A multi-functional robotic work tool with a switching mechanism

Abstract

This invention relates to the field of substation operating tools, specifically a multi-functional robotic operating tool with a switching mechanism. A handcart tool, a button tool, a rotary gripper tool, and an emergency tripping tool are respectively mounted on a tool end base plate assembly. A motor is fixed to a motor mounting base and a support plate. The lower end of a connecting shaft is fixed to the tool base assembly, and the upper end is connected to the motor flange shaft via a coupling. A depth camera and supplementary lighting assembly are fixed to the connecting shaft. A tool cover is provided on the tool base assembly, and a tool end adapter is provided below the tool base assembly. A pipeline fixing seat is provided inside the tool end adapter. This invention enables the use of a robot to perform tasks previously requiring manual operation, such as emergency tripping of switchgear in substation switch rooms, handcart circuit breaker cranking, local / remote knob switching, and operation of protection device buttons and pressure plates. This improves the emergency response efficiency of substation switch rooms and reduces the risks associated with manual operation.

Description

Technical Field

[0001] This invention relates to the field of substation operation tools, specifically a multi-functional robotic operation tool with a switching mechanism. Background Technology

[0002] With the increasing number of substations and switchgear equipment in China, the demand for operation and maintenance personnel has increased. Currently, substations below 220KV are operating unmanned, and a centralized operation and maintenance model with regional operation and maintenance teams is being implemented. As the number of substations increases, the ratio of personnel to substations decreases, and the workload per person continues to rise.

[0003] In the substation switch room, routine operations such as emergency tripping of switchgear, cranking in and out of circuit breakers, local / remote knob switching, operation of protection device buttons and pressure plates are all performed by maintenance personnel. With the increasing number of substations being built, the shortage of maintenance personnel is becoming increasingly prominent. Improving emergency response efficiency and ensuring personnel safety have always been key pain points in maintenance management.

[0004] Therefore, in order to solve the above problems, the present invention provides a multi-functional robotic work tool with a switching mechanism, which improves the emergency response efficiency of the substation switch room and reduces the risk of manual operation by performing actions and steps that require manual operation by the robot. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-functional robotic work tool with a switching mechanism. By having the robot perform actions and steps that previously required manual operation, the emergency response efficiency of the substation switch room is improved and the risks of manual operation are reduced.

[0006] To achieve the above objectives, the present invention provides a multi-functional robotic work tool with a switching mechanism, comprising a tool end adapter, a handcart tool, a button tool, a rotary gripper tool, an emergency tripping tool, a tool cover, a pipeline fixing seat, a depth camera and supplementary lighting assembly, a tool camera housing, a tool base assembly, a motor, a motor mounting bracket, a coupling, a motor flange shaft, a connecting shaft, and a support plate. The handcart tool, button tool, rotary gripper tool, and emergency tripping tool are respectively mounted on the tool end base assembly. The motor is fixed on the motor mounting bracket, which is fixed to the support plate. The lower end of the connecting shaft is fixed to the tool base assembly, and the upper end of the connecting shaft is connected to the motor flange shaft via a coupling. The depth camera and supplementary lighting assembly are fixed on the middle flange of the connecting shaft. A tool cover is provided on the tool base assembly, and a tool end adapter is provided below the tool base assembly. A pipeline fixing seat is provided inside the tool end adapter.

[0007] The tool base assembly includes a tool end base plate, a deep groove ball bearing, a bearing housing, a spacer, a bearing end cover, a tool control plate, and a control plate fixing plate. The bearing housing contains two deep groove ball bearings and is pressed together by the bearing end cover. One end of the bearing housing is connected to the tool end base plate. The tool end base plate has four tool mounting positions. The tool control plate is installed at each tool mounting position. A control plate fixing plate is installed on one side of the tool control plate.

[0008] The handcart tool includes a motor, coupling, motor flange shaft, handcart module base, flat key, compression spring, handcart sleeve, limit pin one, slide rod, and protective sleeve. The large end of the slide rod is a keyway shaft, and the small end is a square long-shank shaft. One end of the handcart sleeve has a square hole, and the other end has eight right-angle countersunk holes spaced at 45° intervals. The motor flange shaft is connected to the large end of the slide rod via the coupling. The square hole of the handcart sleeve slides in conjunction with the square long-shank shaft at the small end of the slide rod and is reset by the compression spring. The handcart module base is provided on one side of the motor flange shaft. A flat key is provided between the coupling and the motor flange shaft. A limit pin one is provided on the top of the slide rod. A protective sleeve is provided on the outside of the handcart sleeve.

[0009] The coupling is a single-diaphragm high-torque coupling, which provides a flexible working structure for handcart tools and increases the positional tolerance of the handcart tools.

[0010] A rotary gripper tool consists of a rotary component and a gripper component.

[0011] The rotating assembly includes a gripper module base, a servo adapter flange, a servo motor, a servo motor flange shaft, a deep groove ball bearing, a shaft retaining ring, a gland, a cylindrical pin, a bearing housing, a spacer, and a standard round-head key. The servo motor is fixed on the gripper module base.

[0012] The gripper assembly is fixed to the servo adapter flange of the rotating assembly, and the servo of the rotating assembly drives the gripper assembly to rotate.

[0013] The gripper assembly includes a gripper seat, a left-hand lead screw nut, a double-hand lead screw, a right-hand lead screw nut, an open retaining ring, an end cap, a bushing, grippers, a second servo motor, a gripper servo motor seat, a bevel gear, a second servo motor flange shaft, and a second ordinary round-head key. The second servo motor is fixed on the gripper servo motor seat. The bevel gear is connected to the second servo motor via the second servo motor flange shaft and the second ordinary round-head key. The second servo motor drives the bevel gear to rotate. The gripper is fixed on the lead screw nut. The bevel gear is fixed on the double-hand lead screw via a Puning round head. The bevel gear drives the double-hand lead screw to rotate, thus opening or closing the gripper.

[0014] The button tool includes an end cap, a compression spring, a push rod, a linear bearing, a limit sleeve, and a push rod fixing seat. The linear bearing is installed in the fixing seat, the push rod passes through the linear bearing, one end of the push rod is connected to the limit sleeve, one end of the compression spring is at the limit sleeve, and the other end of the compression spring is at the end cap. When the button tool is in operation, the push rod can slide in the linear bearing and return to its original position under the action of the compression spring.

[0015] The emergency tripping tool includes a tripping module base, a servo motor (3rd type), a servo motor output shaft, a standard round-head key (3rd type), a pressure cap (2nd type), a sliding sleeve bearing housing, a shaft elastic retaining ring, a deep groove ball bearing (3rd type), a compression spring (2nd type), a knob sleeve, a limit pin (2nd type), a tripping slide rod, a spacer (2nd type), a connecting seat, and a knob sleeve. Two deep groove ball bearings (3rd type) are installed with spacer (2nd type) inside the sliding sleeve bearing housing and are pressed tightly with pressure cap (2nd type). One end of the tripping slide rod passes through two deep groove ball bearings (3rd type) and is limited by the shaft elastic retaining ring. The other end of the tripping slide rod has a square handle. The knob sleeve has a square hole. The compression spring (2nd type) and the knob sleeve are installed on the tripping slide rod and are limited in position by limit pin (2nd type). The knob sleeve can slide on the tripping slide rod. The torque output by the servo motor is transmitted to the tripping slide rod through the servo motor output shaft and the standard round-head key, and the tripping slide rod drives the knob sleeve to rotate.

[0016] Compared with existing technologies, this invention, by setting the handcart tool, button tool, rotary gripper tool, and emergency tripping tool on the tool end adapter, and with the structural design of each tool itself, enables the use of robots to perform tasks that previously required manual operation, such as emergency tripping of switchgear, handcart circuit breaker cranking, local / remote knob switching, and operation of protection device buttons and pressure plates in the substation switch room. This improves the emergency response efficiency of the substation switch room and reduces the risks of manual operation. Attached Figure Description

[0017] Figure 1 Top view of this application

[0018] Figure 2 Side sectional view of this application

[0019] Figure 3 Perspective view of this application

[0020] Figure 4 This application does not include a perspective view of the outer casing.

[0021] Figure 5 Top view of tool base assembly

[0022] Figure 6 Tool base component cross-sectional view

[0023] Figure 7 Side sectional view of handcart tools

[0024] Figure 8 3D diagram of handcart tools

[0025] Figure 9 Side sectional view of a rotary gripper tool

[0026] Figure 10 Rotary gripper tool 3D diagram

[0027] Figure 11 Rotary component side section view

[0028] Figure 12 Side sectional view of gripper assembly

[0029] Figure 13 Side sectional view of button tool

[0030] Figure 14 Side sectional view of emergency tripping tool

[0031] Figure 15 3D view of connecting shaft

[0032] Figure 16 3D diagram of the gripper seat

[0033] Explanation of reference numerals in the attached figures:

[0034] 1 is a tool end adapter; 2 is a handcart tool; 3 is a button tool; 4 is a rotary gripper tool; 5 is an emergency tripping tool; 6 is a tool cover; 7 is a pipeline fixing base; 8 is a depth camera and supplementary lighting assembly; 9 is a tool camera housing; 10 is a tool base assembly; 11 is a motor; 12 is a motor mounting bracket; 13 is a coupling; 14 is a motor flange shaft; 15 is a connecting shaft; 16 is a support plate; 17 is a tool end base plate; 18 is a deep groove ball bearing; 19 is... 20 is bearing housing 1, 21 is spacer 1, 22 is bearing end cover, 23 is tool control board, 24 is control board mounting plate, 25 is handcart module base, 16 is motor flange shaft, 27 is flat key, 18 is coupling, 29 is compression spring, 30 is handcart sleeve, 31 is limit pin 1, 32 is slide rod, 33 is protective sleeve, 34 is rotating assembly, 35 is gripper assembly, 36 is gripper module base, and 37 is servo motor adapter flange. 38 is Servo Motor I; 39 is Servo Motor Flange Shaft I; 40 is Deep Groove Ball Bearing II; 41 is Shaft Elastic Retaining Ring; 42 is Pressure Cap I; 43 is Cylindrical Pin; 44 is Bearing Housing II; 45 is Spacer Ring; 46 is Ordinary Round Head Flat Key I; 47 is Clamp Seat; 48 is Left-hand Leadscrew Nut; 49 is Double-hand Leadscrew; 50 is Right-hand Leadscrew Nut; 51 is Open Retaining Ring; 52 is End Cap; 53 is Bushing; 54 is Clamp; 55 is Servo Motor II; 56 57 is a gripper servo base, 58 is a bevel gear, 59 is a servo flange shaft II, 60 is a standard round-head flat key II, 61 is a button module base, 62 is an end cover, 63 is a compression spring I, 64 is a push rod, 65 is a linear bearing, 66 is a limit sleeve, 67 is a push rod fixing seat, 68 is a trip module base, 69 is a servo III, 70 is a servo output shaft, 71 is a standard round-head flat key III, 72 is a pressure cover II, 73 is a sliding sleeve bearing seat, 74 is a shaft elastic retaining ring, 75 is a deep groove ball bearing III, 76 is a compression spring II, 77 is a knob sliding sleeve, 78 is a limit pin II, 89 is a trip slide rod, 80 is a spacer II, 81 is a connecting seat, and 82 is a knob sleeve. Implementation

[0035] The present invention will now be further described with reference to the accompanying drawings.

[0036] See Figures 1-16 This invention provides a multi-functional robot operation tool with a switching mechanism. The implementation examples are only some of the implementation examples of this application. All other implementation examples related to the technical principles and structural forms of this application are within the protection scope of this application.

[0037] Specific implementation methods:

[0038] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 15As shown, a multi-functional robot end effector with a switching mechanism is characterized by comprising: a tool end adapter 1, a handcart tool 2, a button tool 3, a rotary gripper tool 4, an emergency tripping tool 5, a tool housing 6, a pipeline fixing seat 7, a depth camera and supplementary lighting assembly 8, a tool camera housing 9, a tool base assembly 10, a motor 11, a motor mounting base 12, a coupling 13, a motor flange shaft 14, a connecting shaft 15, and a support plate 16. The handcart tool 2, button tool 3, rotary gripper tool 4, and emergency tripping tool 5 are respectively mounted on the tool end base assembly 10. The motor 11 is fixed to the motor mounting base 12, and the motor mounting base 12 is fixed to the support plate 16. The lower end of the connecting shaft 15 is fixed to the tool base assembly 10, and the upper end of the connecting shaft 15 is connected to the output shaft of the motor 11 via the coupling 13. The depth camera and supplementary lighting assembly 8 is fixed to the flange in the middle of the connecting shaft 15. Driven by the motor 11, the tool end base plate assembly 10 rotates along the center of the tool end adapter 1, switching the handcart tool 2, button tool 3, rotating gripper tool 4, and emergency tripping tool 5 to a position parallel to the center of the depth camera and supplementary lighting assembly 8. The depth camera and supplementary lighting assembly 8 provide the tool with information such as target position and depth, guiding the working tool to perform autonomous operation.

[0039] like Figure 5 , Figure 6 As shown, the tool base assembly 10 is characterized by comprising a tool end base plate 17, deep groove ball bearings 18, a bearing housing 19, a spacer 20, a bearing end cover 21, a tool control plate 22, and a control plate fixing plate 23. The bearing housing 19 houses two deep groove ball bearings 18 and is pressed together by the bearing end cover 21. One end of the bearing housing 19 is connected to the tool end base plate 17, which has four tool mounting positions. The tool base assembly provides tool mounting positions and also provides a rotation center, providing an actuation mechanism for tool switching.

[0040] like Figure 7 , Figure 8 The handcart tool, as shown, is characterized by comprising a handcart module base 24, a motor 25, a motor flange shaft 26, a flat key 27, a coupling 28, a compression spring 29, a handcart sleeve 30, three limit pins 31, a slide rod 32, and a protective sleeve 33. The large end of the slide rod 32 is a keyway shaft, and the small end is a square long-shank shaft. One end of the handcart sleeve 30 has a square hole, and the other end has eight right-angle countersunk holes spaced at 45° intervals. The motor flange shaft is connected to the large end of the slide rod 32 via the coupling 28. The square hole of the handcart sleeve 30 engages with the square long-shank shaft at the small end of the slide rod, allowing for sliding and reset via the compression spring 29. The coupling 28 is a single-diaphragm high-torque coupling, providing a flexible operating structure for the handcart tool and increasing its positional tolerance. Combined with the application of the entire robot system, the handcart tool can autonomously operate by rocking in / out of the cabinet switch handcart.

[0041] like Figure 9 , Figure 10 As shown, the rotating gripper tool 4 is characterized by comprising a rotating assembly 33 and a gripper assembly 34. The gripper assembly 34 is fixed to the servo adapter flange of the rotating assembly 33, and the servo of the rotating assembly 33 drives the gripper assembly 34 to rotate.

[0042] like Figure 11 As shown, the rotating assembly 33 is characterized by comprising: a gripper module base 36, a servo motor adapter flange 37, a servo motor 38, a servo motor flange shaft 39, a deep groove ball bearing 40, a shaft elastic retaining ring 41, a pressure cap 42, a cylindrical pin 43, a bearing housing 44, a spacer ring 45, and a standard round-head flat key 46. The servo motor 38 is fixed to the gripper module base 36. The servo motor adapter flange 37 passes through the deep groove ball bearing 40 and the bearing housing 44 and is connected to the servo motor 38 via the servo motor flange shaft 39. The bearing housing is provided with a cylindrical pin, and the servo motor adapter flange is provided with a 270° arc-shaped groove. When the servo motor adapter flange rotates, the cylindrical pin slides within the groove of the servo motor adapter flange. The groove angle limits the sliding angle of the cylindrical pin, and the servo motor drives the servo motor adapter flange to rotate.

[0043] like Figure 12 As shown, the gripper assembly 34 is characterized by comprising a gripper seat 47, a left-handed lead screw nut 48, a double-handed lead screw 49, a right-handed lead screw nut 50, an open retaining ring 51, an end cap 52, a bushing 53, a gripper 54, a second servo motor 55, a gripper servo motor seat 56, a bevel gear 57, a second servo motor flange shaft 58, and a second ordinary round-head key 59. The second servo motor 55 is fixed to the gripper servo motor seat 56, and the bevel gear is connected to the servo motor via the servo motor flange shaft and the ordinary round-head key. The servo motor drives the bevel gear to rotate. The gripper 54 is fixed to the lead screw nut 48 / 50, and the bevel gear is fixed to the double-handed lead screw 49 via the ordinary round-head key 59. The bevel gear 57 drives the double-handed lead screw 49 to rotate, realizing the opening / closing of the gripper 54.

[0044] like Figure 16 As shown, the gripper seat 47 is provided with a bushing 53 mounting position 102, the gripper seat 47 is provided with guide and limiting grooves 100 and 101 for lead screw nut 50 / 48, and the gripper seat 47 is provided with limiting surfaces 103 / 104 for lead screw nut 48 / 50.

[0045] like Figure 13As shown, the button tool 3 is characterized by comprising a button module base 60, an end cap 61, a compression spring 62, a push rod 63, a linear bearing 64, a limiting sleeve 65, and a push rod fixing seat 66. The linear bearing 64 is installed inside the push rod fixing seat 66, and the push rod 63 passes through the linear bearing 64. One end of the push rod 63 is connected to the limiting sleeve 65, one end of the compression spring 62 is at the limiting sleeve 65, and the other end of the compression spring 62 is at the end cap 61. During operation, the push rod 63 can slide within the linear bearing 64, providing a certain warm-up function, and is reset under the action of the compression spring 62.

[0046] like Figure 14 The emergency tripping tool 5, as shown, is characterized by comprising a tripping module base 67, a servo motor 68, a servo motor output shaft 69, a standard round-head flat key 70, a pressure cap 71, a sliding sleeve bearing seat 72, a shaft elastic retaining ring 73, a deep groove ball bearing 74, a compression spring 75, a knob sleeve 76, a limit pin 77, a tripping slide rod 78, a spacer 79, a connecting seat 80, and a knob sleeve 81. Two deep groove ball bearings 74 are spaced apart by the spacer 79 and installed within the sliding sleeve bearing seat 72, secured by the pressure cap 71. One end of the tripping slide rod 78 passes through the two deep groove ball bearings 74 and is limited by the shaft elastic retaining ring 73. The other end of the tripping slide rod 78 has a square long handle. The knob sleeve 76 has a square hole. The compression spring 75 and the knob sleeve 76 are installed on the tripping slide rod 78 and their positions are limited by the limit pin 77. The knob sleeve 76 can slide on the tripping slide 78. The torque output by the servo motor is transmitted to the tripping slide 78 through the servo motor output shaft and the ordinary round-headed key. The tripping slide drives the knob sleeve 81 to rotate.

[0047] The above are merely preferred embodiments of the present invention, intended only to aid in understanding the method and core ideas of this application. The scope of protection of the present invention is not limited to the above embodiments; all technical solutions falling within the scope of the present invention's concept are within its protection. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0048] This invention solves the problems of insufficient manpower, low efficiency, and significant safety hazards caused by the need for manual operation of substation switch rooms in existing technologies. By utilizing robots to perform tasks that previously required manual operation, such as emergency tripping of switchgear, cranking in and out of handcart circuit breakers, local / remote knob switching, and operation of protection device buttons and pressure plates in the substation switch room, the emergency response efficiency of the substation switch room is improved and the risks of manual operation are reduced.

Claims

1. A multi-functional robotic work tool with a switching mechanism, characterized in that, The system includes a tool adapter (1), a handcart tool (2), a button tool (3), a rotary gripper tool (4), an emergency tripping tool (5), a tool housing (6), a pipeline fixing seat (7), a depth camera and supplementary lighting assembly (8), a tool camera housing (9), a tool base assembly (10), a motor (11), a motor mounting base (12), a coupling (13), a motor flange shaft (14), a connecting shaft (15), and a support plate (16). The handcart tool (2), the button tool (3), the rotary gripper tool (4), and the emergency tripping tool (5) are respectively mounted on the tool base assembly (10). The motor (11) The motor frame (12) is fixed on the motor frame (12), the motor frame (12) is fixed to the bracket plate (16), the lower end of the connecting shaft (15) is fixed to the tool base assembly (10), the upper end of the connecting shaft (15) is connected to the motor flange shaft (14) through the coupling (13), the depth camera and supplementary light assembly (8) is fixed on the middle flange of the connecting shaft (15), the tool cover (6) is provided on the tool base assembly (10), the tool end adapter (1) is provided below the tool base assembly (10), and the pipeline fixing seat (7) is provided inside the tool end adapter (1). The tool base assembly (10) includes a tool end plate (17), a deep groove ball bearing (18), a bearing seat (19), a spacer (20), a bearing end cover (21), a tool control plate (22), and a control plate fixing plate (23). The bearing seat (19) contains two deep groove ball bearings (18) and is pressed together by the bearing end cover (21). One end of the bearing seat (19) is connected to the tool end plate (17). The tool end plate (17) has four tool mounting positions. The tool control plate (22) is installed at each tool mounting position. A control plate fixing plate (23) is installed on one side of the tool control plate (22).

2. The multi-functional robot tool with switching mechanism according to claim 1, characterized in that, The handcart tool (2) includes a motor (11), a coupling (13), a motor flange shaft (14), a handcart module base (24), a flat key (27), a compression spring (29), a handcart sleeve (30), a limiting pin (31), a slide rod (32), and a protective sleeve (33). The large end of the slide rod (32) is a keyed shaft, and the small end of the slide rod (32) is a square long-shank shaft. One end of the handcart sleeve (30) has a square hole, and the other end of the handcart sleeve (30) has eight right-angle countersunk holes spaced at 45° intervals. The motor flange shaft (14) The trolley sleeve (30) is connected to the large end of the slide rod (32) via the coupling (13). The square hole of the trolley sleeve (30) is engaged with the square long shaft of the small end of the slide rod (32) and slides, and is reset by the compression spring (29). The trolley module base (24) is provided on one side of the motor flange shaft (14). A flat key (27) is provided between the coupling (13) and the motor flange shaft (14). The limit pin (31) is provided on the top of the slide rod (32). The protective sleeve (33) is provided on the outside of the trolley sleeve (30).

3. The multi-functional robot tool with switching mechanism according to claim 2, characterized in that, The coupling (13) is a single-diaphragm high-torque coupling, which provides a flexible working structure for the handcart tool and increases the positional tolerance of the handcart tool.

4. The multi-functional robot tool with switching mechanism according to claim 1, characterized in that, The rotary gripper tool (4) includes a rotary assembly (34) and a gripper assembly (35).

5. The robot multi-functional work tool with switching mechanism according to claim 4, characterized in that, The rotating assembly (34) includes a gripper module base (36), a servo adapter flange (37), a servo motor (38), a servo motor flange shaft (39), a deep groove ball bearing (40), a shaft elastic retaining ring (41), a pressure cap (42), a cylindrical pin (43), a bearing housing (44), a spacer ring (45), and a common round-head flat key (46). The servo motor (38) is fixed on the gripper module base (36).

6. The multi-functional robot tool with switching mechanism according to claim 4, characterized in that... The gripper assembly (35) is fixed to the servo adapter flange (37) of the rotating assembly (34), and the servo motor (38) of the rotating assembly (34) drives the gripper assembly to rotate.

7. The multi-functional robot tool with switching mechanism according to claim 6, characterized in that... The gripper assembly (35) includes a gripper seat (47), a left-hand lead screw nut (48), a double-hand lead screw (49), a right-hand lead screw nut (50), an open retaining ring (51), an end cap (52), a bushing (53), a gripper (54), a second servo motor (55), a gripper servo motor seat (56), a bevel gear (57), a second servo motor flange shaft (58), and a second ordinary round-head flat key (59). The second servo motor (55) is fixed on the gripper servo motor seat (56), and the bevel gear... The gear (57) is connected to the servo motor (55) via the servo motor flange shaft (58) and the ordinary round-head key (59). The servo motor (55) drives the bevel gear (57) to rotate. The pawl (54) is fixed on the lead screw nut. The bevel gear (57) is fixed on the bidirectional lead screw (49) via the ordinary round head. The bevel gear (57) drives the bidirectional lead screw (49) to rotate, thereby opening or closing the pawl (54).

8. The multi-functional robot tool with switching mechanism according to claim 1, characterized in that... The button tool (3) includes an end cap (61), a compression spring (62), a push rod (63), a linear bearing (64), a limiting sleeve (65), and a push rod fixing seat (66). The linear bearing (64) is installed in the fixing seat. The push rod (63) passes through the linear bearing (64). One end of the push rod (63) is connected to the limiting sleeve (65). One end of the compression spring (62) is at the limiting sleeve (65), and the other end of the compression spring (62) is at the end cap (61). When the button tool (3) is in operation, the push rod (63) can slide in the linear bearing (64) and reset under the action of the compression spring (62).

9. The robot multi-functional work tool with switching mechanism according to claim 1, characterized in that... The emergency tripping tool (5) includes a tripping module base (67), a servo motor (68), a servo motor output shaft (69), a standard round-head flat key (70), a pressure cap (71), a sliding sleeve bearing seat (72), a shaft elastic retaining ring (73), a deep groove ball bearing (74), a compression spring (75), a knob sleeve (76), a limit pin (77), a tripping slide rod (78), a spacer sleeve (79), a connecting seat (80), and a knob sleeve (81). Two deep groove ball bearings (74) are installed in the sliding sleeve bearing seat (72) with a spacer sleeve (79) between them, and are pressed together with the pressure cap (71). One end of the tripping slide rod (78) passes through two deep groove ball bearings (74) and is limited by a shaft elastic retaining ring (73). The other end of the tripping slide rod (78) is provided with a square long handle. The knob sleeve (76) is provided with a square hole. The compression spring (75) and the knob sleeve (76) are installed on the tripping slide rod (78) and the position is limited by a limiting pin (77). The knob sleeve (76) can slide on the tripping slide rod (78). The torque output by the servo motor is transmitted to the tripping slide rod (78) through the servo motor output shaft and a common round-head flat key. The tripping slide rod drives the knob sleeve (81) to rotate.

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