Actuator and robot for power distribution equipment

Abstract

The present invention discloses an actuator and a robot for power distribution equipment, wherein the actuator comprises an actuator, a first drive mechanism, a second drive mechanism and a third drive mechanism, wherein the actuator is used to operate a target position of the power distribution equipment, the first drive mechanism is used to drive the actuator to reciprocate in a vertical direction, the second drive mechanism is used to drive the actuator to reciprocate in a first horizontal direction so as to reduce or increase the distance between the actuator and the target position, and the third drive mechanism is used to drive the actuator to reciprocate in a second horizontal direction, the first horizontal direction and the second horizontal direction are perpendicular to each other, and the actuator is driven to move in three-dimensional space by the cooperation of the first drive mechanism, the second drive mechanism and the third drive mechanism, so as to meet the terminal operation requirements of different heights within a large travel range, so that the actuator can pull and draw the drawers at different positions of the power distribution equipment.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to an execution device and a robot for power distribution equipment. Background Art

[0002] Traditional drawer-type distribution cabinets require manual pulling of the drawer. However, there are many electrical components in the drawer, which cannot guarantee the safety of the operator. In addition, the drawer is heavy, and manual pulling is time-consuming and laborious, affecting work efficiency.

[0003] However, most of the existing distribution cabinet operating robots adopt the form of composite actuators at the end of the robotic arm, which can only perform some small torque operations, cannot meet the end operation requirements of different heights in a large travel range, and cannot achieve the pulling and pulling actions of the distribution cabinet drawers with large torque. Summary of the invention

[0004] In view of this, the present invention proposes an actuator and a robot for power distribution equipment, which can drive the actuator to move in three-dimensional space to meet the end operation requirements of different heights within a large travel range, and can pull and pull drawers at different positions of the power distribution equipment.

[0005] In a first aspect of the present invention, an execution device for a power distribution device is provided, the execution device comprising:

[0006] Actuators, used to operate the target position of the power distribution equipment;

[0007] A first driving mechanism, used for driving the actuator to reciprocate in a vertical direction;

[0008] a second driving mechanism, used for driving the actuator to reciprocate along a first horizontal direction so as to reduce or increase the distance between the actuator and the target position;

[0009] The third driving mechanism is used to drive the actuator to reciprocate along a second horizontal direction, and the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0010] A second aspect of the present invention provides a robot comprising the aforementioned execution device and a guide vehicle for driving the execution device to move.

[0011] The beneficial effects of the present invention are:

[0012] The actuator and robot proposed in the present invention, through the cooperation of the first drive mechanism, the second drive mechanism and the third drive mechanism, drive the actuator to move in three-dimensional space, which can meet the end operation requirements of different heights in a large travel range, so that the actuator can be moved to any target position of the power distribution equipment for operation, thereby being able to pull and pull drawers at different positions of the power distribution equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained like these accompanying drawings without paying any creative work.

[0014] Figure 1 It is a structural schematic diagram of a power distribution cabinet in the prior art.

[0015] Figure 2 yes Figure 1 Schematic diagram of the structure of the drawer of the power distribution cabinet.

[0016] Figure 3 It is a schematic diagram of the structure of the robot proposed in the embodiment of the present invention.

[0017] Figure 4 It is a schematic diagram of the structure of the execution device proposed in the embodiment of the present invention after the shell is hidden.

[0018] Figure 5 It is a schematic diagram of the connection state of the first driving mechanism, the second driving mechanism, the third driving mechanism, the lifting seat and the actuator proposed in the embodiment of the present invention.

[0019] Figure 6 It is a schematic diagram of the connection state of the first driving mechanism, the second driving mechanism and the lifting seat proposed in an embodiment of the present invention.

[0020] Figure 7 It is a schematic diagram of a lifting seat connected with an actuator proposed in an embodiment of the present invention being movably connected to a first guide mechanism.

[0021] Figure 8 It is a structural schematic diagram of the actuator proposed in the embodiment of the present invention.

[0022] Fig. 9 It is a schematic diagram of the connection state of the first execution structure, the third execution structure and the mounting seat in an embodiment of the present invention.

[0023] Fig.10 It is a schematic diagram of the structure of the first execution structure of an embodiment of the present invention.

[0024] In the figure: 100, robot; 10, guide vehicle; 20, execution device; 21, execution mechanism; 211, mounting seat; 212, first execution structure; 2121, connecting part; 2122, first extension part; 2123, second extension part; 2124, clamping groove; 2125, connecting member; 21251, spring; 21252, first rod body; 21253, second rod body; 2126, baffle; 2127, proximity switch; 213, second execution structure; 2131, rotating motor; 2132, rotating member; 2133, clamping groove; 214, third execution structure; 2141, abutment member; 2 142. driving member; 22. first driving mechanism; 23. second driving mechanism; 24. third driving mechanism; 25. first guiding mechanism; 251. first guiding column; 252. second guiding column; 253. bearing; 26. lifting seat; 27. second guiding mechanism; 271. first guide rail; 272. second guide rail; 28. housing; 29. ​​image acquisition device; 210. first sensor; 220. second sensor; 230. third sensor; 240. fourth driving mechanism; 200. power distribution cabinet; 201. drawer; 2011. fixed handle; 2012. rotating handle; 2013. switch. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0027] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0028] like Figure 1 As shown, the traditional drawer-type power distribution cabinet 200 requires manual operation to pull out the drawer 201. However, there are many electrical components in the drawer 201, which cannot guarantee the safety of the operator. In addition, the drawer 201 is very heavy, and manual operation is time-consuming and labor-intensive, which affects work efficiency.

[0029] Most of the existing distribution cabinet operating robots adopt the form of composite actuators at the end of the robotic arm, which can only perform some small torque operations, such as knobs, switch touch buttons, etc., and cannot meet the end operation requirements of different heights in a large travel range, and cannot perform the pulling and pulling actions of the drawer 201 of the distribution cabinet 200 with large torque.

[0030] Therefore, an embodiment of the present invention proposes an actuator and a robot for power distribution equipment, which can meet the end operation requirements of different heights within a large travel range to achieve the pulling and pulling action of the drawer 201 of the power distribution cabinet 200 with a large torque.

[0031] See also Figure 3-Figure 4 As shown, an embodiment of the present invention provides a robot 100, including a guide vehicle 10 and an execution device 20 installed on the guide vehicle 10. Those skilled in the art can understand that the execution device 20 provided by the present invention can also independently complete the operation of the power distribution cabinet 200, but by driving the execution device 20 to move through the guide vehicle 10, the execution device 20 can be moved to the vicinity of the power distribution cabinet 200 more quickly and accurately.

[0032] In some embodiments, the actuator 20 includes an actuator 21, a first drive mechanism 22, a second drive mechanism 23 and a third drive mechanism 24. The actuator 21 is used to operate the target position of the distribution cabinet 200. The first drive mechanism 22 is used to drive the actuator 21 to reciprocate in the vertical direction. The second drive mechanism 23 is used to drive the actuator 21 to reciprocate in the first horizontal direction so that the distance between the actuator 21 and the target position is reduced or increased. The third drive mechanism 24 is used to drive the actuator 21 to reciprocate in the second horizontal direction. The first horizontal direction and the second horizontal direction are perpendicular to each other.

[0033] The robot 100 proposed in the embodiment of the present invention can carry the execution device 20 to the front side of the target position of the distribution cabinet 200 through the automatic guided vehicle 10, and then drive the execution mechanism 21 to move in three-dimensional space through the cooperation of the first drive mechanism 22, the second drive mechanism 23 and the third drive mechanism 24, which can meet the end operation requirements of different heights in a large travel range, so that the execution mechanism 21 can be moved to any target position of the distribution cabinet 200 for operation, so that the drawers 201 at different positions of the distribution cabinet 200 can be pulled and pulled.

[0034] In some embodiments, Figure 4 and Figure 7As shown, the actuator 20 further includes a first guide mechanism 25, which is arranged opposite to the first driving mechanism 22, and is used to guide the actuator 21 to reciprocate in the vertical direction. In the embodiment of the present invention, the first guide mechanism 25 can guide the vertical movement of the actuator 21, ensuring that the actuator 21 can be balanced on both sides when it is lifted vertically.

[0035] In some embodiments, Figure 4 and Figure 7 As shown, the actuator 20 also includes a lifting seat 26, which is movably connected to the first guide mechanism 25, and the actuator 21 is arranged on the lifting seat 26. The lifting seat 26 has a first side and a second side opposite to the first side. The first guide mechanism 25 is located on the first side of the lifting seat 26, and the first drive mechanism 22 is located on the second side of the lifting seat 26. The first drive mechanism 22 is used to drive the lifting seat 26 to drive the actuator 21 to reciprocate in the vertical direction. In the embodiment of the present invention, the installation of the actuator 21 can be facilitated by the arrangement of the lifting seat 26. The lifting seat 26 is movably arranged between the first guide mechanism 25 and the first drive mechanism 22, so as to drive the actuator 21 to rise and fall vertically under the drive of the first drive mechanism 22, and ensure that the actuator 21 can be balanced on both sides when it rises and falls vertically.

[0036] In some embodiments, Figure 4 and Figure 7 As shown, the first guide mechanism 25 includes a first guide column 251 and a second guide column 252. The first guide column 251 extends in the vertical direction, and the second guide column 252 extends in the vertical direction and is arranged opposite to the first guide column 251 in the first horizontal direction. The first guide column 251 and the second guide column 252 are both movably arranged on the first side of the lifting seat 26. In the embodiment of the present invention, the arrangement of the first guide column 251 and the second guide column 252 can make the actuator 21 more stable when vertically lifting.

[0037] In some embodiments, Figure 7 As shown, the lifting seat 26 is provided with two guide holes spaced apart along the first horizontal direction, the first guide column 251 is movably provided in one of the guide holes, and the second guide column 252 is movably provided in the other guide hole, so as to realize the sliding connection between the lifting seat 26 and the first guide mechanism 25, wherein bearings 253 are provided at both guide holes, and the setting of the bearings 253 can reduce the friction force when the lifting seat 26 is vertically lifted and lowered, so as to facilitate the vertical lifting and lowering of the actuator 21.

[0038] In some embodiments, Figure 4-Figure 7As shown, the second driving mechanism 23 is connected to the first driving mechanism 22, the lifting seat 26 is connected to the second driving mechanism 23, the third driving mechanism 24 is connected to the lifting seat 26, and the actuator 21 is connected to the third driving mechanism 24. In the embodiment of the present invention, when the first driving mechanism 22 is driven, the lifting seat 26 is driven to be lifted vertically by the second driving mechanism 23, so as to drive the third driving mechanism 24 and the actuator 21 connected to the third driving mechanism 24 to achieve vertical lifting. When the second driving mechanism 23 is driven, the lifting seat 26 can be directly driven to move in the first horizontal direction, so as to drive the third driving mechanism 24 and the actuator 21 connected to the third driving mechanism 24 to achieve movement in the first horizontal direction. The third driving mechanism 24 is arranged on the lifting seat 26, and can directly drive the actuator 21 to achieve movement in the second horizontal direction.

[0039] Exemplarily, when the height and horizontal position of the actuator 21 are relative to the target position by driving the first drive mechanism 22 and the third drive mechanism 24, the actuator 21 is driven by the second drive mechanism 23 to operate close to the target position to realize the pulling and pulling action of the drawer 201. The robot 100 of the present invention adopts a combination of a three-axis composite drive mechanism and an automatic guided vehicle 10, and the overall structure is stable and reliable with low use cost.

[0040] Exemplarily, the actuator 20 further includes a housing 28 (eg, Figure 1 As shown in the figure, the housing 28 is installed on the guide vehicle 10, the first driving mechanism 22 includes a first motor, a first transmission structure, a first slider and a first slide rail, the first slide rail extends in the vertical direction, the first motor is connected to the first transmission structure, the first transmission structure is connected to the first slider, the first slide rail is fixed to the housing 28, the first slider and the first slide rail are slidably connected, and the first motor is used to drive the first slider to slide on the first slide rail in the vertical direction. The first transmission structure can be a screw transmission structure. Of course, the first transmission structure can also be a transmission structure such as a chain drive or a belt drive that can drive the first slider to move in a straight line.

[0041] Exemplarily, the second driving mechanism 23 includes a second motor, a second transmission structure, a second slider and a second slide rail, the second motor is connected to the second transmission structure, the second transmission structure is connected to the second slider, the second slide rail is fixed to the first slider, the lifting seat 26 is fixed to the second slider, the second slider and the second slide rail are slidably connected, and the second motor is used to drive the second slider to slide on the second slide rail along the first horizontal direction. The second transmission structure can be a screw transmission structure. Of course, the second transmission structure can also be a transmission structure such as a chain drive or a belt drive that can drive the second slider to move in a straight line.

[0042] Exemplarily, the third driving mechanism 24 includes a third motor, a third transmission structure, a third slider and a third slide rail, the third motor is connected to the third transmission structure, the third transmission structure is connected to the third slider, the third slide rail is fixed to the lifting seat 26, the actuator 21 is fixed to the third slider, the third slider and the third slide rail are slidably connected, and the third motor is used to drive the third slider to slide on the third slide rail along the second horizontal direction. The third transmission structure can be a screw transmission structure. Of course, the third transmission structure can also be a transmission structure such as a chain drive or a belt drive that can drive the third slider to move in a straight line.

[0043] It can be understood that the connection mode between the first driving mechanism 22, the second driving mechanism 23 and the third driving mechanism 24 is not limited to the above-mentioned setting. For example, in other embodiments, the lifting seat 26 can also be directly connected to the first driving mechanism 22, the second driving mechanism 23 is connected to the lifting seat 26, the third driving mechanism 24 is connected to the second driving mechanism 23, and the actuator 21 is connected to the third driving mechanism 24. When the first driving mechanism 22 is driven, it directly drives the lifting seat 26 to perform vertical lifting, so as to drive the second driving mechanism 23, the third driving mechanism 24 and the actuator 21 to achieve synchronous lifting. When the second driving mechanism 23 is driven, the actuator 21 is driven by the third driving mechanism 24 to move in the first horizontal direction, and the third driving mechanism 24 can directly drive the actuator 21 to achieve movement in the second horizontal direction.

[0044] It should be noted that the arrangement of force balance on both sides of the actuator 21 is not limited to the above-mentioned manner. For example, in other embodiments, the actuator 20 further includes a lifting seat 26, on which the actuator 21 is arranged. The lifting seat 26 has a first side and a second side opposite to the first side. The first drive mechanism 22 includes a first drive assembly and a second drive assembly. The first drive assembly is located on the first side of the lifting seat 26, and the second drive assembly is located on the second side of the lifting seat 26. The first drive assembly and the second drive assembly jointly drive the lifting seat 26 to drive the actuator 21 to reciprocate in the vertical direction. This arrangement uses two sets of drive assemblies to jointly drive the lifting seat to perform vertical lifting, so as to ensure that the actuator 21 can be subjected to force balance on both sides when it is lifted vertically.

[0045] Exemplarily, the overall lifting stroke of the robot 100 proposed in the embodiment of the present invention is 0-1500 mm to meet the end operation requirements at different heights within a large stroke range.

[0046] Since the overall lifting stroke is relatively large, the force required to pull out the drawer 201 of the power distribution cabinet 200 is about 450N, which will generate a large torque on the robot 100. Therefore, the robot 100 of the embodiment of the present invention ensures that the actuator 21 can be balanced on both sides when lifting vertically by setting the first guide mechanism 25 or driving the lifting on both sides together. Among them, by setting the first guide mechanism 25, the actuator structure adopts a rigid driving method in which a motor and a screw transmission structure are matched on one side, and a driven structure of a linear bearing column is adopted on the other side. This method can ensure that the actuator structure is balanced on both sides when lifting vertically. At the same time, this single-sided driven structure reduces the assembly difficulty and the use condition requirements compared to the drive form in which both sides are matched with a motor and a screw transmission structure, so that its use condition requirements are more suitable for large-range travel occasions and the overall cost is also lower.

[0047] In some embodiments, Figure 4 and Figure 7 As shown, the actuator 20 further includes a second guide mechanism 27, which is arranged opposite to the second driving mechanism 23, and the first guide mechanism 25 is slidably connected to the second guide mechanism 27, and the second guide mechanism 27 is used to guide the actuator 21 to reciprocate along the first horizontal direction. In the embodiment of the present invention, the second guide mechanism 27 can guide the movement of the actuator 21 in the first horizontal direction, so as to ensure that the forces on both sides of the actuator 21 are balanced when the actuator 21 moves along the first horizontal direction.

[0048] In some embodiments, Figure 7 As shown, the second guide mechanism 27 includes a first guide rail 271 and a second guide rail 272, the first guide rail 271 extends along the first horizontal direction, the second guide rail 272 extends along the first horizontal direction and is arranged opposite to the first guide rail 271 in the vertical direction, one end of the first guide mechanism 25 in the vertical direction is slidably connected to the first guide rail 271, and the other end of the first guide mechanism 25 in the vertical direction is slidably connected to the second guide rail 272. In the embodiment of the present invention, when the second driving mechanism 23 drives the lifting seat 26 to move along the first horizontal direction, it can drive the first guide mechanism 25 to slide along the first guide rail 271 and the second guide rail 272 as a whole, so that the actuator 21 has higher stability when moving along the first horizontal direction.

[0049] In some embodiments, Figure 4 and Figure 7As shown, the execution device 20 also includes an image acquisition device 29, a first sensor 210 and a controller. The image acquisition device 29 is installed on the lifting seat 26. The image acquisition device 29 is used to take a picture of the target position and output the obtained image information. The first sensor 210 is installed on the lifting seat 26 or the first guide mechanism 25, and is used to detect the distance between the lifting seat 26 and the target position and output a signal. The controller is used to control the first drive mechanism 22 and / or the second drive mechanism 23 and / or the third drive mechanism 24 to drive the execution mechanism 21 to move according to the image information output by the image acquisition device 29 and the signal output by the first sensor 210, so that the execution mechanism 21 can operate the target position. In the embodiment of the present invention, the image acquisition device 29 can be a CCD camera, the first sensor 210 can be a laser ranging sensor, the controller can be a PLC programmable logic controller, a DDC direct digital controller or a single-chip control system, etc., and a terminal precision positioning solution combining laser ranging and visual positioning is adopted to assist the execution structure to complete the precise operation of the target position, and the integrated controller realizes the visual interactive control of the robot 100.

[0050] Among them, the image acquisition device 29 is installed on the lifting seat 26 to move with the lifting seat 26 to be opposite to the target position, so as to obtain image information of the target position. The image acquisition device 29 is used to obtain image information of the target drawer 201 of the distribution cabinet 200. The image information can be transmitted to the background operator through data to realize human-computer interactive control and improve the accuracy of the operation. The first sensor 210 can be installed on the lifting seat 26 or the first guide mechanism 25. The side of the shell 28 relative to the distribution cabinet 200 has an opening for exposing the actuator 21. The opening is set so that the image acquisition device 29 connected to the lifting seat 26 can capture the target position to obtain image information, and the light of the first sensor 210 can be emitted to detect the distance between the lifting seat 26 and the target position and output a signal.

[0051] It is understandable that the image acquisition device 29 may also be other devices that can obtain image information of the target position and output signals, and the first sensor 210 may also be other devices that can measure the vertical distance between the lifting base 26 and the target position and output signals.

[0052] In some embodiments, Figure 3As shown, the execution device 20 also includes a second sensor 220, a third sensor 230 and a controller. The second sensor 220 is used to output a signal when it detects that the target position of the distribution cabinet 200 is located in the forward direction of the robot 100. The third sensor 230 is used to detect the distance between the robot 100 and the distribution cabinet 200 and output a signal. The controller is used to control the movement of the guide vehicle 10 according to the signals output by the second sensor 220 and the third sensor 230 so that the distance between the guide vehicle 10 and the distribution cabinet 200 meets the preset distance range.

[0053] In an embodiment of the present invention, the preset distance range is a distance range in which the actuator 21 can be driven by the first driving mechanism 22 and / or the second driving mechanism 23 and / or the third driving mechanism 24 to move to operate the target position. The second sensor 220 can be a photoelectric sensor, and the third sensor 230 can be a laser ranging sensor. The controller can be a PLC programmable logic controller, a DDC direct digital controller or a single-chip microcomputer control system, etc. The controllers mentioned in some embodiments of the present invention can be the same device. Through the setting of the photoelectric sensor and the laser sensor, the secondary positioning of the guide vehicle 10 can be performed, and the error caused by the map navigation accuracy of the automatic guided vehicle 10 can be eliminated, and the position can be accurately adjusted to solve the vertical distance and parallelism angle problems between the guide vehicle 10 and the distribution cabinet 200, and ensure the stopping vertical distance and horizontality accuracy of the guide vehicle 10, so that the actuator 21 can operate the target position.

[0054] For example, Figure 3 As shown, the first sensor 210 and the third sensor 230 are installed on the front side of the shell 28, that is, the side of the shell 28 opposite to the distribution cabinet 200. The front side of the shell 28 also has a window for emitting light from the first sensor 210 and the third sensor 230 to facilitate the detection of the first sensor 210 and the second sensor 220.

[0055] For example, Figure 3 As shown, in order to improve the position adjustment accuracy during secondary positioning, two second sensors 220 and two third sensors 230 are provided, the two third sensors 230 are arranged at intervals along the second horizontal direction, and the two second sensors 220 are symmetrically arranged on both sides of one of the third sensors 230.

[0056] In an embodiment of the present invention, Figure 1-Figure 2As shown, the target position can be the operating position of any drawer 201 on the distribution cabinet 200. Each drawer 201 of the distribution cabinet 200 is correspondingly provided with a fixed handle 2011. The fixed handle 2011 at the target position can be clamped by the actuator 21, and then the actuator 21 is driven by the second driving mechanism 23 to move along the first horizontal direction to pull out the drawer 201 at the target position of the distribution cabinet 200.

[0057] In some embodiments, Figure 7-Figure 9 As shown, the actuator 21 includes a mounting seat 211 and a first actuator structure 212 disposed on the mounting seat 211. The first actuator structure 212 is used to clamp the fixed handle 2011 ( Figure 2 As shown), so that the drawer 201 can be pulled out and pushed in by fixing the handle 2011.

[0058] In some embodiments, Figure 8 and Fig.10 As shown, the first execution structure 212 includes a connecting portion 2121, a first extension portion 2122 and a second extension portion 2123, the connecting portion 2121 is connected to the mounting seat 211, the first extension portion 2122 is connected to the connecting portion 2121, one end of the second extension portion 2123 is connected to one end of the first extension portion 2122, and the other end of the second extension portion 2123 is spaced apart from the other end of the first extension portion 2122, so that the first extension portion 2122 and the second extension portion 2123 enclose a clamping groove 2124 for clamping the fixed handle 2011; wherein the second extension portion 2123 is used to be inserted into the gap between the fixed handle 2011 and the outer wall of the distribution cabinet 200, so that the fixed handle 2011 is clamped in the clamping groove 2124. In the embodiment of the present invention, the first extension portion 2122 and the second extension portion 2123 are arranged so as to clamp the fixed handle 2011 in the clamping groove 2124 , so as to perform the operation of pulling out and pushing in the drawer 201 .

[0059] For example, Figure 8 and Fig.10 As shown, the clamping groove 2124 formed by the connection between the first extension portion 2122 and the second extension portion 2123 is a door-shaped structure, so that the fixed handle 2011 can be clamped in the clamping groove 2124.

[0060] In some embodiments, Figure 8 and Fig. 9As shown, there are two first execution structures 212, and the two first execution structures 212 are arranged at intervals along the second horizontal direction. Since a single drawer 201 of the power distribution cabinet 200 weighs about 40kg-60kg, and there is generally a guide groove at the bottom of the drawer 201, but a large pulling force is still required to perform the operation of pulling out and pushing, which will also generate a large reaction force on the robot 100, two first execution structures 212 are set, and the two first execution structures 212 act at the same time to ensure that the fixed handles 2011 ( Figure 2 As shown in the figure, the two hands can apply force at the same time to facilitate pulling and pulling of the drawer 201.

[0061] In some embodiments, Figure 8 and Fig.10 As shown, the connecting portion 2121 is connected to the mounting seat 211 via a telescopically adjustable connecting member 2125, the connecting member 2125 includes a telescopic rod and a spring 21251 sleeved on the telescopic rod, the spring 21251 abuts between the connecting portion 2121 and the mounting seat 211, so that the first execution structure 212 has a certain flexibility, ensuring that the fixed handles 2011 on both sides of the drawer 201 can be subjected to force at the same time when the drawer 201 is pulled out and pushed in.

[0062] Exemplarily, the telescopic rod includes a first rod body 21252 connected to the connecting portion 2121 and a second rod body 21253 connected to the mounting seat 211, and one of the first rod body 21252 and the second rod body 21253 is sleeved on the other, so that the sleeved one can be partially retracted or extended into the other, thereby realizing the telescopic adjustment of the telescopic rod, so that the first execution structure 212 can be adjusted to a certain distance, so that when the distances between the fixed handles 2011 on both sides of the drawer 201 and the two first execution structures 212 are different, they can be adjusted to keep the two fixed handles 2011 able to be stressed at the same time. Of course, the connecting member 2125 can also adopt other structures to achieve telescopic adjustment.

[0063] In some embodiments, Figure 8 and Fig.10 As shown, one of the connecting portion 2121 and the mounting seat 211 is provided with a baffle 2126, and the other of the connecting portion 2121 and the mounting seat 211 is provided with a proximity switch 2127. There is a distance between the proximity switch 2127 and the baffle 2126. The proximity switch 2127 can sense the approach of the baffle 2126 to facilitate the control of the action of the actuator 21.

[0064] In an embodiment of the present invention, Figure 2As shown, each drawer 201 of the power distribution cabinet 200 may also be provided with a rotating handle 2012, a switch 2013, etc. The switch 2013 may be provided on one of the fixed handles 2011, and the actuator 21 may also be used to turn the knob to rotate the handle 2012 and to perform a touch operation on the switch 2013. To ensure safety, before the drawer 201 is pulled out, the knob needs to be turned to rotate the handle 2012 and the switch 2013 needs to be touched, and then the drawer 201 can be pulled out, and the switch 2013 needs to be kept pressed during the process of pulling out the drawer 201.

[0065] In some embodiments, Figure 7 and Figure 8 As shown, the actuator 21 further includes a second execution structure 213 disposed on the mounting seat 211, and the second execution structure 213 is used to clamp and rotate the rotating handle 2012 at the target position. In the embodiment of the present invention, the second execution structure 213 may include a rotating motor 2131 and a rotating member 2132 connected to the rotating motor 2131, and a clamping groove 2133 for clamping the rotating handle 2012 is provided on one side of the rotating member 2132 facing the target position, and the rotating member 2132 is driven to rotate by the rotating motor 2131 to drive the rotating handle 2012 clamped in the clamping groove 2133 to rotate synchronously.

[0066] In some embodiments, Figure 7-Figure 9 As shown, the actuator 21 also includes a third actuator structure 214, which is used to perform a touch operation on the switch 2013 at the target position to cooperate with the first actuator structure 212 and the second actuator structure 213 to perform the pulling and pulling action of the drawer 201, thereby realizing the actuator 21 for the pulling and pulling action of the drawer 201 of the distribution cabinet 200, the integrated multifunctional operation of the knob and the press.

[0067] The mounting seat 211 may be a third slider mounted on the third driving mechanism 24, or may be directly integrated with the third slider, and the installation of the mounting seat 211 facilitates the installation of the actuator 21. The first actuator structure 212, the second actuator structure 213 and the third actuator structure 214 cooperate to realize the pulling and drawing action of the drawer 201.

[0068] In some embodiments, Figure 7 and Fig. 9 As shown, the third execution structure 214 is installed on the connection part 2121 and extends out of the clamping groove 2124 to perform a touch operation on the switch 2013 located on the fixed handle 2011. In the embodiment of the present invention, the third execution structure 214 is installed together with the connection part 2121, which has a compact structure, is easy to assemble, and saves space. At the same time, the switch 2013 on the fixed handle 2011 can be touched, so that the switch 2013 can be kept in a pressed state during the drawer 201 is pulled out.

[0069] It is understandable that the third execution structure 214 may also be installed at other locations, or another third execution structure 214 may be installed at other locations to satisfy the pressing operations of other buttons.

[0070] In some embodiments, Fig. 9 As shown, the third execution structure 214 includes an abutment member 2141 and a driving member 2142, the abutment member 2141 is used to abut the switch 2013 at the target position, the driving member 2142 is connected to the abutment member 2141, and the driving member 2142 is used to drive the abutment member 2141 to extend and retract, so as to perform a touch operation on the switch 2013 at the target position. In the embodiment of the present invention, the driving member 2142 can be a push-pull electromagnet, and its extended position can be controlled to perform precise touch, the connecting portion 2121 has a receiving space, the driving member 2142 is installed in the receiving space, one end of the abutment member 2141 is connected to the driving member 2142, and the other end of the abutment member 2141 extends out of the connecting portion 2121 and is located in the clamping groove 2124, so as to perform a touch operation on the switch 2013 at the target position and keep the switch 2013 in a pressed state during the drawer 201 pulling process.

[0071] In some embodiments, Figure 7 and Figure 8 As shown, the robot 100 further includes a fourth driving mechanism 240, which is mounted on the mounting seat 211 and connected to the second execution structure 213. The fourth driving mechanism 240 is used to drive the second execution structure 213 to move along the first horizontal direction so that the distance between the second execution structure 213 and the target position is reduced or increased. In the embodiment of the present invention, the distance between the second execution structure 213 and the target position can be adjusted by setting the fourth driving mechanism 240, so as to facilitate clamping and turning the handle 2012.

[0072] For example, Figure 8 As shown, the fourth driving mechanism 240 includes a fourth motor and a fourth transmission structure, the fourth motor is connected to the fourth transmission structure, the fourth transmission structure is connected to the second execution structure 213, and the fourth motor is used to drive the fourth transmission structure to drive the second execution structure 213 to move along the first horizontal direction. The fourth transmission structure can be a screw transmission structure. Of course, the fourth transmission structure can also be a transmission structure such as a chain drive, a belt drive, etc. that can drive the second execution structure 213 to move along a straight line.

[0073] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An actuator for power distribution equipment, characterized in that: The execution device comprises: Actuators, used to operate the target position of the power distribution equipment; A first driving mechanism, used for driving the actuator to reciprocate in a vertical direction; a second driving mechanism, used for driving the actuator to reciprocate along a first horizontal direction so as to reduce or increase the distance between the actuator and the target position; a third driving mechanism, used for driving the actuator to reciprocate along a second horizontal direction, wherein the first horizontal direction and the second horizontal direction are perpendicular to each other; A first guide mechanism, arranged opposite to the first driving mechanism, the first guide mechanism is used to guide the actuator to reciprocate in a vertical direction; A lifting seat, movably connected to the first guide mechanism, and the actuator is arranged on the lifting seat; An image acquisition device, installed on the lifting seat, and used to take a picture of the target position and output the obtained image information; A first sensor, installed on the lifting seat or the first guide mechanism, the first sensor is used to detect the distance between the lifting seat and the target position and output a signal; a controller, the controller being used to control the first driving mechanism and / or the second driving mechanism and / or the third driving mechanism to drive the actuator to move according to the image information output by the image acquisition device and the signal output by the first sensor, so that the actuator can operate on the target position; The actuator includes a mounting seat and: A first execution structure, used for clamping a fixed handle at the target position; A second execution structure is used to clamp and rotate the rotating handle at the target position; A third execution structure is used to perform a touch operation on the switch at the target position; The first execution structure includes a connecting portion, a first extending portion, and a second extending portion, wherein the connecting portion is connected to the mounting seat, the first extending portion is connected to the connecting portion, one end of the second extending portion is connected to one end of the first extending portion, and the other end of the second extending portion is spaced apart from the other end of the first extending portion, so that the first extending portion and the second extending portion enclose a clamping groove for clamping the fixed handle; Wherein, the second extension portion is used to be inserted into the gap between the fixed handle and the outer wall of the power distribution equipment, so that the fixed handle is clamped in the clamping groove; The third execution structure is installed on the connecting portion and extends out of the clamping groove to perform a touch operation on the switch on the fixed handle; The third execution structure includes an abutment member and a driving member, wherein the abutment member is used to abut the switch at the target position, the driving member is connected to the abutment member, and the driving member is used to drive the abutment member to extend and retract, so as to perform a touch operation on the switch at the target position; The number of the first execution structures is two, and the two first execution structures are arranged at intervals along the second horizontal direction; The execution device also includes a fourth driving mechanism, which is installed on the mounting seat and connected to the second execution structure. The fourth driving mechanism is used to drive the second execution structure to move along the first horizontal direction to reduce or increase the distance between the second execution structure and the target position.

2. The execution device according to claim 1, characterized in that: The lifting seat has a first side and a second side opposite to the first side. The first guide mechanism is located on the first side of the lifting seat. The first driving mechanism is located on the second side of the lifting seat. The first driving mechanism is used to drive the lifting seat to drive the actuator to reciprocate in the vertical direction.

3. The execution device according to claim 2, characterized in that: The second driving mechanism is connected to the first driving mechanism, the lifting seat is connected to the second driving mechanism, the third driving mechanism is connected to the lifting seat, and the actuator is connected to the third driving mechanism; or, The lifting seat is connected to the first driving mechanism, the second driving mechanism is connected to the lifting seat, the third driving mechanism is connected to the second driving mechanism, and the actuator is connected to the third driving mechanism.

4. The execution device according to claim 2, characterized in that: The execution device also includes: The second guide mechanism is arranged opposite to the second driving mechanism, the first guide mechanism is slidably connected to the second guide mechanism, and the second guide mechanism is used to guide the actuator to reciprocate along the first horizontal direction.

5. The execution device according to claim 4, characterized in that: The second guiding mechanism comprises: a first guide rail extending along the first horizontal direction; The second guide rail extends along the first horizontal direction and is arranged opposite to the first guide rail in the vertical direction. One end of the first guide mechanism in the vertical direction is slidably connected to the first guide rail, and the other end of the first guide mechanism in the vertical direction is slidably connected to the second guide rail.

6. The execution device according to claim 2, characterized in that: The first guiding mechanism comprises: A first guide column extending along the vertical direction; The second guide column extends along the vertical direction and is arranged opposite to the first guide column along the first horizontal direction. The first guide column and the second guide column are both movably arranged on the first side of the lifting seat.

7. The execution device according to claim 1, characterized in that: The lifting seat has a first side and a second side opposite to the first side. The first driving mechanism includes a first driving component and a second driving component. The first driving component is located on the first side of the lifting seat, and the second driving component is located on the second side of the lifting seat. The first driving component and the second driving component jointly drive the lifting seat to drive the actuator to reciprocate in the vertical direction.

8. A robot, characterized in that: It comprises an execution device as described in any one of claims 1 to 7 and a guide vehicle for driving the execution device to move.

9. The robot according to claim 8, characterized in that The execution device comprises: A second sensor, configured to output a signal when detecting that the power distribution device is located in the forward direction of the robot; A third sensor, used for detecting the distance between the robot and the power distribution equipment and outputting a signal; A controller is used to control the movement of the guide vehicle according to the signals output by the second sensor and the third sensor, so that the distance between the guide vehicle and the power distribution equipment meets a preset distance range.

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