Circuit breaker opening and closing device and robot

Abstract

The invention belongs to the technical field of specialized robots, and discloses a circuit breaker opening and closing device and a robot. The adsorption mechanism comprises a first driving assembly and a suction cup, the first driving assembly is arranged on the frame body, the suction cup is connected to the first driving assembly, the suction cup has an adsorption state and a desorption state, and the first driving assembly is configured to drive the suction cup to be switched between the adsorption state and the desorption state; the sucking disc can be adsorbed on the outer surface of the power distribution cabinet or separated from the outer surface of the power distribution cabinet; the operation mechanism comprises a second driving assembly and a shifting piece, the second driving assembly is arranged on the frame body, the shifting piece is connected to the second driving assembly, the second driving assembly can drive the shifting piece to move together, and the shifting piece is configured to shift a circuit breaker handle on the outer surface of the power distribution cabinet when the suction cup is sucked to the outer surface of the power distribution cabinet. Therefore, the circuit breaker handle is switched on or off. The stability and the reliability of opening and closing operation of the circuit breaker can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of special robots, and in particular to a circuit breaker opening and closing device and a robot. Background Art

[0002] In the daily power supply tasks of the power distribution room, if a power failure occurs, the staff usually need to manually operate the switch handle of the circuit breaker to disconnect it first, and then manually close it to restore power supply after the fault is eliminated. This process is called the opening and closing operation of the circuit breaker.

[0003] At present, with the development of technology, the research and development of distribution room inspection robots is advancing rapidly. Robots can replace staff to perform operations to reduce manual labor intensity and have higher safety. However, in the opening and closing operations of circuit breakers, since the circuit breaker handle usually requires a certain torque to be turned, if the end gripper of the current distribution room inspection robot is used to turn the circuit breaker handle, the end gripper usually cannot provide enough torque, but will cause the end gripper to bear the reaction force generated when turning, making it difficult for the robot as a whole to remain stable. Therefore, in the event of a power failure, the opening and closing operations of the circuit breaker still need to rely on manual labor, which is inefficient and poses certain safety risks.

[0004] Therefore, it is urgent to propose a circuit breaker opening and closing device and a robot to solve the above technical problems. Summary of the invention

[0005] The object of the present invention is to provide a circuit breaker opening and closing device and a robot, which can significantly improve the stability and reliability of the circuit breaker opening and closing operations.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a circuit breaker opening and closing device, comprising:

[0008] Frame;

[0009] The adsorption mechanism comprises a first driving component and a suction cup, wherein the first driving component is arranged on the frame, the suction cup is connected to the first driving component, the suction cup has an adsorption state and a desorption state, and the first driving component is configured to drive the suction cup to switch between the adsorption state and the desorption state, so that the suction cup can be adsorbed on the outer surface of the power distribution cabinet or detached from the outer surface of the power distribution cabinet;

[0010] The operating mechanism includes a second driving component and a toggle member, wherein the second driving component is arranged on the frame, the toggle member is connected to the second driving component, the second driving component can drive the toggle member to move together, and the toggle member is configured to toggle the circuit breaker handle on the outer surface of the distribution cabinet when the suction cup is adsorbed on the outer surface of the distribution cabinet, so that the circuit breaker handle is opened or closed.

[0011] In some embodiments, the first driving component includes an electric push rod and a suction cup pull rod, the electric push rod is connected to the frame, one end of the suction cup pull rod is connected to the movable end of the electric push rod, and the other end of the suction cup pull rod is connected to the suction cup, and the extension and retraction of the electric push rod can drive the suction cup pull rod to move, thereby driving the suction cup to sink or bulge.

[0012] In some embodiments, the frame includes a top plate, a bottom plate and a connecting column, the connecting column is connected between the top plate and the bottom plate, the top plate is fixedly provided with a mounting seat, the fixed end of the electric push rod is installed on the mounting seat, the movable end of the electric push rod is movably penetrated through the top plate and can extend into the gap between the top plate and the bottom plate, the suction cup is arranged on the side of the bottom plate away from the top plate, the end of the suction cup pull rod away from the suction cup is configured to penetrate through the bottom plate and extend into the gap between the top plate and the bottom plate, and the end of the suction cup pull rod away from the suction cup is connected to the movable end of the electric push rod.

[0013] In some embodiments, two suction cups are provided, and the suction cup pull rods are arranged in a one-to-one correspondence with the suction cups, and a transmission assembly is arranged between the movable end of the electric push rod and the two suction cup pull rods, and the transmission assembly includes a first connecting rod and two second connecting rods, the first connecting rod is located in the gap between the top plate and the bottom plate, and the two second connecting rods are at least partially located in the gap between the top plate and the bottom plate, the middle position of the first connecting rod is connected to the movable end of the electric push rod, and the two second connecting rods are respectively rotatably connected to the opposite ends of the first connecting rod, and one end of each second connecting rod away from the first connecting rod abuts against the surface of the bottom plate facing the top plate, and the second connecting rod is movable relative to the bottom plate, and one end of the suction cup pull rod away from the suction cup is rotatably connected to the corresponding second connecting rod away from the first connecting rod.

[0014] In some embodiments, the suction cup pull rod includes a first sub-pull rod and a second sub-pull rod, one end of the first sub-pull rod is fixed to the suction cup, the other end of the first sub-pull rod is rotatably connected to the second sub-pull rod, and the end of the second sub-pull rod away from the first sub-pull rod is rotatably connected to the second connecting rod.

[0015] In some embodiments, the base plate is provided with a suction cup fixing frame, one end of the suction cup fixing frame is fixedly connected to the base plate, the other end of the suction cup fixing frame is fixedly connected to the suction cup, the interior of the suction cup fixing frame has a accommodating space, and the suction cup pull rod can be partially located in the accommodating space.

[0016] In some embodiments, the second driving assembly includes a driving motor, a first gear and a second gear. The driving motor is installed in the gap between the top plate and the bottom plate. The first gear and the second gear are rotatably connected to the surface of the bottom plate facing away from the top plate. The first gear is connected to the output end of the driving motor, and the second gear is transmission-connected to the first gear. The toggle member is installed on the second gear and can move together with the second gear.

[0017] In some embodiments, the toggle member is provided with a force sensor, and the force sensor is used to sense the magnitude of the force applied to the toggle member.

[0018] In some embodiments, the operating mechanism also includes a position sensing component, which includes a position sensor and a plurality of position mark permanent magnets. The fixed end of the position sensor is fixed to the top plate, and the sensing end of the position sensor extends out of the bottom plate. The second gear is fixed with a plurality of the position mark permanent magnets, and the plurality of the position mark permanent magnets are arranged at intervals. The plurality of the position mark permanent magnets cooperate with the position sensor to sense the rotation angle of the second gear.

[0019] In a second aspect, the present invention provides a robot, comprising: a mobile vehicle, a robot base, a robot body, and the circuit breaker opening and closing device described in the first aspect;

[0020] The robot base is installed on the mobile vehicle, the robot body is installed on the robot base, and the circuit breaker opening and closing device is installed on the end of the robot body.

[0021] Beneficial effects of the present invention:

[0022] The circuit breaker opening and closing device provided by the present invention uses an adsorption mechanism to make the suction cup adsorbed on the outer surface of the distribution cabinet to form a stable support structure. In this state, when the operating mechanism toggles the circuit breaker handle, the adsorption force can be used to effectively offset the reaction force generated by the toggling handle, avoiding the displacement of the circuit breaker opening and closing device due to the reaction force, thereby significantly improving the stability and reliability of the circuit breaker opening and closing operation. When a robot equipped with the circuit breaker opening and closing device is used, the reaction force cannot have a significant impact on the robot, avoiding the displacement or instability of the robot during the circuit breaker opening and closing process, while reducing the robot's dependence on high torque and reducing the requirements for the structural strength of the end gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0024] Figure 1 is an overall structural diagram of a robot provided by an embodiment of the present invention;

[0025] Figure 2 It is a structural schematic diagram of a circuit breaker opening and closing device provided in an embodiment of the present invention;

[0026] Figure 3 is a top view of a circuit breaker opening and closing device provided by an embodiment of the present invention;

[0027] Figure 4 A cross-sectional view of a circuit breaker opening and closing device provided by an embodiment of the present invention Figure 1 ;

[0028] Figure 5 A cross-sectional view of a circuit breaker opening and closing device provided by an embodiment of the present invention Figure 2 .

[0029] In the figure:

[0030] 10. frame; 101. top plate; 102. bottom plate; 103. connecting column; 20. adsorption mechanism; 30. operation mechanism; 40. quick change mechanism;

[0031] 1. first driving assembly; 11. electric push rod; 12. suction cup pull rod; 121. first sub-pull rod; 122. second sub-pull rod;

[0032] 2. Suction cup;

[0033] 3. Second driving assembly; 31. Driving motor; 32. First gear; 33. Second gear;

[0034] 4. Toggle piece;

[0035] 5. Mounting seat;

[0036] 6. Transmission assembly; 61. First connecting rod; 62. Second connecting rod;

[0037] 7. Suction cup fixing frame; 71. Accommodation space;

[0038] 8. Position sensor;

[0039] 9. Position marking permanent magnet;

[0040] 100. Mobile trolley; 200. Robot base; 300. Robot body; 400. Circuit breaker opening and closing device. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0043] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0044] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0045] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0047] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0048] like Figure 1 As shown, this embodiment provides a robot, including a mobile vehicle 100, a robot base 200, a robot body 300 and a circuit breaker opening and closing device 400.

[0049] The robot base 200 is installed on the mobile vehicle 100 , the robot body 300 is installed on the robot base 200 , and the circuit breaker opening and closing device 400 is installed at the end of the robot body 300 .

[0050] Specifically, the mobile vehicle 100 may be an AGV (Automated Guided Vehicle), that is, an automatic guided vehicle. The robot body 300 may be composed of a six-axis robotic arm, and the circuit breaker opening and closing device 400 is installed at the end of the robotic arm.

[0051] like Figure 1 to Figure 5 As shown, the circuit breaker opening and closing device 400 provided in this embodiment includes a frame 10, an adsorption mechanism 20 and an operating mechanism 30.

[0052] The adsorption mechanism 20 includes a first driving component 1 and a suction cup 2. The first driving component 1 is arranged on the frame 10. The suction cup 2 is connected to the first driving component 1. The suction cup 2 has an adsorption state and a desorption state. The first driving component 1 is configured to drive the suction cup 2 to switch between the adsorption state and the desorption state so that the suction cup 2 can be adsorbed on the outer surface of the distribution cabinet or detached from the outer surface of the distribution cabinet.

[0053] The operating mechanism 30 includes a second drive component 3 and a toggle member 4. The second drive component 3 is arranged on the frame 10. The toggle member 4 is connected to the second drive component 3. The second drive component 3 can drive the toggle member 4 to move together. The toggle member 4 is configured to toggle the circuit breaker handle on the outer surface of the distribution cabinet when the suction cup 2 is adsorbed on the outer surface of the distribution cabinet, so that the circuit breaker handle can be opened or closed.

[0054] In specific implementation, the circuit breaker opening and closing device 400 is first brought close to the outer surface of the distribution cabinet, and then the adsorption mechanism 20 is started, so that the suction cup 2 is switched to the adsorption state and adsorbed on the outer surface of the distribution cabinet, and the circuit breaker opening and closing device 400 is in the adsorption state as a whole. Then the operating mechanism 30 is started, and the second driving component 3 drives the toggle member 4 to toggle the circuit breaker handle located on the outer surface of the distribution cabinet to open or close the circuit breaker.

[0055] The circuit breaker opening and closing device 400 provided in this embodiment uses the adsorption mechanism 20 to make the suction cup 2 adsorb on the outer surface of the distribution cabinet to form a stable support structure. In this state, when the operating mechanism 30 toggles the circuit breaker handle, the adsorption force can be used to effectively offset the reaction force generated by the toggling handle, avoiding the displacement of the circuit breaker opening and closing device 400 due to the reaction force, thereby significantly improving the stability and reliability of the circuit breaker opening and closing operation. When the robot equipped with the circuit breaker opening and closing device 400 is used, the reaction force cannot have a significant impact on the robot, avoiding the displacement or instability of the robot during the circuit breaker opening and closing process, while reducing the robot's dependence on high torque and reducing the requirements for the strength of the end gripper structure.

[0056] like Figure 4 As shown, in some embodiments, the first driving component 1 includes an electric push rod 11 and a suction cup pull rod 12, the electric push rod 11 is connected to the frame 10, one end of the suction cup pull rod 12 is connected to the movable end of the electric push rod 11, and the other end of the suction cup pull rod 12 is connected to the suction cup 2, and the extension and retraction of the electric push rod 11 can drive the suction cup pull rod 12 to move, thereby driving the suction cup 2 to sink or bulge.

[0057] Specifically, Figure 4 Take the position in the figure as an example, when the movable end of the electric push rod 11 retracts to the right, the suction cup pull rod 12 is driven to move to the right, and the pulling force transmitted to the suction cup 2 can make the inside of the suction cup 2 concave, forming a vacuum, generating suction, so that the suction cup 2 can be adsorbed on the outer surface of the distribution cabinet. When the opening and closing task is completed, the movable end of the electric push rod 11 extends to the left, causing the inside of the suction cup 2 to bulge to the left, the suction of the suction cup 2 disappears, and the circuit breaker opening and closing device 400 is completely separated from the outer surface of the distribution cabinet.

[0058] Through such a setting, the telescopic action of the electric push rod 11 can accurately control the movement of the suction cup pull rod 12, thereby realizing efficient switching of the suction cup 2 between the recessed and protruding states, ensuring that the suction cup 2 can quickly form and release the adsorption force, greatly improving the response speed of the opening and closing operations.

[0059] like Figure 4 As shown, in some embodiments, the frame 10 includes a top plate 101, a bottom plate 102 and a connecting column 103, and the connecting column 103 is connected between the top plate 101 and the bottom plate 102. The top plate 101 is fixed with a mounting seat 5, the fixed end of the electric push rod 11 is mounted on the mounting seat 5, the movable end of the electric push rod 11 is movably penetrated through the top plate 101 and can extend into the gap between the top plate 101 and the bottom plate 102, the suction cup 2 is arranged on the side of the bottom plate 102 away from the top plate 101, the end of the suction cup pull rod 12 away from the suction cup 2 is configured to be penetrated through the bottom plate 102 and extend into the gap between the top plate 101 and the bottom plate 102, and the end of the suction cup pull rod 12 away from the suction cup 2 is connected to the movable end of the electric push rod 11.

[0060] Through such a configuration, the frame 10 forms a stable frame structure, which can provide sufficient support strength during the opening and closing process of the circuit breaker. At the same time, the mounting seat 5 on the top plate 101 provides a fixed mounting point for the electric push rod 11, making the fixed end of the electric push rod 11 more stable.

[0061] like Figure 2 As shown, in some embodiments, a quick-change mechanism 40 is provided on the top plate 101 , and the quick-change mechanism 40 is fixed to the top plate 101 by screws. The quick-change mechanism 40 can cooperate with the quick-change mechanism at the end of the robot body 300 to realize the rapid replacement of the circuit breaker opening and closing device 400 .

[0062] like Figure 3 and Figure 4As shown, in some embodiments, two suction cups 2 are provided, and the suction cup pull rods 12 are provided one by one with the suction cups 2, and a transmission assembly 6 is provided between the movable end of the electric push rod 11 and the two suction cup pull rods 12. The transmission assembly 6 includes a first connecting rod 61 and two second connecting rods 62, the first connecting rod 61 is located in the gap between the top plate 101 and the bottom plate 102, and the two second connecting rods 62 are at least partially located in the gap between the top plate 101 and the bottom plate 102, the middle position of the first connecting rod 61 is connected to the movable end of the electric push rod 11, and the two second connecting rods 62 are rotatably connected to the opposite ends of the first connecting rod 61, and one end of each second connecting rod 62 away from the first connecting rod 61 abuts against the surface of the bottom plate 102 facing the top plate 101, and the second connecting rod 62 is movable relative to the bottom plate 102, that is: the abutment point between one end of the second connecting rod 62 away from the first connecting rod 61 and the bottom plate 102 is equivalent to the lever fulcrum. One end of the suction cup pull rod 12 away from the suction cup 2 is rotatably connected to one end of the corresponding second connecting rod 62 away from the first connecting rod 61 .

[0063] Through such a setting, the movable end of the electric push rod 11 is connected to the two second connecting rods 62 through the first connecting rod 61, and the driving force can be evenly distributed to the two suction cup pull rods 12 when the electric push rod 11 is extended and retracted, ensuring that the two suction cups 2 are synchronously recessed or protruded, thereby improving the stability and reliability during the adsorption process. At the same time, the rotating connection structure of the transmission component 6 can adapt to small displacements in different directions, avoiding the jamming phenomenon caused by installation errors or uneven force during the driving process, thereby effectively improving the operational flexibility and adsorption performance of the circuit breaker opening and closing device under complex working conditions.

[0064] Exemplarily, the second connecting rod 62 is in the shape of an irregular hexagonal strip, with a small end rotatably connected to the first connecting rod 61 through a pin, and a large end rotatably connected to the suction cup pull rod 12 through a pin. The short side of the large end contacts the bottom plate 102, acting as a lever fulcrum.

[0065] like Figure 4 As shown, in some embodiments, the suction cup pull rod 12 includes a first sub-pull rod 121 and a second sub-pull rod 122, one end of the first sub-pull rod 121 is fixed to the suction cup 2, the other end of the first sub-pull rod 121 is rotatably connected to the second sub-pull rod 122, and one end of the second sub-pull rod 122 away from the first sub-pull rod 121 is rotatably connected to the second connecting rod 62. By dividing the suction cup pull rod 12 into two rotatably connected sub-pull rods, the suction cup pull rod 12 can more flexibly adapt to different angles and position changes during movement, thereby ensuring that the suction cup 2 moves more accurately and smoothly during adsorption and release.

[0066] Exemplarily, the first sub-tie rod 121 is rotatably connected to the second sub-tie rod 122 via a pin, and the second sub-tie rod 122 is rotatably connected to the second connecting rod 62 via a pin.

[0067] like Figure 4 As shown, in some embodiments, the base plate 102 is provided with a suction cup fixing frame 7, one end of the suction cup fixing frame 7 is fixedly connected to the base plate 102, the other end of the suction cup fixing frame 7 is fixedly connected to the suction cup 2, the interior of the suction cup fixing frame 7 has an accommodating space 71, and the suction cup pull rod 12 can be partially located in the accommodating space 71.

[0068] By providing the suction cup fixing frame 7, a stable supporting structure is provided for the suction cup 2, which can improve the stability of the suction cup 2 during operation and prevent the suction cup 2 from being misplaced or offset. In addition, the design of the accommodating space 71 allows the suction cup pull rod 12 to move freely therein, thereby effectively protecting the suction cup pull rod 12 and preventing it from being damaged by external collision or friction during operation.

[0069] Optionally, the suction cup fixing frame 7 is configured to be cylindrical, the suction cup 2 is configured to be circular and located at the front end of the suction cup fixing frame 7, and the material of the suction cup 2 can be configured to be rubber.

[0070] like Figure 3 and Figure 5 As shown, in some embodiments, the second driving assembly 3 includes a driving motor 31, a first gear 32 and a second gear 33. The driving motor 31 is installed in the gap between the top plate 101 and the bottom plate 102. The first gear 32 and the second gear 33 are rotatably connected to the surface of the bottom plate 102 away from the top plate 101. The first gear 32 is connected to the output end of the driving motor 31, and the second gear 33 is transmission-connected to the first gear 32. The toggle member 4 is installed on the second gear 33 and can move together with the second gear 33. Exemplarily, the first gear 32 is connected to the output end of the driving motor 31 through a keyway, and the second gear 33 is connected to the bottom plate 102 through a bearing.

[0071] Through such a motor plus gear transmission setting, the moving trajectory and the toggle force of the toggle member 4 can be accurately controlled, thereby improving the stability and reliability of the circuit breaker opening and closing operation. In addition, the gear transmission mechanism can amplify the output torque of the drive motor 31 to ensure sufficient driving force during the toggle operation, further improving the ability of the device to cope with different load requirements.

[0072] Optionally, the first gear 32 and the second gear 33 can be made of engineering plastics to reduce weight. Furthermore, the middle portion of the second gear 33 has a through hole for reducing weight to further reduce weight.

[0073] Optionally, the toggle member 4 in this embodiment is configured to be elliptical, so that the toggle member 4 can be allowed to slide to a certain extent when in contact with the circuit breaker handle, and has greater adaptability when operating circuit breakers of different specifications.

[0074] Optionally, the toggle member 4 is mounted on the second gear 33 by means of screws.

[0075] In some embodiments, the toggle member 4 is provided with a force sensor, which is used to sense the magnitude of the force applied to the toggle member 4. The force sensor can determine whether the toggle member 4 contacts the circuit breaker handle by sensing the magnitude of the force applied to the toggle member 4, thereby controlling the speed of the drive motor 31, that is, the speed is fast during the idle stroke, and the speed is slowed down when the toggle member 4 contacts the circuit breaker handle, so as to improve the opening and closing efficiency, reduce the impact when the toggle member 4 contacts the circuit breaker handle, and make the opening and closing process smoother.

[0076] like Figure 3 and Figure 5 As shown, in some embodiments, the operating mechanism 30 also includes a position sensing component, which includes a position sensor 8 and a plurality of position mark permanent magnets 9. The fixed end of the position sensor 8 is fixed to the top plate 101, and the sensing end of the position sensor 8 extends out of the bottom plate 102. The second gear 33 is fixed with a plurality of position mark permanent magnets 9. The plurality of position mark permanent magnets 9 are arranged at intervals, and the plurality of position mark permanent magnets 9 cooperate with the position sensor 8 to sense the rotation angle of the second gear 33.

[0077] Through such a setting, the position sensor 8 can sense and transmit the changes of the position marker permanent magnet 9, so that the robot can accurately sense the rotation angle of the second gear 33, thereby realizing real-time monitoring of the position and movement state of the second gear 33 to prevent the second gear 33 from not rotating in place or rotating excessively.

[0078] Exemplarily, the second gear 33 is semicircular in shape, and three position marking permanent magnets 9 are provided, which are respectively located at the extreme positions and the middle position at both ends of the second gear 33 .

[0079] When the robot provided in this embodiment opens and closes the circuit breaker, the operation steps are as follows:

[0080] S1. Install the circuit breaker opening and closing device 400 on the robot body 300, and move the circuit breaker opening and closing device 400 to a safe distance range of the power distribution cabinet to be operated by using the mobile vehicle 100;

[0081] S2. After the robot locates the position of the circuit breaker handle through the visual camera, it plans the path autonomously, places the circuit breaker opening and closing device 400 on the outer surface of the power distribution cabinet, and applies a certain pressure;

[0082] S3, the robot issues an adsorption command, the electric push rod 11 retracts, and the second connecting rod 62 is pulled by the first connecting rod 61, which in turn tightens the suction cup pull rod 12, so that the inside of the suction cup 2 is sunken to form a vacuum, and suction is generated to adsorb to the outer surface of the distribution cabinet;

[0083] S4, the robot issues an opening and closing command, the driving motor 31 is activated, the first gear 32 rotates under the action of the driving motor 31, drives the second gear 33 to move, and then drives the toggle member 4 to move together to toggle the circuit breaker handle;

[0084] S5. After the opening and closing task is completed, the electric push rod 11 extends, the transmission assembly 6 and the suction cup pull rod 12 return to the initial position, the suction cup 2 switches from the adsorption state to the desorption state, and the circuit breaker opening and closing device 400 is completely separated from the outer surface of the distribution cabinet.

[0085] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A circuit breaker opening and closing device, characterized in that: include: Frame (10); The adsorption mechanism (20) comprises a first drive component (1) and a suction cup (2), wherein the first drive component (1) is arranged on the frame (10), the suction cup (2) is connected to the first drive component (1), the suction cup (2) has an adsorption state and a desorption state, and the first drive component (1) is configured to drive the suction cup (2) to switch between the adsorption state and the desorption state, so that the suction cup (2) can be adsorbed on the outer surface of the power distribution cabinet or detached from the outer surface of the power distribution cabinet; The operating mechanism (30) comprises a second driving assembly (3) and a toggle member (4), wherein the second driving assembly (3) is arranged on the frame (10), the toggle member (4) is connected to the second driving assembly (3), the second driving assembly (3) can drive the toggle member (4) to move together, and the toggle member (4) is configured to toggle a circuit breaker handle on the outer surface of the power distribution cabinet when the suction cup (2) is adsorbed on the outer surface of the power distribution cabinet, so that the circuit breaker handle is opened or closed.

2. The circuit breaker opening and closing device according to claim 1, characterized in that: The first driving component (1) comprises an electric push rod (11) and a suction cup pull rod (12), wherein the electric push rod (11) is connected to the frame (10), one end of the suction cup pull rod (12) is connected to the movable end of the electric push rod (11), and the other end of the suction cup pull rod (12) is connected to the suction cup (2), and the extension and retraction of the electric push rod (11) can drive the suction cup pull rod (12) to move, thereby driving the suction cup (2) to be concave or convex.

3. The circuit breaker opening and closing device according to claim 2, characterized in that: The frame (10) comprises a top plate (101), a bottom plate (102) and a connecting column (103); the connecting column (103) is connected between the top plate (101) and the bottom plate (102); the top plate (101) is fixedly provided with a mounting seat (5); the fixed end of the electric push rod (11) is mounted on the mounting seat (5); the movable end of the electric push rod (11) is movably arranged on the top plate (101) and can extend into the top plate (101). and the gap between the bottom plate (102), the suction cup (2) is arranged on the side of the bottom plate (102) facing away from the top plate (101), the end of the suction cup pull rod (12) away from the suction cup (2) is configured to pass through the bottom plate (102) and extend into the gap between the top plate (101) and the bottom plate (102), and the end of the suction cup pull rod (12) away from the suction cup (2) is connected to the movable end of the electric push rod (11).

4. The circuit breaker opening and closing device according to claim 3, characterized in that: Two suction cups (2) are provided, and the suction cup pull rods (12) are arranged in a one-to-one correspondence with the suction cups (2). A transmission assembly (6) is arranged between the movable end of the electric push rod (11) and the two suction cup pull rods (12), and the transmission assembly (6) includes a first connecting rod (61) and two second connecting rods (62). The first connecting rod (61) is located in the gap between the top plate (101) and the bottom plate (102), and the two second connecting rods (62) are at least partially located in the gap between the top plate (101) and the bottom plate (102). 1) is connected to the movable end of the electric push rod (11), and the two second connecting rods (62) are rotatably connected to the opposite ends of the first connecting rod (61), and one end of each second connecting rod (62) away from the first connecting rod (61) abuts against the surface of the bottom plate (102) facing the top plate (101), and the second connecting rod (62) is movable relative to the bottom plate (102), and one end of the suction cup pull rod (12) away from the suction cup (2) is rotatably connected to the corresponding end of the second connecting rod (62) away from the first connecting rod (61).

5. The circuit breaker opening and closing device according to claim 4, characterized in that: The suction cup pull rod (12) comprises a first sub-pull rod (121) and a second sub-pull rod (122), one end of the first sub-pull rod (121) is fixed to the suction cup (2), the other end of the first sub-pull rod (121) is rotatably connected to the second sub-pull rod (122), and one end of the second sub-pull rod (122) away from the first sub-pull rod (121) is rotatably connected to the second connecting rod (62).

6. The circuit breaker opening and closing device according to claim 3, characterized in that: The bottom plate (102) is provided with a suction cup fixing frame (7), one end of the suction cup fixing frame (7) is fixedly connected to the bottom plate (102), the other end of the suction cup fixing frame (7) is fixedly connected to the suction cup (2), the interior of the suction cup fixing frame (7) has a receiving space (71), and the suction cup pull rod (12) can be partially located in the receiving space (71).

7. The circuit breaker opening and closing device according to any one of claims 3 to 6, characterized in that: The second driving assembly (3) comprises a driving motor (31), a first gear (32) and a second gear (33); the driving motor (31) is installed in a gap between the top plate (101) and the bottom plate (102); the first gear (32) and the second gear (33) are rotatably connected to a surface of the bottom plate (102) facing away from the top plate (101); the first gear (32) is connected to an output end of the driving motor (31); the second gear (33) is transmission-connected to the first gear (32); and the shifting member (4) is installed on the second gear (33) and can move together with the second gear (33).

8. The circuit breaker opening and closing device according to claim 7, characterized in that: The toggle member (4) is provided with a force sensor, and the force sensor is used to sense the magnitude of the force applied to the toggle member (4).

9. The circuit breaker opening and closing device according to claim 7, characterized in that: The operating mechanism (30) further comprises a position sensing component, wherein the position sensing component comprises a position sensor (8) and a plurality of position mark permanent magnets (9), wherein the fixed end of the position sensor (8) is fixedly mounted on the top plate (101), and the sensing end of the position sensor (8) extends out of the bottom plate (102), and the second gear (33) is fixedly mounted with a plurality of the position mark permanent magnets (9), wherein the plurality of the position mark permanent magnets (9) are arranged at intervals, and the plurality of the position mark permanent magnets (9) cooperate with the position sensor (8) to sense the rotation angle of the second gear (33).

10. A robot, characterized in that include: A mobile vehicle (100), a robot base (200), a robot body (300), and a circuit breaker opening and closing device (400) according to any one of claims 1 to 9; The robot base (200) is installed on the mobile vehicle (100), the robot body (300) is installed on the robot base (200), and the circuit breaker opening and closing device (400) is installed on the end of the robot body (300).

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