Grounding knife-switch state identification judgment and operation linkage robot

Abstract

The invention belongs to the technical field of ground switch state recognition judgment and operators, and particularly relates to a ground switch state recognition judgment and operation linkage robot which comprises a robot body, a light supplementing assembly is installed on the surface of a mechanical arm and located on one side wall of a camera, and the top end of the robot body is connected with an installation assembly used for an alarm. The front end of the robot body is provided with an obstacle removing assembly used for a battery pack, the back end of the robot body is provided with a supporting assembly, in the using process of the robot body, if abnormal conditions occur, a worker can be reminded to come to check in time, meanwhile, the work picture of the robot body is conveniently and clearly captured, and the work efficiency is improved. Therefore, problems can be rapidly analyzed, work of the mechanical arm is changed, stability can be improved when the robot body works, the situation that the robot body is unstable due to the fact that the mechanical arm exerts too large force is reduced, meanwhile, safety of the battery pack is guaranteed in the walking process, and then practicability of the robot body is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of ground cutter state recognition and judgment and operator technology, and in particular relates to a ground cutter state recognition and judgment and operation linkage robot. Background Art

[0002] The full name of the grounding knife is the grounding knife switch, which is a safety interlocking mechanism installed in the high-voltage switch cabinet to replace the grounding wire. According to the requirements of the five protections, the grounding knife can only be closed when the equipment is under maintenance, the circuit breaker and the disconnector are disconnected, which is equivalent to a grounding wire. The grounding knife must be disconnected during normal operation, and usually a mechanical interlocking device is installed in the equipment. When the circuit breaker is closed, the grounding knife cannot be closed; similarly, when the grounding knife is closed, the high-voltage circuit breaker cannot be closed.

[0003] In the operation of the ground knife of the switch cabinet, the operator usually needs to manually judge the status and position of the ground knife. Traditional operation relies on the operator's experience and intuitive judgment, and there are the following problems: 1. Misjudgment may occur, leading to incorrect operation. 2. The actual status of the ground knife cannot be obtained in real time, making it difficult to analyze problems and maintain equipment. Robots are also used to work, but robots will have different problems when working, such as: 1. When the light inside the switch cabinet is insufficient, the captured image is not clear, 2. If an abnormal situation occurs, it is impossible to effectively remind the staff, 3. If obstacles appear during walking, it is easy to scratch the battery pack and cause damage, 4. When the ground knife is opened and closed, there is a lack of support mechanism, resulting in insufficient stability, affecting the work of the robotic arm. For this reason, it needs to be improved. Summary of the invention

[0004] The purpose of the present invention is to provide a robot for identifying, judging and operating a ground knife state, aiming to solve the problem in the prior art that in the operation of the ground knife of the switch cabinet, the operator usually needs to manually judge the state and position of the ground knife. Traditional operation relies on the operator's experience and intuitive judgment, and there are the following problems: 1. Misjudgment may occur, resulting in incorrect operation. 2. The actual state of the ground knife cannot be obtained in real time, making it difficult to analyze the problem and maintain the equipment. Robots will also be used to work, but different problems will occur when the robot is working, such as: 1. When the light inside the switch cabinet is insufficient, the captured image is not clear, 2. If an abnormal situation occurs, it is impossible to effectively remind the staff, 3. If an obstacle appears during walking, it is easy to scratch the battery pack and cause damage, 4. When the ground knife is opened and closed, there is a lack of support mechanism, resulting in insufficient stability, affecting the work of the robotic arm, so it needs to be improved.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a ground knife state recognition, judgment and operation linkage robot, comprising a robot body, a display screen is installed at the top of the robot body, a mechanical arm is installed at the top of the robot body and on one side of the display screen, a camera is installed on the surface of the mechanical arm, a fill light component is installed on the surface of the mechanical arm and on one side wall of the camera, an alarm is provided at the top of the robot body and between the display screen and the mechanical arm, a mounting component for the alarm is connected to the top of the robot body, a driving wheel is installed at the bottom of the robot body, a battery pack is installed at the bottom of the robot body, an obstacle clearing component for the battery pack is provided at the front end of the robot body, and a support component is installed at the back end of the robot body.

[0006] As a preferred embodiment of a ground knife state recognition, judgment and operation linkage robot of the present invention, the fill light assembly includes a fill light and a connecting rod, the fill light is installed on the end of the connecting rod by screws, and the connecting rod is welded to a side wall of the robotic arm.

[0007] As a preferred embodiment of the ground knife state recognition, judgment and operation linkage robot of the present invention, the connecting rod is vertically welded to the mechanical arm, and the fill light is distributed in parallel to the mechanical arm.

[0008] As a preferred embodiment of a ground knife state identification, judgment and operation linkage robot of the present invention, the mounting assembly includes a mounting block, an extrusion block, a spring and a top pressure block, the spring is longitudinally arranged inside the top of the robot body, the top pressure block is installed on the top of the spring, the extrusion block is connected to the bottom end of the mounting block, and the mounting block is connected to the mounting ear of the alarm.

[0009] As a preferred embodiment of a ground knife state recognition, judgment and operation linkage robot of the present invention, a circular recessed hole for storing an extrusion block is provided inside the top of the robot body, and the alarm is connected to the robot body through a mounting block and an extrusion block.

[0010] As a preferred embodiment of a ground cutter state recognition, judgment and operation linkage robot of the present invention, the extrusion block is elastically extruded and fixedly connected to the robot body through a spring and a top pressure block, and the top pressure block is elastically connected to the robot body through a spring.

[0011] As a preferred embodiment of a ground cutter state identification, judgment and operation linkage robot of the present invention, the obstacle clearing component includes a fixed block, a screw rod, a bearing, a wire sleeve, a cleaning plate and a motor. The fixed block is installed at the front end of the robot body, the screw rod is arranged inside the fixed block, the bearing is installed at one end of the screw rod and is located inside the fixed block, the wire sleeve is provided with two and is threadedly connected to the surface of the screw rod, the cleaning plate is installed at the bottom end of the wire sleeve, and the motor is installed on a side wall of the fixed block and the output shaft is connected to one end of the screw rod.

[0012] As a preferred embodiment of a ground cutter state recognition, judgment and operation linkage robot of the present invention, the threads on the surface of the screw rod are opened correspondingly, and the screw rod is rotationally connected to the fixed block through the motor and the bearing.

[0013] As a preferred embodiment of a ground cutter state recognition, judgment and operation linkage robot of the present invention, the cleaning plate forms a threaded linear reciprocating motion between the thread sleeve and the screw rod, and the height of the cleaning plate is lower than the height of the driving wheel.

[0014] As a preferred embodiment of a ground knife state recognition, judgment and operation linkage robot of the present invention, the support assembly includes a connecting block, an electric push rod and a supporting base, the connecting block is connected to the back end of the robot body, the electric push rod is installed on the top of the connecting block by screws, and the supporting base is arranged at the bottom end of the connecting block.

[0015] As a preferred embodiment of a ground knife state recognition, judgment and operation linkage robot of the present invention, the support base is connected to the telescopic end of the electric push rod through the connecting block, the support base and the electric push rod are threadedly connected, and the support base is at the same horizontal line with the height of the driving wheel through the electric push rod.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. By using the fill light component, the robot body can be supplemented with light when the ground knife is opened or closed, so that the camera can capture the picture easily when working, thereby improving the operation of the robot body and avoiding the situation where the picture is blurred due to insufficient light;

[0018] 2. Through the cooperation of the alarm and the mounting assembly, the alarm is installed on the top of the robot body, so that when the robot body opens or closes the ground knife, if an abnormal situation occurs, an alarm sound can be issued in time to remind the staff to come and check, thereby reducing the occurrence of safety hazards.

[0019] 3. By using the obstacle clearing component, when the robot body moves to the ground knife area, the battery pack at the bottom of the robot body is less likely to collide with foreign objects and cause damage, thereby improving the safety of the robot body's movement.

[0020] 4. Through the use of support components, when the robot body opens or closes the ground knife, the support components can form a supporting force with the ground, avoiding the instability of the robot body during the force application of the robotic arm, thereby improving the working stability of the robot body.

[0021] In summary, the present invention allows the robot body to promptly alert staff to come and check if any abnormal situation occurs during use. It is also convenient to clearly capture the working screen of the robot body, so that the problem can be quickly analyzed and the work of the robotic arm can be changed. It can also increase the stability of the robot body when it is working and reduce the instability of the robot body caused by excessive force of the robotic arm. At the same time, it also ensures the safety of the battery pack during walking, thereby improving the practicality of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the main structure of the present invention when viewed from above;

[0025] Figure 3 It is a schematic diagram of the support assembly structure of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the obstacle removal component of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the installation assembly of the present invention;

[0028] Figure 6 For the present invention Figure 5 A in the figure is an enlarged structural diagram.

[0029] In the figure: 1. robot body; 2. display screen; 3. mechanical arm; 4. camera; 5. driving wheel; 6. battery pack; 7. alarm; 8. fill light assembly; 81. fill light; 82. connecting rod; 9. mounting assembly; 91. mounting block; 92. extrusion block; 93. spring; 94. top pressure block; 10. obstacle removal assembly; 1001. fixing block; 1002. screw rod; 1003. bearing; 1004. thread sleeve; 1005. cleaning plate; 1006. motor; 11. support assembly; 1101. connecting block; 1102. electric push rod; 1103. supporting foot. DETAILED DESCRIPTION

[0030] 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 only 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.

[0031] See also Figure 1-6 The present invention provides the following technical solutions: a ground knife state recognition, judgment and operation linkage robot, comprising a robot body 1, a display screen 2 is installed on the top of the robot body 1, a mechanical arm 3 is installed on the top of the robot body 1 and on one side of the display screen 2, a camera 4 is installed on the surface of the mechanical arm 3, a fill light component 8 is installed on the surface of the mechanical arm 3 and on one side wall of the camera 4, an alarm 7 is arranged on the top of the robot body 1 and between the display screen 2 and the mechanical arm 3, a mounting component 9 for the alarm 7 is connected to the top of the robot body 1, a driving wheel 5 is installed on the bottom of the robot body 1, a battery pack 6 is installed on the bottom of the robot body 1, an obstacle clearing component 10 for the battery pack 6 is arranged on the front end of the robot body 1, and a support component 11 is installed on the back end of the robot body 1.

[0032] Preferably, the fill light assembly 8 includes a fill light 81 and a connecting rod 82 , the fill light 81 is mounted on the end of the connecting rod 82 by screws, and the connecting rod 82 is welded to a side wall of the robotic arm 3 .

[0033] During specific use, the fill light component 8 provides light for the camera 4 to capture images, so as to avoid the situation where the captured images are not clear and cause errors in the operation of the robot body 1.

[0034] Preferably, the connecting rod 82 is vertically welded to the mechanical arm 3 , and the fill light 81 is distributed in parallel to the mechanical arm 3 .

[0035] During specific use, the fill light 81 can provide fill light to the camera 4 regardless of the angle when the robot arm 3 is working.

[0036] Preferably: the mounting assembly 9 includes a mounting block 91, an extrusion block 92, a spring 93 and a top pressure block 94, the spring 93 is longitudinally arranged inside the top of the robot body 1, the top pressure block 94 is installed on the top of the spring 93, the extrusion block 92 is connected to the bottom end of the mounting block 91, and the mounting block 91 is connected to the mounting ear of the alarm 7.

[0037] When in use, the alarm device 7 is conveniently installed on the top of the robot body 1, and then when a problem occurs, the alarm device 7 can sound an alarm to remind the operator to come and check.

[0038] Preferably, a circular recessed hole for storing the extrusion block 92 is provided inside the top of the robot body 1 , and the alarm 7 is connected to the robot body 1 through the mounting block 91 and the extrusion block 92 .

[0039] During specific use, the mounting block 91 and the squeezing block 92 can fix the alarm 7 on the top of the robot body 1 to improve the stability of the alarm 7.

[0040] Preferably, the extrusion block 92 is elastically extruded and fixedly connected to the robot body 1 through the spring 93 and the pressing block 94 , and the pressing block 94 is elastically connected to the robot body 1 through the spring 93 .

[0041] When in use, the pressing block 94 will not get stuck on the squeezing block 92 due to the elasticity of the spring 93 , while being able to resist the movement of the squeezing block 92 .

[0042] Preferably: the obstacle removal component 10 includes a fixed block 1001, a screw rod 1002, a bearing 1003, a wire sleeve 1004, a cleaning plate 1005 and a motor 1006, the fixed block 1001 is installed at the front end of the robot body 1, the screw rod 1002 is arranged inside the fixed block 1001, the bearing 1003 is installed at one end of the screw rod 1002 and is located inside the fixed block 1001, the wire sleeve 1004 is provided with two and is threadedly connected to the surface of the screw rod 1002, the cleaning plate 1005 is installed at the bottom end of the wire sleeve 1004, and the motor 1006 is installed on a side wall of the fixed block 1001 and the output shaft is connected to one end of the screw rod 1002.

[0043] During specific use, when the robot body 1 moves to the ground cutting area, the battery pack 6 at the bottom of the robot body 1 is less likely to collide with foreign objects and cause damage, thereby improving the safety of the robot body 1 in action.

[0044] Preferably, the threads on the surface of the screw rod 1002 are provided correspondingly, and the screw rod 1002 is rotationally connected to the fixed block 1001 through the motor 1006 and the bearing 1003 .

[0045] During specific use, the motor 1006 can drive the screw rod 1002 to rotate, thereby facilitating the movement of the screw sleeve 1004.

[0046] Preferably, the cleaning plate 1005 forms a threaded linear reciprocating motion with the threaded sleeve 1004 and the screw rod 1002 , and the height of the cleaning plate 1005 is lower than the height of the driving wheel 5 .

[0047] When in use, the cleaning plate 1005 is moved together with the movement energy of the silk sleeve 1004, so that the movement of the cleaning plate 1005 can clear the obstacles on the ground, avoiding scratching the battery pack 6 and causing damage when walking.

[0048] Preferably: the support assembly 11 includes a connecting block 1101, an electric push rod 1102 and a supporting base 1103, the connecting block 1101 is connected to the back end of the robot body 1, the electric push rod 1102 is installed on the top of the connecting block 1101 by screws, and the supporting base 1103 is set at the bottom end of the connecting block 1101.

[0049] During specific use, when the robot body 1 opens or closes the ground knife, the support assembly 11 can form a supporting force with the ground to avoid instability of the robot body 1 during the force application of the robotic arm 3, thereby improving the working stability of the robot body 1.

[0050] Preferably, the support foot 1103 passes through the connection block 1101 and is connected to the telescopic end of the electric push rod 1102. The support foot 1103 and the electric push rod 1102 are threadedly connected. The support foot 1103 is at the same horizontal line as the height of the driving wheel 5 through the electric push rod 1102.

[0051] During specific use, the operation of the electric push rod 1102 can drive the supporting foot 1103 to contact the ground, thereby forming a support for the robot body 1 and improving the working stability of the robot body 1.

[0052] Working principle: When the ground knife is opened or closed, the robot body 1 moves to the ground knife through the driving wheel 5. At the same time, the motor 1006 is started to work during the movement. At this time, the output shaft of the motor 1006 drives the screw rod 1002 to rotate stably along the bearing 1003 inside the fixed block 1001. Then, the thread sleeve 1004 moves closer to or away from each other along the angular threads on the surface of the thread rod 1002. At the same time, the movement of the thread sleeve 1004 drives the cleaning plate 1005 to move together, and then the cleaning plate 1005 opens the machine. The obstacle at the bottom of the robot body 1 is avoided to avoid the battery pack 6 being scratched by walking over it, thereby improving the safety of the robot body 1. When it moves to the side of the ground knife and stops, the telescopic end of the electric push rod 1102 is extended to push the supporting foot 1103 down to contact the ground, thereby forming a supporting force for the robot body 1, avoiding the instability of the robot body 1 during the force application of the mechanical arm 3, thereby improving the working stability of the robot body 1. Subsequently, the mechanical arm 3 works, contacts and fixes the control handle of the ground knife, and then starts the camera 4 and The fill light 81 shines the light on the ground knife, and the camera 4 records the working condition of the robot body 1 to avoid the situation that the picture is blurred due to insufficient light. At the same time, before that, the alarm 7 can be taken out and installed on the top of the robot body 1, and inserted along the opening at the top of the robot body 1 through the mounting block 91 and the extrusion block 92. Then the mounting block 91 rotates half a circle to allow the two ends of the extrusion block 92 to enter the circular concave hole. At this time, the extrusion block 92 is confined in the circular concave hole, and then the top pressure block 94 is when the extrusion block 92 is placed in the circular concave hole. The force causes the spring 93 to shrink and deform and retract into the top of the robot body 1. After that, after the extrusion block 92 rotates, the spring 93 rebounds again through the elasticity of the spring 93 to counteract the extrusion block 92, thereby squeezing and fixing the extrusion block 92. The extrusion block 92 is always fixed in the circular recessed hole when the mounting block 91 is not subjected to external force, thereby completing the installation of the alarm 7. When the robot body 1 opens or closes the ground knife, if any abnormal situation occurs, an alarm sound can be issued in time to remind the staff to come and check, thereby reducing the occurrence of safety hazards.

[0053] It should be noted that the robot body 1 system includes a micro camera, an image recognition module, a linkage operation module, a real-time monitoring module, an operation record and analysis module. After the grounding knife switch is operated, the micro camera captures the grounding knife image, the image recognition module realizes automatic state judgment, and compares it with the operation target state to judge whether the current operation is in place. If it is not in place, the linkage operation module performs a secondary operation to determine or restore the original state. The real-time monitoring module records the state history, and the operation record and analysis module provides operation history analysis;

[0054] The micro camera is embedded inside the switch cabinet to capture the real-time image of the ground switch, and then uses advanced image recognition technology to analyze the image to automatically determine the status of the ground switch. The system is also equipped with a linkage operation module that can automatically respond to image recognition results, improving the safety of operation. At the same time, the system provides real-time monitoring and recording functions to record the status history of the ground switch, which is convenient for problem location and equipment maintenance. The introduction of automated operation has lowered the technical threshold and made the operation easier.

[0055] It is worth noting that when the electrical equipment mentioned in the article is working, it is electrically connected to the battery pack 6 of the robot body 1, thereby conveniently providing power for the electrical equipment, and at the same time the operation of the electrical equipment is controlled by the central processor of the robot body 1.

[0056] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot for identifying, judging and operating a ground cutter, comprising a robot body (1), characterized in that: A display screen (2) is installed at the top of the robot body (1); a mechanical arm (3) is installed at the top of the robot body (1) and located on one side of the display screen (2); a camera (4) is installed on the surface of the mechanical arm (3); a fill light component (8) is installed on the surface of the mechanical arm (3) and located on a side wall of the camera (4); an alarm (7) is provided at the top of the robot body (1) and located between the display screen (2) and the mechanical arm (3); and a mounting component (9) for the alarm (7) is connected to the top of the robot body (1); A driving wheel (5) is installed at the bottom end of the robot body (1), a battery pack (6) is installed at the bottom end of the robot body (1), an obstacle clearing component (10) for the battery pack (6) is arranged at the front end of the robot body (1), and a support component (11) is installed at the back end of the robot body (1).

2. A robot for identifying, judging and operating a ground cutter according to claim 1, characterized in that: The fill light assembly (8) comprises a fill light (81) and a connecting rod (82); the fill light (81) is mounted on the end of the connecting rod (82) by means of screws, and the connecting rod (82) is welded to a side wall of the mechanical arm (3).

3. A robot for identifying, judging and operating a ground cutter according to claim 2, characterized in that: The connecting rod (82) and the mechanical arm (3) are vertically welded, and the fill light (81) and the mechanical arm (3) are distributed in parallel.

4. The robot for identifying, judging and operating a ground cutter according to claim 1, characterized in that: The mounting assembly (9) comprises a mounting block (91), an extrusion block (92), a spring (93) and a top pressure block (94); the spring (93) is longitudinally arranged inside the top end of the robot body (1); the top pressure block (94) is mounted on the top end of the spring (93); the extrusion block (92) is connected to the bottom end of the mounting block (91); and the mounting block (91) is connected to the mounting ear of the alarm (7).

5. The robot for identifying, judging and operating a ground cutter according to claim 4, characterized in that: A circular recessed hole for storing an extrusion block (92) is provided inside the top of the robot body (1), and the alarm (7) is connected to the robot body (1) via the mounting block (91) and the extrusion block (92).

6. The robot for identifying, judging and operating a ground cutter according to claim 4, characterized in that: The extrusion block (92) is elastically extruded and fixedly connected to the robot body (1) via a spring (93) and a pressing block (94), and the pressing block (94) is elastically connected to the robot body (1) via a spring (93).

7. The robot for identifying, judging and operating a ground cutter according to claim 1, characterized in that: The obstacle clearing assembly (10) comprises a fixed block (1001), a screw rod (1002), a bearing (1003), a threaded sleeve (1004), a cleaning plate (1005) and a motor (1006); the fixed block (1001) is mounted at the front end of the robot body (1); the screw rod (1002) is arranged inside the fixed block (1001); the bearing (1003) is mounted at one end of the screw rod (1002) and is located inside the fixed block (1001); the threaded sleeve (1004) is provided with two threads and is threadedly connected to the surface of the screw rod (1002); the cleaning plate (1005) is mounted at the bottom end of the threaded sleeve (1004); and the motor (1006) is mounted on a side wall of the fixed block (1001) and the output shaft is connected to one end of the screw rod (1002).

8. The robot for identifying, judging and operating a ground cutter according to claim 7, characterized in that: The threads on the surface of the screw rod (1002) are provided in a corresponding manner, and the screw rod (1002) is rotationally connected to the fixed block (1001) via the motor (1006) and the bearing (1003).

9. The robot for identifying, judging and operating a ground cutter according to claim 7, characterized in that: The cleaning plate (1005) forms a threaded linear reciprocating motion between the thread sleeve (1004) and the screw rod (1002), and the height of the cleaning plate (1005) is lower than the height of the driving wheel (5).

10. The robot for identifying, judging and operating a ground cutter according to claim 1, characterized in that: The support assembly (11) comprises a connection block (1101), an electric push rod (1102) and a support foot (1103); the connection block (1101) is connected to the back end of the robot body (1); the electric push rod (1102) is mounted on the top end of the connection block (1101) by means of screws; the support foot (1103) is arranged at the bottom end of the connection block (1101); the support foot (1103) passes through the connection block (1101) and is connected to the telescopic end of the electric push rod (1102); the support foot (1103) and the electric push rod (1102) are threadedly connected; the support foot (1103) is at the same horizontal line as the height of the driving wheel (5) through the electric push rod (1102).

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