaft.

[0020] The rotating seat is provided with a through hole and is sleeved on the output shaft of the ground cutter servo motor; the outer ring of the bearing is fixed in the through hole and its inner ring is sleeved on the output shaft of the ground cutter servo motor; the planetary reducer is fixed in the through hole on the side corresponding to the bearing away from the ground cutter servo motor and one end of the planetary reducer is transmission-connected to the output shaft of the ground cutter servo motor; the square shaft is transmission-connected to the other end of the planetary reducer; the ground cutter socket wrench is transmission-connected to the square shaft.

[0021] Furthermore, the ground cutter wrench torque amplifier also includes a ground cutter spring, which is sleeved on the outer circumference of the square shaft and one end of which is fixedly connected to the end of the square shaft close to the planetary reducer; a square hole is provided at one end of the ground cutter socket wrench and the square hole is slidably and transmission-connected to the square shaft, and the outer wall of one end of the ground cutter socket wrench abuts against the other end of the ground cutter spring.

[0022] A further beneficial effect of the above-mentioned method is that by arranging a ground knife spring on the outer peripheral side of the square shaft, after the ground knife socket wrench moves with the mounting base to the specified position of the ground knife operating hole of the high-voltage switch cabinet, it will not continue to move forward with the mounting base, but will squeeze the ground knife spring, thereby preventing the ground knife socket wrench from damaging the high-voltage switch cabinet.

[0023] Furthermore, the ground cutter wrench torque amplifier also includes a friction disc and a friction device. A fixing hole is opened in the middle of the friction disc and is sleeved on the output shaft of the ground cutter servo motor; the friction device is fixed on one side of the rotating seat and is frictionally connected to the friction disc.

[0024] A further beneficial effect of the above method is that the rotating seat can be driven to rotate by installing a friction device on the rotating seat and frictionally connecting the friction device with the friction disk.

[0025] Furthermore, the ground cutter wrench torque amplifier also includes a support arm, one end of which is fixed on the rotating seat, and the other end of which can abut against the cabinet door of the high-voltage switch cabinet.

[0026] A further beneficial effect of the above-mentioned method is that by abutting the other end of the support arm against the cabinet door of the high-voltage switch cabinet, the reaction force of the ground cutter socket wrench can be prevented from acting on the robot's mechanical arm, thereby protecting the robot's mechanical arm.

[0027] Furthermore, the torque amplifier of the ground cutter wrench also includes a slide rail, which is fixed to the bottom surface of the rotating seat; the five-anti-locking piece opening device includes a swing servo motor, a bracket, a slider, a rocker arm, a connecting rod and a pressure frame, and the swing servo motor is located on one side of the ground cutter socket wrench; the bracket is fixed on the swing servo motor above the ground cutter socket wrench; the slider is fixed on the bracket and slidably connected to the slide rail; the rocker arm is located parallel to one side of the ground cutter socket wrench and one end of it is vertically connected to the output shaft of the swing servo motor, and the rocker arm takes the connection point fixed with the output shaft of the swing servo motor as the origin and swings up and down; one end of the connecting rod is rotatably connected to the other end of the rocker arm; the pressure frame rotates on the other end of the connecting rod corresponding to the bracket and the bottom of the ground cutter socket wrench, and can swing up and down with the hinge point of the connecting rod as the origin under the drive of the connecting rod.

[0028] The above-mentioned further beneficial effect is that the rotation of the swing servo motor can drive the rocker arm to swing up and down with its fixed connection point with the swing servo motor output shaft as the origin, thereby driving the connecting rod and the pressure frame to swing up and down. The up and down swinging pressure frame can move the five-proof locking plate, thereby facilitating the ground knife socket wrench to complete the grounding knife switch switching operation of the high-voltage switch cabinet.

[0029] Furthermore, it also includes a spring top plate, a first plug rod, a second plug rod and a reset spring, the spring top plate is fixed on the rotating seat between the ground knife servo motor and the rotating seat; one end of the first plug rod is perpendicular to the spring top plate corresponding to the bottom of the rotating seat; the second plug rod is arranged parallel to the first plug rod and one end of which is fixed on the bracket; the reset spring is sleeved on the first plug rod and the second plug rod.

[0030] The above-mentioned further beneficial effect is: by fixing the first plug rod and the second plug rod on the spring top plate and the bracket respectively, since the spring top plate is located between the ground knife servo motor and the rotating seat, the first plug rod and the second plug rod are located between the ground knife wrench torque amplifier and the five-proof locking piece opening device. When the five-proof locking piece opening device moves to a fixed position with the mounting seat, it will not continue to move forward with the mounting seat, but will reset the spring, thereby preventing the five-proof locking piece opening device from damaging the high-voltage switch cabinet.

[0031] Furthermore, the ground cutter torque amplifier also includes a gyroscope, and the gyroscope is fixed on the rotating seat.

[0032] A further beneficial effect of the above method is that it can determine whether the ground cutter torque amplifier is in a horizontal or vertical state.

[0033] Furthermore, the connecting rod is a Y-shaped structure, and the pressure frame includes two fixed plates and a pressure rod. The two fixed plates correspond to the bottom of the bracket and the ground cutter socket wrench and are arranged in parallel. The bottom ends of the two fixed plates are respectively fixedly connected to one end of the connecting rod with two branches; the pressure rod is vertically fixed between the two fixed plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 For high voltage switchgear;

[0035] Figure 2 for Figure 1 A magnified schematic diagram of the structure at A;

[0036] Figure 3 This is a schematic diagram of the assembly structure of the end effector of a high-voltage switchgear operating robot according to the present invention;

[0037] Figure 4 This is a schematic diagram of the disassembled structure of the end effector of a high-voltage switchgear operating robot according to the present invention;

[0038] Figure 5 This is an internal assembly structure of an end-effector of a high-voltage switchgear operating robot according to the present invention;

[0039] Figure 6 This is a schematic diagram of the exploded structure of a ground knife operating assembly in the end effector of a high-voltage switchgear operating robot according to the present invention;

[0040] Figure 7 This is a schematic diagram of the explosion structure of the five-anti-locking-plate opening device in the end-effector of a high-voltage switchgear operating robot according to the present invention.

[0041] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0042] 1. High-voltage switch cabinet, 11. Trolley operation hole, 12. Ground knife operation hole, 13. Five-protection locking plate,

[0043] 2. Mounting base, 3. Positioning camera,

[0044] 4. Turntable assembly, 41. Turntable gearbox, 42. Rotating motor, 43. Turntable,

[0045] 5. Servo motor assembly, 51. Rotating seat, 52. Cart servo motor, 53. Ground knife servo motor,

[0046] 6. Handcart wrench assembly, 61. Handcart socket wrench, 611. Limit baffle, 62. Handcart coupling, 621. Ring baffle, 63. Handcart spring,

[0047] 7. Ground knife operating assembly, 71. Ground knife wrench torque amplifier, 711. Rotating seat, 7111. Through hole, 712. Bearing, 713. Planetary reducer, 714. Square shaft, 715. Ground knife spring, 716. Friction disc, 717. Friction device, 718. Support arm, 719. Slide rail, 710. Gyroscope, 72. Ground knife socket wrench,

[0048] 8. Five-proof locking piece opening device, 81. Swing servo motor, 82. Bracket, 83. Slider, 84. Rocker arm, 85. Connecting rod, 86. Press frame,

[0049] 9. Spring top plate, 10. First plug rod, 14. Second plug rod, 15. Return spring. DETAILED DESCRIPTION

[0050] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0051] like Figure 1 As shown, a high-voltage switch cabinet operating robot end effector is used to open and close the high-voltage switch cabinet 1. The cabinet door of the high-voltage switch cabinet 1 is provided with a trolley operating hole 11 and a ground knife operating hole 12. The ground knife operating hole 12 is installed with a five-proof locking piece 13. It is characterized by including: a mounting base 2, a positioning camera 3, a turntable assembly 4, a servo motor assembly 5, a trolley wrench assembly 6, a ground knife operating assembly 7 and a five-proof locking piece opening device 8.

[0052] The mounting base 2 is mounted on the robot arm; the positioning camera 3 is mounted on the front end surface of the mounting base 2 corresponding to its forward direction;

[0053] The turntable assembly 4 includes a turntable gearbox 41, a rotating motor 42, and a turntable 43. The bottom end of the turntable gearbox 41 is fixed to the top surface of the mounting base 2; the rotating motor 42 is mounted on the turntable gearbox 41; the turntable 43 is horizontally connected to the top of the turntable gearbox 41 and is in driving connection with the output shaft of the rotating motor 42.

[0054] The servo motor assembly 5 includes a rotating base 51, a trolley servo motor 52 and a ground cutter servo motor 53. The rotating base 51 is fixed on the turntable 43. The trolley servo motor 52 and the ground cutter servo motor 53 are symmetrically fixed on the rotating base 51.

[0055] The trolley wrench assembly 6 and the ground knife operating assembly 7 are respectively connected to the output shaft of the trolley servo motor 52 and the output shaft of the ground knife servo motor 53; the five-proof locking piece opening device 8 is installed on the ground knife operating assembly 7.

[0056] In some specific embodiments, the trolley wrench assembly 6 may include a trolley socket wrench 61 , which is transmission-connected to the output shaft of the trolley servo motor 52 .

[0057] In some specific embodiments, the trolley wrench assembly 6 may further include a cylindrical trolley coupling 62 and a trolley spring 63. The trolley coupling 62 is sleeved on the outer peripheral side of the output shaft of the trolley servo motor 52 and one end of the trolley coupling 62 is fixed to the trolley servo motor 52. The inner side wall of the other end of the trolley coupling 62 extends radially inward with an annular baffle 621; the trolley spring 63 is sleeved on the output shaft of the trolley servo motor 52 corresponding to the inner side of the trolley coupling 62; the cross section of the output shaft of the trolley servo motor 52 is polygonal, one end of the trolley socket wrench 61 is inserted into the interior of the end of the trolley coupling 62 away from the trolley servo motor 52 and a polygonal hole is opened therein, and the polygonal hole of the trolley socket wrench 61 is aligned with the trolley servo motor 52 The output shaft is slidably and transmission-connected, and the outer wall of one end thereof extends radially outward to form a limit baffle 611 , which can abut against the annular baffle 621 to limit the trolley socket wrench 61 from being separated from the trolley coupling 62 .

[0058] In some specific embodiments, the ground cutter operating assembly 7 may include a ground cutter wrench torque amplifier 71 and a ground cutter socket wrench 72. The ground cutter wrench torque amplifier 71 is transmission-connected to the output shaft of the ground cutter servo motor 53; the ground cutter socket wrench 72 is transmission-connected to the end of the ground cutter wrench torque amplifier 71 away from the ground cutter servo motor 53; the five-proof locking piece opening device 8 is slidingly connected to the end of the ground cutter wrench torque amplifier 71 away from the ground cutter servo motor 53 corresponding to the outer peripheral side of the ground cutter socket wrench 72.

[0059] In some specific embodiments, the ground cutter wrench torque amplifier 71 may include a rotating seat 711, a bearing 712, a planetary reducer 713 and a square shaft 714. The rotating seat 711 is provided with a through hole 7111 and is sleeved on the output shaft of the ground cutter servo motor 53; the outer ring of the bearing 712 is fixed in the through hole 7111 and its inner ring is sleeved on the output shaft of the ground cutter servo motor 53; the planetary reducer 713 is fixed in the through hole 7111 on the side of the corresponding bearing 712 away from the ground cutter servo motor 53 and one end of the planetary reducer is transmission-connected to the output shaft of the ground cutter servo motor 53; the square shaft 714 is transmission-connected to the other end of the planetary reducer 713; and the ground cutter socket wrench 72 is transmission-connected to the square shaft 714.

[0060] In some specific embodiments, the ground cutter wrench torque amplifier 71 may further include a ground cutter spring 715, which is sleeved on the outer peripheral side of the square shaft 714 and one end of which is fixedly connected to the end of the square shaft 714 close to the planetary reducer 713; a square hole is provided at one end of the ground cutter socket wrench 72 and the square hole is slidably and transmission-connected to the square shaft 714, and the outer wall of one end of the ground cutter socket wrench 72 abuts against the other end of the ground cutter spring 715.

[0061] In some specific embodiments, the ground cutter wrench torque amplifier 71 may further include a friction disc 716 and a friction device 717. The friction disc 716 has a fixing hole in the middle and is fixed on the output shaft of the ground cutter servo motor 53; the friction device 717 is fixed on one side of the rotating seat 711 and can be frictionally connected with the friction disc 716.

[0062] In some specific embodiments, the ground cutter wrench torque amplifier 71 may further include a support arm 718 , one end of which is fixed on the rotating seat 711 , and the other end of which may abut against the cabinet door of the high-voltage switch cabinet 1 .

[0063] In some specific embodiments, the ground cutter wrench torque amplifier 71 may further include a slide rail 719, which is fixed to the bottom surface of the rotating seat 711; the five-proof locking piece opening device 8 includes a swing servo motor 81, a bracket 82, a slider 83, a rocker arm 84, a connecting rod 85 and a pressure frame 86, the swing servo motor 81 is located on one side of the ground cutter socket wrench 72; the bracket 82 is fixed on the swing servo motor 81 above the ground cutter socket wrench 72; the slider 83 is fixed on the bracket 82 and is slidably connected to the slide rail 719; the rocker arm 84 is located parallel to one side of the ground cutter socket wrench 72 and one end of it is vertically connected to the output shaft of the swing servo motor 81, and the rocker arm 84 takes the connection point fixed with the output shaft of the swing servo motor 81 as the origin and swings up and down; one end of the connecting rod 85 is rotatably connected to the other end of the rocker arm 84; the pressure frame 86 The corresponding bracket 82 and the bottom of the ground cutter socket wrench 72 rotate on the other end of the connecting rod 85, and can swing up and down with the hinge point of the connecting rod 85 as the origin under the drive of the connecting rod 85.

[0064] In some specific embodiments, it may also include a spring top plate 9, a first plug rod 10, a second plug rod 14 and a return spring 15. The spring top plate 9 is fixed on the rotating seat 711 between the corresponding ground knife servo motor 53 and the rotating seat 711; one end of the first plug rod 10 is vertically on the spring top plate 9 corresponding to the bottom of the rotating seat 711; the second plug rod 14 is arranged parallel to the first plug rod 10 and one end thereof is fixed on the bracket 82; the return spring 15 is sleeved on the first plug rod 10 and the second plug rod 14.

[0065] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-voltage switch cabinet operating robot end effector, used for opening and closing the high-voltage switch cabinet (1), wherein the cabinet door of the high-voltage switch cabinet (1) is provided with a trolley operating hole (11) and a ground knife operating hole (12), and the ground knife operating hole (12) is provided with a five-proof locking plate (13), characterized in that , including: a mounting base (2), a positioning camera (3), a turntable assembly (4), a servo motor assembly (5), a trolley wrench assembly (6), a ground knife operating assembly (7) and a five-proof locking piece opening device (8), The mounting seat (2) is mounted on the robot's mechanical arm; the positioning camera (3) is mounted on the front end surface of the mounting seat (2) corresponding to its forward direction; The turntable assembly (4) comprises a turntable gearbox (41), a rotating motor (42) and a turntable (43); the bottom end of the turntable gearbox (41) is fixed to the top surface of the mounting seat (2); the rotating motor (42) is mounted on the turntable gearbox (41); the turntable (43) is horizontally rotatably connected to the top end of the turntable gearbox (41) and is in driving connection with the output shaft of the rotating motor (42); The servo motor assembly (5) comprises a rotating seat (51), a trolley servo motor (52) and a ground knife servo motor (53); the rotating seat (51) is fixed on the turntable (43); the trolley servo motor (52) and the ground knife servo motor (53) are symmetrically fixed on the rotating seat (51); The trolley wrench assembly (6) and the ground cutter operating assembly (7) are respectively connected to the output shaft of the trolley servo motor (52) and the output shaft of the ground cutter servo motor (53); the five-proof locking piece opening device (8) is installed on the ground cutter operating assembly (7); The ground cutter operating assembly (7) comprises a ground cutter wrench torque amplifier (71) and a ground cutter socket wrench (72); the ground cutter wrench torque amplifier (71) is transmission-connected to the output shaft of the ground cutter servo motor (53); the ground cutter socket wrench (72) is transmission-connected to one end of the ground cutter wrench torque amplifier (71) away from the ground cutter servo motor (53); the five-proof locking piece opening device (8) is slidingly connected to one end of the ground cutter wrench torque amplifier (71) away from the ground cutter servo motor (53) corresponding to the outer peripheral side of the ground cutter socket wrench (72); The ground cutter wrench torque amplifier (71) includes a rotating seat (711), a bearing (712), a planetary reducer (713) and a square shaft (714); the rotating seat (711) is provided with a through hole (7111) and is sleeved on the output shaft of the ground cutter servo motor (53); the outer ring of the bearing (712) is fixed in the through hole (7111) and the inner ring thereof is sleeved on the output shaft of the ground cutter servo motor (53); the planetary reducer (713) is fixed in the through hole (7111) on the side of the bearing (712) away from the ground cutter servo motor (53) and one end thereof is transmission-connected to the output shaft of the ground cutter servo motor (53); the square shaft (714) is transmission-connected to the other end of the planetary reducer (713); the ground cutter socket wrench (72) is transmission-connected to the square shaft (714); The ground cutter wrench torque amplifier (71) further comprises a ground cutter spring (715), wherein the ground cutter spring (715) is sleeved on the outer peripheral side of the square shaft (714) and one end of the ground cutter spring is fixedly connected to one end of the square shaft (714) close to the planetary reducer (713); a square hole is provided at one end of the ground cutter socket wrench (72), and the square hole is slidably and transmission-connected to the square shaft (714), and an outer wall of one end of the ground cutter socket wrench (72) abuts against the other end of the ground cutter spring (715); The ground cutter wrench torque amplifier (71) further comprises a friction disc (716) and a friction device (717). A fixing hole is provided in the middle of the friction disc (716) and the friction device (717) is sleeved on the output shaft of the ground cutter servo motor (53). The friction device (717) is fixed to one side of the rotating seat (711) and can be frictionally connected to the friction disc (716). The ground wrench torque amplifier (71) further includes a support arm (718), one end of which is fixed to the rotating seat (711), and the other end of which can abut against the cabinet door of the high-voltage switch cabinet (1); The ground cutter wrench torque amplifier (71) further comprises a slide rail (719), which is fixed to the bottom surface of the rotating seat (711); the five-proof locking piece opening device (8) comprises a swing servo motor (81), a bracket (82), a slider (83), a rocker arm (84), a connecting rod (85) and a pressure frame (86); the swing servo motor (81) is located on one side of the ground cutter socket wrench (72); the bracket (82) is fixed to the swing servo motor (81) above the ground cutter socket wrench (72); the slider (83) is fixed to the bracket (82) and is slidably connected to the slide rail (719). On the top; the rocker arm (84) is located parallel to one side of the ground cutter socket wrench (72) and one end of which is vertically connected to the output shaft of the swing servo motor (81). The rocker arm (84) takes the connection point where it is fixed with the output shaft of the swing servo motor (81) as the origin and performs an up and down swinging motion; one end of the connecting rod (85) is rotatably connected to the other end of the rocker arm (84); the pressing frame (86) is rotated on the other end of the connecting rod (85) below the corresponding bracket (82) and the ground cutter socket wrench (72), and can swing up and down with the hinge point of the connecting rod (85) as the origin under the drive of the connecting rod (85); It also includes a spring top plate (9), a first plug rod (10), a second plug rod (14) and a reset spring (15), wherein the spring top plate (9) is fixed on the rotating seat (711) between the corresponding ground knife servo motor (53) and the rotating seat (711); one end of the first plug rod (10) is vertically on the spring top plate (9) corresponding to the bottom of the rotating seat (711); the second plug rod (14) is arranged parallel to and opposite to the first plug rod (10) and one end thereof is fixed on the bracket (82); the reset spring (15) is sleeved on the first plug rod (10) and the second plug rod (14).

2. The end effector of a high-voltage switchgear operating robot according to claim 1, characterized in that: The trolley wrench assembly (6) comprises a trolley socket wrench (61), and the trolley socket wrench (61) is transmission-connected to the output shaft of the trolley servo motor (52).

3. The end effector of a high-voltage switchgear operating robot according to claim 2, characterized in that: The trolley wrench assembly (6) further comprises a cylindrical trolley coupling (62) and a trolley spring (63), wherein the trolley coupling (62) is sleeved on the outer peripheral side of the output shaft of the trolley servo motor (52) and one end of the trolley coupling (62) is fixed to the trolley servo motor (52), and an annular baffle (621) is extended radially inwardly from the inner side wall of the other end of the trolley coupling (62); the trolley spring (63) is sleeved on the output shaft of the trolley servo motor (52) corresponding to the inner side of the trolley coupling (62); the output shaft of the trolley servo motor (52) The cross section of the handcart socket wrench (61) is polygonal, one end of the handcart socket wrench (61) is inserted into the interior of the end of the handcart coupling (62) away from the handcart servo motor (52) and a polygonal hole is opened therein, the polygonal hole of the handcart socket wrench (61) is slidably and transmission-connected with the output shaft of the handcart servo motor (52), and the outer wall of one end thereof radially extends outward to form a limit baffle (611), and the limit baffle (611) can abut against the annular baffle (621) to limit the handcart socket wrench (61) from being separated from the handcart coupling (62).

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