A set of power operation and maintenance robots applied to high-voltage extractable power switch cabinet

Abstract

The application belongs to the technical field of power equipment maintenance, and discloses a set of power operation and maintenance robot applied to a high-voltage withdrawable power switch cabinet, which comprises a power operation and maintenance operating robot and a power operation and maintenance transfer robot, characterized in that the power operation and maintenance operating robot comprises a multifunctional end execution mechanism and a live-line testing end execution mechanism. The multifunctional end execution mechanism is arranged, which can exclude human intervention factors when switching the function of the end execution mechanism in use, improve the execution efficiency, and ensure the correctness of the execution action. The multifunctional end execution mechanism adopts a rotating tool rack which can one-time dispose of four different function end execution components and is at a forty-five-degree angle with the vertical plane, four-hole rotating discs carry four different end execution components, the end execution components can be quickly switched without interfering with each other to realize the conversion between different functions, thereby improving the work efficiency of power operation and maintenance.

Description

Technical Field

[0001] This invention belongs to the field of power equipment maintenance technology, specifically a set of power operation and maintenance robots applied to high-voltage withdrawable power switchgear. Background Technology

[0002] Currently, my country's power system is developing rapidly towards large-scale grid interconnection. As a key node in the power system, the operation of substations directly affects the safety of the power grid. Power switchgear is the central nervous system of power transmission, playing a crucial role in switching transmission lines, relay protection, and data detection. There are numerous power switchgear units that require regular maintenance, currently mainly performed manually. This process is complex and cumbersome, leading to frequent safety accidents and injuries. Therefore, robot-assisted manual maintenance is a promising solution to address the industry's pain points and achieve "zero errors," inevitably becoming a trend in industry development.

[0003] In the process of power inspection and maintenance in substations, manual maintenance is inefficient, high-risk, and requires a long training period for technical operators. Furthermore, accidents during manual maintenance have an extremely high fatality rate. The emergence of power maintenance robots has significantly reduced the proportion of manual maintenance, and these robots are characterized by high efficiency and high reliability. Most importantly, compared to manual maintenance, robot maintenance is characterized by "zero errors." Compared to general power equipment inspection, the maintenance of high-voltage power switchgear has specific requirements such as high safety standards, complex procedures, and high precision, which are the main challenges restricting the large-scale replacement of manual labor by robots. Using intelligent robots for the maintenance of power switchgear in substations and distribution stations not only has the flexibility of manual maintenance but also overcomes and compensates for some of the shortcomings and deficiencies of manual maintenance. This represents the development direction of intelligent substation maintenance technology and has broad application prospects. Summary of the Invention

[0004] The purpose of this invention is to provide a power operation and maintenance robot for high-voltage withdrawable power switchgear, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a power operation and maintenance robot applied to high-voltage withdrawable power switchgear, including a power operation and maintenance operation robot and a power operation and maintenance transfer robot. The power operation and maintenance operation robot includes a multi-functional end effector and a voltage detection end effector located at the upper and lower ends, respectively. The power operation and maintenance transfer robot includes a chassis moving mechanism located at the bottom, a visual recognition module located at the top, and a traction mechanism and a swing-down execution mechanism located in the middle.

[0006] As a further technical solution of the present invention, the multifunctional end effector includes a cross guide rail, a multi-camera collaborative sensor, and an end effector;

[0007] The cross guide rail includes a vertical guide rail, a horizontal guide rail, and a cross guide rail connecting module; the cross guide rail is connected to the vertical guide rail and the horizontal guide rail via the cross guide rail connecting module and fixed on the machine base;

[0008] Multi-camera collaborative sensors include planar cameras, depth cameras, and high-definition cameras;

[0009] The end effector includes an end effector turntable, four end effectors and a turntable bracket; the end effector turntable carries the four end effectors and is fixed to the transverse guide rail of the cross guide rail via the turntable bracket; the four end effectors include a switch cabinet mechanical claw, a switch cabinet key, a switch cabinet crank and a switch cabinet wrench; the four end effectors are fixed to the end effector turntable by fixed rod-shaped parts.

[0010] As a further technical solution of the present invention, the multi-camera collaborative sensor is placed above the end effector turntable and fixed with screws.

[0011] As a further technical solution of the present invention, a servo motor and a pressure torque sensor are provided between the end effector turntable and the four end effectors;

[0012] The servo motor drives the end effector to rotate;

[0013] The pressure and torque sensor detects the working status of the end effector. If the working status of the end effector detected by the pressure and torque sensor differs from the preset normal condition, the servo motor stops working.

[0014] As a further technical solution of the present invention, a servo motor, a magnetic strip induction ring and a torque sensor are provided between the end effector turntable and the turntable support;

[0015] A servo motor drives the end effector turntable to rotate, switching the end effector to meet different usage requirements;

[0016] If the torque sensor detects excessive resistance, the servo motor will stop working.

[0017] As a further technical solution of the present invention, the end effector uses an end effector turntable to carry four different end effectors. The four end effectors are spaced 90° apart from each other, and the two opposite end effectors are at a 90° angle when viewed from the side. All four end effectors can be detached from the end effector turntable.

[0018] As a further technical solution of the present invention, each detachable end effector has a built-in magnetic strip for identification corresponding to its identity. The corresponding magnetic strip assigns a unique identification code to each end effector, and the magnetic strip sensing ring can identify the magnetic strip of different end effectors.

[0019] As a further technical solution of the present invention, the high-definition camera can capture and identify end effectors.

[0020] As a further technical solution of the present invention, the multifunctional end effector has an adaptive intelligent control access system, which consists of an intelligent compensator, a target synchronizer and a cross guide rail; the intelligent compensator is built into the servo motor; the target synchronizer is associated with a multi-camera collaborative sensor.

[0021] As a further technical solution of the present invention, the multifunctional end effector has a dual authentication system, which consists of a unique inductive magnetic stripe code and a three-dimensional visual recognition module; the unique inductive magnetic stripe code is built into the corresponding end effector; the three-dimensional visual recognition module is associated with a multi-camera collaborative sensor.

[0022] As a further technical solution of the present invention, the end-effector of the voltage detection mechanism includes a housing assembly and linear sliding guide rails opened on the left and right sides inside the housing assembly, a scissor telescopic arm that is movably engaged with the linear sliding guide rails, a multi-joint mechanism connected to the front of the scissor telescopic arm, and a voltage detection mechanism connected below the multi-joint mechanism.

[0023] The multi-joint mechanism includes joint one, joint two, and a connecting robotic arm. The front end of joint one is movably connected to joint two, and the side of joint two is movably connected to the connecting robotic arm. The multi-joint mechanism connects the scissor-lift telescopic arm and the voltage detection mechanism.

[0024] The voltage testing device includes a high-voltage resistant depth recognition camera, a pressure sensor, an insulating rod, a dual-pen switch, a bracket, and a voltage tester. The front end of the insulating rod is connected to the pressure sensor, and the bracket is fitted onto the outer side of the pressure sensor. The high-voltage resistant depth recognition camera is installed at the front of the top of the bracket. The dual-pen switch is installed at the rear end of the insulating rod, and the voltage tester is installed at the front end of the pressure sensor.

[0025] As a further technical solution of the present invention, the telescopic arm of the scissor lift structure can move on a linear sliding guide rail.

[0026] As a further technical solution of the present invention, the pressure sensor and the insulating rod are both made of bakelite plastic for insulation.

[0027] As a further technical solution of the present invention, the scissor structure of the scissor telescopic arm provides one degree of freedom, the rotating joint between the scissor telescopic arm and joint one provides one degree of rotational freedom, the rotating joint between joint one and joint two provides one degree of rotational freedom, and the rotating joint between joint two and the connecting robotic arm provides one degree of rotational freedom, for a total of 4 degrees of freedom.

[0028] As a further technical solution of the present invention, the high-voltage resistant depth recognition camera is fixed on the voltage tester by a bracket.

[0029] As a further technical solution of the present invention, the voltage tester realizes the function switching between voltage detection and insulation detection through a dual-pen switch, and performs voltage detection or insulation detection in the power switch cabinet.

[0030] As a further technical solution of the present invention, the telescopic arm and the multi-joint mechanism of the scissor lift are both driven by a high-voltage motor and are made of highly insulating and self-lubricating materials.

[0031] As a further technical solution of the present invention, the chassis moving mechanism of the power operation and maintenance transfer robot includes Mecanum wheels, bottom integrated base, infrared rangefinder and signal antenna;

[0032] Mecanum wheels are movably mounted at the four corners of the bottom integrated base, infrared rangefinders are mounted on the sides near the four corners, and signal antennas are mounted on the back.

[0033] The traction mechanism includes a vertical slide rail inverted "U" shaped frame, a vertical slide rail, a power integration module, a transverse slide rail frame, a transverse slide rail, a transverse fixing frame, a diamond-shaped pin, electromagnetic system components, and an electromagnet;

[0034] The vertical slide rail has vertical slide rails on both the left and right sides of the inverted "U" shaped frame cavity. A power integration module is movably installed inside the vertical slide rail. A transverse slide rail frame is fixedly installed on both the left and right sides of the front end of the power integration module. A transverse slide rail is opened on the inner side of the transverse slide rail frame. A transverse fixing frame is movably installed between the two transverse slide rails. An electromagnetic system component is installed in the middle of the transverse fixing frame. An electromagnet is installed at the front end of the electromagnetic system component. A diamond-shaped pin is movably installed at the front end of the two transverse slide rail frames.

[0035] The lowering actuator includes a longitudinal hydraulic rod, a servo motor, a horizontal slider fixing frame, a T-shaped horizontal slider, a motor, an unlocking device, a vision sensor, a horizontal helical gear, and a vertical helical gear with a rod.

[0036] Longitudinal hydraulic rods are fixedly installed on both the left and right sides of the bottom of the transverse fixed frame. A servo motor is installed at the bottom of the longitudinal hydraulic rod. A horizontal slider fixing frame is fixedly installed at the bottom of the output shaft of the servo motor. A T-shaped horizontal slider is movably installed below the horizontal slider fixing frame. A motor is installed behind the bottom of the T-shaped horizontal slider. A horizontal helical gear is installed at the front end of the motor output shaft. A vertical helical gear with a rod is meshed at the front end of the horizontal helical gear. A locking device is installed at the bottom of the vertical helical gear with a rod. The top of the vertical helical gear with a rod is movably connected to the bottom end of the T-shaped horizontal slider.

[0037] As a further technical solution of the present invention, the transverse slide rail frame is fixed by a positioning and fixing plate; the power integration module is connected and fixed to the positioning and fixing plate by a fixing plate.

[0038] As a further technical solution of the present invention, the visual sensor is fixed to the unlocking component by a fixing plate.

[0039] As a further technical solution of the present invention, the transverse fixing frame has a built-in motor to move horizontally back and forth on the transverse slide rail frame via the transverse slide rail.

[0040] As a further technical solution of the present invention, the power integration module has a built-in motor to move up and down within the inverted "U"-shaped frame of the vertical slide rail.

[0041] As a further technical solution of the present invention, the diamond-shaped pin is rotatable, and after the power operation and maintenance transfer robot is inserted and docked with the power switch cabinet, the diamond-shaped pin rotates and locks.

[0042] As a further technical solution of the present invention, the electromagnetic system component can control the magnitude of the magnetic attraction force of the electromagnet to realize the conversion between weak and strong magnetic fields; when the electromagnet moves horizontally through the transverse fixing frame and initially contacts the handcart inside the power switch cabinet, it uses weak magnetic attraction to adjust the initial position between the electromagnet and the handcart inside the cabinet, adapting to and achieving the optimal initial state for the next action.

[0043] As a further technical solution of the present invention, after the electromagnet initially contacts and aligns with the handcart inside the cabinet, the longitudinal hydraulic rods on both sides enable the lower swing actuator to move up and down; the horizontal slider fixing frame rotates under the drive of the servo motor; the T-shaped horizontal slider moves horizontally within the horizontal slider fixing frame; the motor can drive the horizontal helical gear to rotate, which in turn drives the vertical helical gear with a rod to rotate, and the unlocking component rotates to open the wall lock of the power switch cabinet; the unlocking component positions the wall lock of the switch cabinet through a vision sensor.

[0044] As a further technical solution of the present invention, after the unlocking component rotates to open the wall lock of the power switch cabinet, the electromagnet, under the control of the electromagnetic system components, changes from a weak magnet to a strong magnet, tightly attracting the handcart inside the power switch cabinet. Under the dragging of the horizontal fixing frame, the handcart is moved out of the switch cabinet and transported to the designated position.

[0045] A method for operating a power maintenance robot applied to high-voltage withdrawable power switchgear includes the following steps:

[0046] Step S1: The power operation and maintenance robot (hereinafter referred to as vehicle A) and the power operation and maintenance transfer robot (hereinafter referred to as vehicle B) receive instructions and begin to execute tasks.

[0047] In step S2, vehicle A uses a multi-camera collaborative sensor, namely a planar camera, a depth camera, and a high-definition camera, to identify the name and dual number of the power switch cabinet, and constructs an image with depth information to generate a 3D model.

[0048] In step S3, vehicle A checks the position of the circuit breaker in the switch cabinet again through the multi-camera collaborative sensor to confirm that the circuit breaker is in the "open" state and the switch cabinet is in an inactive state at this time.

[0049] Step S4: Car A rotates the corresponding end actuator to the front of the closing power supply by rotating the end actuator turntable, and uses the corresponding end actuator to disconnect the switch of the switch cabinet closing power supply.

[0050] In step S5, vehicle A takes a second picture using the multi-camera collaborative sensor and compares it with the model generated from the first picture to confirm that the switch of the switch cabinet's closing power supply is in the "disconnected" state.

[0051] In step S6, vehicle A rotates the corresponding end effector to the working position by rotating the end effector turntable, and moves the switch truck from the "working" position to the "test" position;

[0052] In step S7, vehicle A rotates the corresponding end effector to the front of the switch cabinet using the end effector turntable, and opens the switch cabinet door using the end effector.

[0053] Step S8: After B car rotates to open the wall lock of the power switch cabinet, the electromagnet, under the control of the electromagnetic system components, changes from a weak magnet to a strong magnet, tightly attracting the handcart inside the power switch cabinet. Under the drag of the horizontal fixing frame, the handcart is moved out of the switch cabinet and transported from the "test" position to the "manual maintenance" position.

[0054] In step S9, vehicle B once again uses the traction mechanism and the lowering actuator to move the PT truck to the "test" position inside the switch cabinet;

[0055] In step S10, vehicle A selects a suitable end effector by rotating the end effector turntable to advance the PT handcart from the "test" position to the "working" position;

[0056] Step S11: The terminal actuator of vehicle A performs an inspection inside the switch cabinet to ensure that there is no voltage on all three phases of the load side inside the switch cabinet;

[0057] Step S12: The A vehicle's electrical testing terminal actuator performs insulation testing on the load inside the switchgear;

[0058] Step S13: Car A selects a suitable end effector by rotating the end effector turntable to move the PT handcart from the "working" position to the "test" position;

[0059] In step S14, vehicle B uses the traction mechanism and the lowering actuator to move the PT handcart away;

[0060] In step S15, vehicle B uses a traction mechanism and a lowering actuator to move the overhauled switch trolley from the "manual overhaul" position to the "test" position inside the cabinet;

[0061] Step S16: Car A selects a suitable end effector by rotating the end effector turntable to close the switch cabinet door;

[0062] In step S17, vehicle A uses a suitable end effector to move the switch truck from the "test" position to the "working" position, completing the power maintenance task.

[0063] The beneficial effects of this invention are as follows:

[0064] 1. This invention employs a multi-functional end effector mechanism that eliminates human intervention during function switching of the end effector components, thereby improving execution efficiency and ensuring the correctness of actions. The multi-functional end effector mechanism utilizes a rotating tool holder at a 45-degree angle to the vertical plane, capable of simultaneously housing four different end effector components. A four-hole rotating disk carries four different end effector components, which can quickly switch between functions without interference, improving the overall efficiency of end effector execution and thus enhancing the efficiency of power operation and maintenance.

[0065] 2. This invention ensures the correct use of multi-functional end-effectors through a dual authentication system. It primarily consists of a unique magnetic stripe encoding and a 3D vision recognition module. Each detachable end-effector has a built-in magnetic stripe corresponding to its identity, assigning a unique identification code to each end-effector. The identification mechanism recognizes the magnetic stripe of each end-effector, achieving a unique and unambiguous digital identity verification. The digital identity of the end-effector is confirmed before and after each use. The 3D vision recognition module verifies the digital identity verification result against the actual computer vision recognition result, thus ensuring the correct selection and use of each end-effector and achieving the goal of "zero errors" in power operation and maintenance.

[0066] 3. This invention proposes an adaptive intelligent control access strategy for multi-functional end effectors, effectively improving their accuracy. This strategy mainly consists of an intelligent compensator, a target synchronizer, and a cross rail. Considering the different physical properties of various end effectors, this invention incorporates an intelligent compensator to ensure accurate and precise operation of the end effector. The gain of the intelligent compensator is obtained by training a neural network using a self-learning algorithm. The input to the self-learning algorithm is the difference between the actual current of the operating motor and the current predicted by the neural network. Furthermore, to prevent errors between the end effector and the target after replacement of end effectors, this invention integrates the target synchronizer into a multi-camera collaborative sensor and the operating motor. Adaptive control is used to adjust the parameters of the target synchronizer controller. The displacement trajectory of the target synchronizer is updated in real time by offline and online self-learning algorithms. Compared to traditional rotary joint positioning, the innovative cross rail of this invention can better adapt to confined spaces, allowing the multi-functional end effector to perform interference-free movement and high-precision positioning within the confined space of the power distribution cabinet, making it more suitable for the working environment of power system power distribution cabinet operation and maintenance. Attached Figure Description

[0067] Figure 1 This is a schematic diagram a of the structure of the multi-functional end effector of the power operation and maintenance robot of the present invention;

[0068] Figure 2 This is a schematic diagram (b) of the structure of the multi-functional end effector of the power operation and maintenance robot of the present invention;

[0069] Figure 3 This is a schematic diagram of the various end-effector components in the end-effector turntable of the power operation and maintenance robot of the present invention;

[0070] Figure 4 This is an exploded view of the cross rail of the power operation and maintenance robot of the present invention;

[0071] Figure 5 This is a schematic diagram of the end effector mechanism for voltage detection of the power operation and maintenance robot of the present invention;

[0072] Figure 6 This is a schematic diagram of the scissor-type telescopic arm of the power operation and maintenance robot of the present invention;

[0073] Figure 7 This is a schematic diagram of the multi-joint mechanism of the end effector for voltage detection of the power operation and maintenance robot of the present invention.

[0074] Figure 8 This is a schematic diagram of the voltage detection mechanism of the power operation and maintenance robot of the present invention.

[0075] Figure 9 This is a schematic diagram of the chassis moving mechanism of the power operation and maintenance transfer robot of the present invention;

[0076] Figure 10 This is a schematic diagram of the traction mechanism of the power operation and maintenance transfer robot of the present invention;

[0077] Figure 11 This is a schematic diagram of the lower swing actuator of the power operation and maintenance transfer robot of the present invention;

[0078] Figure 12 This is a schematic diagram showing the overall state of the power operation and maintenance robot and the power operation and maintenance transfer robot of the present invention.

[0079] Figure 13 This is a schematic diagram of the control flow of the dual authentication system of the present invention;

[0080] Figure 14 This is a schematic diagram of the control flow of the adaptive intelligent control access strategy of the present invention. Detailed Implementation

[0081] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0082] In this embodiment of the invention, a set of power operation and maintenance robots applied to high-voltage withdrawable power switchgear includes a power operation and maintenance operation robot and a power operation and maintenance transfer robot. The power operation and maintenance operation robot includes a multi-functional end effector and a voltage detection end effector located at the upper and lower ends, respectively. The power operation and maintenance transfer robot includes a chassis moving mechanism located at the bottom, a visual recognition module 43 located at the top, and a traction mechanism and a swing-down execution mechanism located in the middle.

[0083] like Figures 1 to 4 As shown, the multi-functional end effector includes a cross guide rail, a multi-camera collaborative sensor 5, and an end effector;

[0084] The cross guide rail includes a vertical guide rail 2, a horizontal guide rail 3, and a cross guide rail connecting module 9; the cross guide rail is connected by the vertical guide rail 2 and the horizontal guide rail 3 via the cross guide rail connecting module 9 and fixed on the base 1.

[0085] The multi-camera collaborative sensor 5 includes a planar camera 501, a depth camera 502, and a high-definition camera 503;

[0086] The end effector includes an end effector turntable 6, four end effectors and a turntable bracket 4; the end effector turntable 6 carries four end effectors and is fixed to the transverse guide rail 3 of the cross guide rail via the turntable bracket 4; the four end effectors include a switch cabinet mechanical claw 601, a switch cabinet key 602, a switch cabinet crank 603 and a switch cabinet wrench 604; the four end effectors are fixed to the end effector turntable 6 with fixed rod-shaped parts.

[0087] The end effector uses an end effector turntable 6 to carry four different end effectors. The four end effectors are spaced 90° apart from each other, and the two opposite end effectors are also at a 90° angle when viewed from the side. All four end effectors can be detached from the end effector turntable 6.

[0088] The multi-functional end effector uses a rotating tool holder at a 45° angle to the vertical plane that can accommodate four different end effector components at the same time. The four-hole disc carries four different end effectors, which can be quickly switched without interference to achieve the conversion between different functions.

[0089] The multi-camera collaborative sensor 5 is mounted above the end effector turntable 6 and secured with screws.

[0090] There are servo motors 10 and pressure and torque sensors 8 between the end effector turntable 6 and the four end effectors; the servo motors 10 drive the end effectors to rotate; the pressure and torque sensors 8 sense the working status of the end effectors. If the working status of the end effectors sensed by the pressure and torque sensors 8 is different from the preset normal status, the servo motors 10 stop working.

[0091] Between the end effector turntable 6 and the turntable support 4 are a servo motor 11, a magnetic strip induction ring 7 and a torque sensor 12; the servo motor 11 drives the end effector turntable 6 to rotate, so as to switch the end effector to meet different usage requirements; if the working resistance sensed by the torque sensor 12 is too large, the servo motor 11 stops working.

[0092] The multi-functional end effector has an adaptive intelligent control access system, which consists of an intelligent compensator, a target synchronizer, and a cross guide rail; the intelligent compensator is built into the servo motor 10; the target synchronizer is associated with the multi-camera collaborative sensor 5.

[0093] This invention proposes an adaptive intelligent control access strategy for a multifunctional end effector. This strategy mainly consists of an intelligent compensator, a target synchronizer, and a cross rail. Considering the different physical properties of various end effectors, this invention incorporates an intelligent compensator to ensure accurate and precise operation of the end effector. The gain of the intelligent compensator is obtained by training a neural network using a self-learning algorithm, with the input of the self-learning algorithm being the difference between the actual current of the operating motor and the current predicted by the neural network. Simultaneously, to prevent errors between the end effector and the target operation after replacing the end effector, this invention integrates the target synchronizer into a multi-camera collaborative sensor and the operating motor, using adaptive control to adjust the parameters of the target synchronizer controller. The displacement trajectory of the target synchronizer is updated in real-time by offline and online self-learning algorithms. Furthermore, compared to traditional rotary joint positioning, the innovative cross rail of this invention can better adapt to confined spaces, allowing the multifunctional end effector to perform interference-free movement and high-precision positioning within the narrow space of a power distribution cabinet, making it more suitable for the working environment of power system power distribution cabinet maintenance.

[0094] Each detachable end effector has a built-in magnetic strip for identification, which corresponds to its identity. The corresponding magnetic strip gives each end effector a unique identification code. The magnetic strip sensing ring 7 can identify the magnetic strips of different end effectors.

[0095] The high-definition camera 503 can capture and identify end effectors.

[0096] The multi-functional end effector has a dual authentication system consisting of a unique inductive magnetic stripe code and a three-dimensional vision recognition module; the unique inductive magnetic stripe code is built into the corresponding end effector; the three-dimensional vision recognition module is associated with a multi-camera collaborative sensor 5.

[0097] This invention establishes a dual authentication system for multifunctional end effector components, primarily composed of a unique magnetic stripe encoding and a 3D vision recognition module. Each detachable end effector has a built-in magnetic stripe corresponding to its identity, assigning a unique identification code to each component. The identification mechanism identifies the magnetic stripe of each end effector, thus achieving a unique and unambiguous digital identity recognition technology. The digital identity of the end effector is confirmed before and after each use. The 3D vision recognition module verifies the digital identity recognition result of the end effector against the actual computer vision recognition result. This dual verification of the end effector's identity ensures the correct selection and use of each end effector, enabling the achievement of the "zero error" goal in power operation and maintenance.

[0098] like Figures 5 to 8 As shown, the end-effector of the voltage testing mechanism includes a housing assembly 13 and linear sliding guide rails 14 opened on the left and right sides inside the housing assembly 13, a scissor telescopic arm 15 that is movably engaged with the linear sliding guide rails 14, a multi-joint mechanism 16 connected to the front of the scissor telescopic arm 15, and a voltage testing mechanism 17 connected to the lower part of the multi-joint mechanism 16.

[0099] The multi-joint mechanism 16 includes joint one 1601, joint two 1602 and connecting robotic arm 1603. The front end of joint one 1601 is movably connected to joint two 1602, and the side of joint two 1602 is movably connected to connecting robotic arm 1603. The multi-joint mechanism 16 connects scissor telescopic arm 15 and voltage detection mechanism 17.

[0100] The voltage testing mechanism 17 includes a high-voltage resistant depth recognition camera 1701, a pressure sensor 1702, an insulating rod 1703, a dual-pen switch 1704, a bracket 1705, and a voltage tester 1706. The front end of the insulating rod 1703 is connected to the pressure sensor 1702. The bracket 1705 is sleeved on the outer side of the pressure sensor 1702. The high-voltage resistant depth recognition camera 1701 is installed at the front of the top of the bracket 1705. The dual-pen switch 1704 is installed at the rear end of the insulating rod 1703. The voltage tester 1706 is installed at the front end of the pressure sensor 1702.

[0101] The scissor-lift telescopic arm 15 can move on the linear sliding guide rail 14.

[0102] Both the pressure sensor 1702 and the insulating rod 1703 are made of bakelite plastic for insulation.

[0103] The scissor structure of the telescopic arm 15 provides one degree of freedom, the revolute joint between the telescopic arm 15 and joint 1601 provides one degree of rotation, the revolute joint between joint 1601 and joint 21602 provides one degree of rotation, and the revolute joint between joint 21602 and the connecting robotic arm 1603 provides one degree of rotation, for a total of 4 degrees of freedom.

[0104] The high-voltage resistant depth recognition camera 1701 is fixed on the voltage tester 1706 by the bracket 1705.

[0105] The voltage tester 1706 can switch between voltage detection and insulation detection functions via the dual-pen switch 1704, enabling voltage or insulation detection within the power switch cabinet.

[0106] Both the scissor lift telescopic arm 15 and the multi-joint mechanism 16 are driven by high-voltage motors and are made of highly insulating and self-lubricating materials.

[0107] The height and angle of the voltage testing mechanism 17 can be adjusted via the multi-joint mechanism 16. The strong insulating self-lubricating material and high-voltage resistant motor, along with the scissor-type telescopic arm 15 and the multi-joint mechanism 16, work in conjunction with digital twin control and decision-making to decompose the complex three-dimensional motion trajectories of voltage testing and insulation measurement, forming a continuous one-dimensional motion sequence, ensuring the accuracy of actions and test results in complex environments.

[0108] like Figures 9 to 11 As shown, the chassis moving mechanism in the power operation and maintenance transfer robot includes Mecanum wheels 18, bottom integrated base 19, infrared rangefinder 20 and signal antenna 21;

[0109] Mecanum wheels 18 are movably mounted at the four corners of the bottom integrated base 19, infrared rangefinders 20 are mounted on the sides of 19 near the four corners, and signal antennas 21 are mounted on the back of 19.

[0110] The traction mechanism includes a vertical slide rail inverted "U" shaped frame 22, a vertical slide rail 23, a power integration module 24, a transverse slide rail frame 25, a transverse slide rail 26, a transverse fixing frame 27, a diamond-shaped pin 28, an electromagnetic system component 29, and an electromagnet 30.

[0111] Vertical slide rails 23 are provided on both the left and right sides of the inner cavity of the vertical slide rail inverted "U" shaped frame 22. A power integration module 24 is movably installed inside the vertical slide rail 23. A transverse slide rail frame 25 is fixedly installed on both the left and right sides of the front end of the power integration module 24. A transverse slide rail 26 is provided on the inner side of the transverse slide rail frame 25. A transverse fixing frame 27 is movably installed between the two transverse slide rails 26. An electromagnetic system component 29 is installed in the middle of the transverse fixing frame 27. An electromagnet 30 is installed at the front end of the electromagnetic system component 29. A diamond-shaped pin 28 is movably installed at the front end of the two transverse slide rail frames 25.

[0112] The lowering actuator includes a longitudinal hydraulic rod 33, a servo motor 34, a horizontal slider fixing frame 35, a T-shaped horizontal slider 36, a motor 37, an unlocking component 38, a vision sensor 39, a horizontal helical gear 40, and a vertical helical gear 41 with a rod;

[0113] Longitudinal hydraulic rods 33 are fixedly installed on both the left and right sides of the bottom of the horizontal fixed frame 27. A servo motor 34 is installed at the bottom of the longitudinal hydraulic rod 33. A horizontal slider fixing frame 35 is fixedly installed at the bottom of the output shaft of the servo motor 34. A T-shaped horizontal slider 36 is movably installed below the horizontal slider fixing frame 35. A motor 37 is installed at the rear of the bottom of the T-shaped horizontal slider 36. A horizontal helical gear 40 is installed at the front end of the output shaft of the motor 37. A vertical helical gear 41 with a rod is meshed at the front end of the horizontal helical gear 40. A locking part 38 is installed at the bottom of the vertical helical gear 41 with a rod. The top end of the vertical helical gear 41 with a rod is movably connected to the bottom end of the T-shaped horizontal slider 36.

[0114] The transverse slide rail frame 25 is fixed by a positioning and fixing plate 31; the power integration module 24 is connected and fixed to the positioning and fixing plate 31 by a fixing plate 32.

[0115] The vision sensor 39 is fixed to the unlocking component 38 by the fixing plate 42.

[0116] The transverse fixing frame 27 has a built-in motor for horizontal movement back and forth on the transverse slide rail frame 25 via the transverse slide rail 26.

[0117] The power integration module 24 has a built-in motor that moves up and down within the inverted "U"-shaped frame 22 of the vertical slide rail 23.

[0118] The diamond-shaped pin 28 is rotatable. After the power maintenance and transfer robot is inserted and docked with the power switch cabinet, the diamond-shaped pin 28 is rotated and locked.

[0119] The electromagnetic system component 29 can control the magnitude of the magnetic attraction force of the electromagnet 30, realizing the conversion between weak and strong magnetic fields. When the electromagnet 30 moves horizontally through the transverse fixing frame 27 and initially contacts the handcart inside the power switch cabinet, it uses weak magnetic attraction to adjust the initial position between the electromagnet 30 and the handcart inside the cabinet, adapting to and achieving the optimal initial state for the next action.

[0120] After the electromagnet 30 initially contacts and aligns with the handcart inside the cabinet, the longitudinal hydraulic rods 33 on both sides allow the lowering actuator to move up and down; the horizontal slider fixing frame 35 can rotate under the drive of the servo motor 34; the T-shaped horizontal slider 36 can move horizontally within the horizontal slider fixing frame 35; the motor 37 can drive the horizontal helical gear 40 to rotate, which in turn drives the vertical helical gear 41 with a rod to rotate, and the unlocking component 38 rotates to open the wall lock of the power switch cabinet; the unlocking component 38 positions the wall lock of the switch cabinet through the vision sensor 39.

[0121] After the unlocking component 38 rotates to open the wall lock of the power switch cabinet, the electromagnet 30, under the control of the electromagnetic system component 29, changes from a weak magnet to a strong magnet, tightly attracting the handcart inside the power switch cabinet. Under the drag of the horizontal fixing frame 27, the handcart is moved out of the switch cabinet and transported to the designated position.

[0122] A method for operating a power maintenance robot applied to high-voltage withdrawable power switchgear includes the following steps:

[0123] Step S1: The power operation and maintenance robot (hereinafter referred to as vehicle A) and the power operation and maintenance transfer robot (hereinafter referred to as vehicle B) receive instructions and begin to execute tasks.

[0124] In step S2, vehicle A uses a multi-camera collaborative sensor 5, namely a planar camera 501, a depth camera 502, and a high-definition camera 503, to identify the name and dual number of the power switch cabinet, construct an image with depth information, and generate a 3D model.

[0125] In step S3, vehicle A checks the position of the circuit breaker in the switch cabinet again through the multi-camera collaborative sensor 5 to confirm that the circuit breaker is in the "open" state and the switch cabinet is in an inactive state at this time.

[0126] In step S4, vehicle A rotates the corresponding end actuator to the front of the closing power supply by rotating the end actuator turntable 6, and uses the corresponding end actuator to disconnect the switch of the switch cabinet closing power supply.

[0127] In step S5, vehicle A takes a second picture through the multi-camera collaborative sensor 5 and compares it with the model generated in the first picture to make a second confirmation, ensuring that the switch of the switch cabinet closing power supply is in the "disconnected" state.

[0128] In step S6, vehicle A rotates the corresponding end effector to the working position by rotating the end effector turntable 6, and moves the switch truck from the "working" position to the "test" position;

[0129] In step S7, vehicle A rotates the corresponding end effector to the front of the switch cabinet via the end effector turntable 6 and uses the end effector to open the switch cabinet door.

[0130] In step S8, after car B opens the wall lock of the power switch cabinet by rotating the unlocking component 38, the electromagnet 30, under the control of the electromagnetic system component 29, changes from a weak magnet to a strong magnet, tightly attracting the handcart inside the power switch cabinet. Under the drag of the horizontal fixing frame 27, the handcart is moved out of the switch cabinet and the switch handcart is moved from the "test" position to the "manual maintenance" position.

[0131] In step S9, vehicle B once again uses the traction mechanism and the lowering actuator to move the PT truck to the "test" position inside the switch cabinet;

[0132] In step S10, vehicle A selects a suitable end effector by rotating the end effector turntable 6 to advance the PT handcart from the "test" position to the "work" position;

[0133] Step S11: The terminal actuator of vehicle A performs an inspection inside the switch cabinet to ensure that there is no voltage on all three phases of the load side inside the switch cabinet;

[0134] Step S12: The A vehicle's electrical testing terminal actuator performs insulation testing on the load inside the switchgear;

[0135] In step S13, vehicle A selects a suitable end effector by rotating the end effector turntable 6 to move the PT handcart from the "working" position to the "test" position;

[0136] In step S14, vehicle B uses the traction mechanism and the lowering actuator to move the PT handcart away;

[0137] In step S15, vehicle B uses a traction mechanism and a lowering actuator to move the overhauled switch trolley from the "manual overhaul" position to the "test" position inside the cabinet;

[0138] Step S16: Car A selects a suitable end effector by rotating the end effector turntable 6 to close the switch cabinet door;

[0139] In step S17, vehicle A uses a suitable end effector to move the switch truck from the "test" position to the "working" position, completing the power maintenance task.

[0140] This invention constructs a multi-machine collaborative digital twin model, driving the model using the power two-ticket system mechanism. The digital twin model performs pre-simulation and final calculations, providing optimized instructions for the actual operation of the power operation and maintenance robot. Simultaneously, leveraging the excellent visualization capabilities of digital twins, a dual-authority UI interaction based on digital twin technology is constructed (avoiding authorization overlap and interference in multi-machine collaboration by employing authorization confirmation and transfer processes to ensure the uniqueness of permissions in the working state). A single process direction is set, reducing the time spent on machine learning and human-computer interaction.

[0141] like Figure 13 As shown, when the multi-functional end effector is suspending the end effector, the three-dimensional vision recognition module can identify the induction magnetic strip built into the end effector to obtain the corresponding identification code. At the same time, the computer will give the end effector to be used and use the computer vision recognition system to scan the end effector to obtain the corresponding identification code. At this time, the two are checked and verified to complete the dual identity verification and achieve the correct use of the end effector.

[0142] like Figure 14 As shown, the intelligent compensator can perform intelligent gain, and its gain parameters are automatically derived by a self-learning algorithm through a neural network training engine. The neural network training engine is supported by the CPU and GPU built into a high-performance computer, and can use cloud servers to provide auxiliary computing power when needed. The self-learning algorithm of the intelligent compensator is based on the difference between the actual current of the operating motor and the current predicted by the neural network. The intelligent compensator automatically controls the servo motor 10 for the movement of the cross guide rail. At the same time, after the end effector is replaced, the target synchronizer controlled by the self-learning algorithm can adaptively adjust the parameters of the multi-camera collaborative sensor and the operating motor. The displacement trajectory parameters of the target synchronizer are updated in real time by the machine-trained algorithm to eliminate the error between different end effectors and the operating target, and ensure the operational accuracy of power operation and maintenance.

[0143] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0144] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A set of power operation and maintenance robots applied to high-voltage withdrawable power switchgear, including a power operation and maintenance operation robot and a power operation and maintenance transfer robot, characterized in that: The power operation and maintenance robot includes a multi-functional end effector and an electrical detection end effector located at the upper and lower ends respectively. The power operation and maintenance transfer robot includes a chassis moving mechanism located at the bottom, a visual recognition module (43) located at the top, and a traction mechanism and a swing-down execution mechanism located in the middle. The multi-functional end effector includes a cross rail, a multi-camera collaborative sensor (5), and an end effector; The cross guide rail includes a vertical guide rail (2), a horizontal guide rail (3) and a cross guide rail connection module (9); the cross guide rail is connected by the vertical guide rail (2) and the horizontal guide rail (3) via the cross guide rail connection module (9) and fixed on the base (1); The multi-camera collaborative sensor (5) includes a planar camera (501), a depth camera (502), and a high-definition camera (503); The end effector includes an end effector turntable (6), four end effectors and a turntable bracket (4); the end effector turntable (6) carries four end effectors and is fixed to the transverse guide rail (3) of the cross guide rail via the turntable bracket (4); There is a servo motor (11), a magnetic strip induction ring (7) and a torque sensor (12) between the end-effector turntable (6) and the turntable support (4). The end effector has a built-in magnetic strip for identification corresponding to its identity. The corresponding magnetic strip gives each end effector a unique identification code. The magnetic strip sensing ring (7) can identify the magnetic strip of different end effectors. The multi-functional end effector has an adaptive intelligent control access system, which consists of an intelligent compensator, a target synchronizer and a cross rail; the intelligent compensator is built into the servo motor (10); the target synchronizer is associated with the multi-camera collaborative sensor (5); The multifunctional end effector has a dual authentication system consisting of a unique inductive magnetic stripe code and a three-dimensional vision recognition module; the unique inductive magnetic stripe code is built into the corresponding end effector; the three-dimensional vision recognition module is associated with a multi-camera collaborative sensor (5); The voltage testing terminal actuator includes a housing assembly (13) and linear sliding guide rails (14) opened on the left and right sides inside the housing assembly (13), a scissor telescopic arm (15) that is movably engaged with the linear sliding guide rails (14), a multi-joint mechanism (16) connected to the front of the scissor telescopic arm (15), and a voltage testing mechanism (17) connected to the bottom of the multi-joint mechanism (16). The voltage testing mechanism (17) includes a high-voltage resistant depth recognition camera (1701), a pressure sensor (1702), an insulating rod (1703), a dual-pen switch (1704), a bracket (1705), and a voltage tester (1706). The front end of the insulating rod (1703) is connected to the pressure sensor (1702). The bracket (1705) is sleeved on the outer side of the pressure sensor (1702). The high-voltage resistant depth recognition camera (1701) is installed at the front of the top of the bracket (1705). The dual-pen switch (1704) is installed at the rear end of the insulating rod (1703). The voltage tester (1706) is installed at the front end of the pressure sensor (1702).

2. The power maintenance robot for high-voltage withdrawable power switchgear as described in claim 1, characterized in that: The four end effectors include a switch cabinet mechanical claw (601), a switch cabinet key (602), a switch cabinet crank (603), and a switch cabinet wrench (604); the four end effectors are fixed to the end effector turntable (6) by fixed rod-shaped parts; The multi-camera collaborative sensor (5) is positioned above the end effector turntable (6); The end effector turntable (6) is connected to the four end effectors by a servo motor (10) and a pressure torque sensor (8). The servo motor (10) drives the end effectors to rotate. The pressure torque sensor (8) senses the working condition of the end effector. If the working condition of the end effector sensed by the pressure torque sensor (8) is different from the preset normal condition, the servo motor (10) stops working. The servo motor (11) drives the end effector turntable (6) to rotate, so as to switch the end effector to meet different usage requirements; if the torque sensor (12) senses too much working resistance, the servo motor (11) stops working. The end effector uses an end effector turntable (6) to carry four different end effectors. The four end effectors are spaced 90° apart from each other, and the two opposite end effectors are at a 90° angle when viewed from the side. All four end effectors are detached from the end effector turntable (6).

3. The power maintenance robot for high-voltage withdrawable power switchgear as described in claim 1, characterized in that: The multi-joint mechanism (16) includes joint one (1601), joint two (1602) and connecting robotic arm (1603). The front end of joint one (1601) is movably connected to joint two (1602), and the side of joint two (1602) is movably connected to connecting robotic arm (1603). The multi-joint mechanism (16) connects the scissor telescopic arm (15) and the voltage detection mechanism (17). The telescopic arm (15) of the scissor structure moves on the linear sliding guide rail (14); The pressure sensor (1702) and the insulating rod (1703) are both made of bakelite plastic; The scissor structure of the telescopic arm (15) provides one degree of freedom, the revolute joint between the telescopic arm (15) and joint one (1601) provides one degree of rotation, the revolute joint between joint one (1601) and joint two (1602) provides one degree of rotation, and the revolute joint between joint two (1602) and connecting robotic arm (1603) provides one degree of rotation, for a total of 4 degrees of freedom.

4. The power maintenance robot for high-voltage withdrawable power switchgear as described in claim 3, characterized in that: The high-voltage resistant depth recognition camera (1701) is fixed on the voltage tester (1706) by a bracket (1705); The voltage tester (1706) achieves the function switching between voltage detection and insulation detection through a dual-pen switch (1704), and performs voltage detection or insulation detection in the power switch cabinet. The scissor-lift telescopic arm (15) and the multi-joint mechanism (16) are both driven by high-voltage motors and are made of highly insulating self-lubricating materials.

5. The power maintenance robot for high-voltage withdrawable power switchgear as described in claim 1, characterized in that: The chassis moving mechanism of the power operation and maintenance transfer robot includes Mecanum wheels (18), bottom integrated base (19), infrared rangefinder (20) and signal antenna (21). Mecanum wheels (18) are movably installed at the four corners of the bottom of the bottom integrated base (19). Infrared rangefinders (20) are installed on the sides of the bottom integrated base (19) near the four corners. A signal antenna (21) is installed on the back of the bottom integrated base (19). The traction mechanism includes a vertical slide rail inverted "U" shaped frame (22), a vertical slide rail (23), a power integration module (24), a transverse slide rail frame (25), a transverse slide rail (26), a transverse fixing frame (27), a diamond pin (28), an electromagnetic system component (29), and an electromagnet (30). Vertical slide rails (23) are provided on both the left and right sides of the inner cavity of the vertical slide rail inverted "U" shaped frame (22). A power integration module (24) is movably installed inside the vertical slide rail (23). A transverse slide rail frame (25) is fixedly installed on both the left and right sides of the front end of the power integration module (24). A transverse slide rail (26) is provided on the inner side of the transverse slide rail frame (25). A transverse fixing frame (27) is movably installed between the two transverse slide rails (26). An electromagnetic system component (29) is installed in the middle of the transverse fixing frame (27). An electromagnet (30) is installed at the front end of the electromagnetic system component (29). A diamond-shaped pin (28) is movably installed at the front end of the two transverse slide rail frames (25). The lowering actuator includes a longitudinal hydraulic rod (33), a servo motor (34), a horizontal slider fixing frame (35), a T-shaped horizontal slider (36), a motor (37), an unlocking component (38), a vision sensor (39), a horizontal helical gear (40), and a vertical helical gear with a rod (41). Longitudinal hydraulic rods (33) are fixedly installed on both the left and right sides of the bottom end of the transverse fixed frame (27). A servo motor (34) is installed at the bottom end of the longitudinal hydraulic rod (33). A horizontal slider fixing frame (35) is fixedly installed at the bottom end of the output shaft of the servo motor (34). A T-shaped horizontal slider (36) is movably installed below the horizontal slider fixing frame (35). A motor (37) is installed behind the bottom end of the T-shaped horizontal slider (36). A horizontal helical gear (40) is installed at the front end of the output shaft of the motor (37). A vertical helical gear (41) with a rod is meshed with the front end of the horizontal helical gear (40). A locking part (38) is installed at the bottom end of the vertical helical gear (41) with a rod. The top end of the vertical helical gear (41) with a rod is movably connected to the bottom end of the T-shaped horizontal slider (36). The transverse slide rail frame (25) is fixed by a positioning fixing plate (31); the power integration module (24) is connected and fixed to the positioning fixing plate (31) by a fixing plate (32); The visual sensor (39) is fixed to the unlocking component (38) by a fixing plate (42); The transverse fixing frame (27) has a built-in motor to move horizontally back and forth on the transverse slide rail frame (25) via the transverse slide rail (26); The power integration module (24) has a built-in motor that moves up and down within the inverted "U"-shaped frame (22) of the vertical slide rail via the vertical slide rail (23).

6. The power maintenance robot for high-voltage withdrawable power switchgear as described in claim 5, characterized in that: The diamond-shaped pin (28) can rotate. After the power operation and maintenance transfer robot is inserted and docked with the power switch cabinet, the diamond-shaped pin (28) rotates and locks.

7. The power maintenance robot for high-voltage withdrawable power switchgear as described in claim 5, characterized in that: The electromagnetic system component (29) can control the magnitude of the magnetic attraction force of the electromagnet (30) to realize the conversion between weak and strong magnetic fields. When the electromagnet (30) moves horizontally through the horizontal fixing frame (27) and initially contacts the handcart inside the power switch cabinet, it uses weak magnetic attraction to adjust the initial position between the electromagnet (30) and the handcart inside the cabinet, so as to adapt to and achieve the best initial state for the next action.

8. The power maintenance robot for high-voltage withdrawable power switchgear as described in claim 7, characterized in that: After the electromagnet (30) initially contacts and aligns with the handcart inside the cabinet, the longitudinal hydraulic rods (33) on both sides enable the lower swing actuator to move up and down; the horizontal slider fixing frame (35) rotates under the drive of the servo motor (34); the T-shaped horizontal slider (36) moves horizontally within the horizontal slider fixing frame (35); the motor (37) drives the horizontal helical gear (40) to rotate, which in turn drives the vertical helical gear (41) with a rod to rotate, and the unlocking part (38) rotates to open the wall lock of the power switch cabinet; The unlocking component (38) locates the wall lock of the switch cabinet through a vision sensor (39).

9. A power maintenance robot for high-voltage withdrawable power switchgear as described in claim 5, characterized in that: After the unlocking component (38) rotates to open the wall lock of the power switch cabinet, the electromagnet (30) is controlled by the electromagnetic system component (29) to change from a weak magnet to a strong magnet, tightly adsorbing the handcart inside the power switch cabinet. Under the drag of the horizontal fixing frame (27), the handcart is moved out of the switch cabinet and transported to the designated position.

10. A method for performing tasks using a power maintenance robot applied to a high-voltage withdrawable power switchgear, based on any one of claims 1-9, characterized in that... Includes the following steps: Step S1: The power operation and maintenance robot (hereinafter referred to as vehicle A) and the power operation and maintenance transfer robot (hereinafter referred to as vehicle B) receive instructions and begin to execute tasks. In step S2, vehicle A uses a multi-camera collaborative sensor (5), namely a planar camera (501), a depth camera (502), and a high-definition camera (503), to identify the name and dual number of the power switch cabinet, and constructs an image with depth information and generates a stereo model. Step S3, vehicle A checks the position of the circuit breaker in the switch cabinet again through the multi-camera collaborative sensor (5) to confirm that the circuit breaker is in the "open" state and the switch cabinet is in the non-working state at this time. Step S4: Car A rotates the corresponding end actuator to the front of the closing power supply by rotating the end actuator turntable (6), and uses the corresponding end actuator to disconnect the switch of the switch cabinet closing power supply. Step S5, vehicle A takes a second picture through the multi-camera collaborative sensor (5) and compares it with the model generated by the first picture to make a second confirmation, ensuring that the switch of the switch cabinet closing power supply is in the "disconnected" state; In step S6, vehicle A rotates the corresponding end effector to the working position by rotating the end effector turntable (6), and moves the switch truck from the "working" position to the "test" position; In step S7, vehicle A rotates the corresponding end actuator to the front of the switch cabinet using the end actuator turntable (6) and opens the switch cabinet door using the end actuator. Step S8: After B car rotates and opens the wall lock of the power switch cabinet through the unlocking part (38), the electromagnet (30) is controlled by the electromagnetic system component (29) to change from a weak magnet to a strong magnet, tightly attracting the handcart inside the power switch cabinet. Under the drag of the horizontal fixing frame (27), the handcart is moved out of the switch cabinet and the switch handcart is moved from the "test" position to the "manual maintenance" position. In step S9, vehicle B once again uses the traction mechanism and the lowering actuator to move the PT truck to the "test" position inside the switch cabinet; In step S10, vehicle A selects a suitable end effector by rotating the end effector turntable (6) to advance the PT handcart from the "test" position to the "work" position; Step S11: The terminal actuator of vehicle A performs an inspection inside the switch cabinet to ensure that there is no voltage on all three phases of the load side inside the switch cabinet; Step S12: The A vehicle's electrical testing terminal actuator performs insulation testing on the load inside the switchgear; Step S13, vehicle A selects a suitable end effector by rotating the end effector turntable (6) to move the PT handcart from the "working" position to the "test" position; In step S14, vehicle B uses the traction mechanism and the lowering actuator to move the PT handcart away; In step S15, vehicle B uses a traction mechanism and a lowering actuator to move the overhauled switch trolley from the "manual overhaul" position to the "test" position inside the cabinet; Step S16, vehicle A selects a suitable end effector to close the switch cabinet door by rotating the end effector turntable (6); In step S17, vehicle A uses a suitable end effector to move the switch truck from the "test" position to the "working" position, completing the power maintenance task.

Images