Unlocking door opening device, unlocking door opening method and inspection robot

Abstract

The invention belongs to the technical field of inspection robots, and discloses an unlocking door opening device, an unlocking door opening method and an inspection robot. The unlocking and door opening device comprises a rack, and a lock pressing mechanism, a rotating mechanism and a door opening mechanism which are arranged on the rack; the lock pressing mechanism can press a lock hole of the pop-up plane lock to enable the rotating handle to pop up; the rotating mechanism can operate the rotating handle to rotate for unlocking; the door opening mechanism is used for pulling the cabinet door to open the cabinet door. The unlocking and door opening device is used for unlocking and door opening of a cabinet door with a pop-up plane lock, and when the rack is close to the cabinet door and right faces the pop-up plane lock, the lock pressing mechanism, the rotating mechanism and the door opening mechanism act in sequence; a series of automatic control of pressing the lock to bounce the rotating handle, rotating the rotating handle to unlock the lock and pulling the cabinet door to open the door is realized, so that remote control unlocking and door opening of the cabinet door of the pop-up plane lock can be easily realized, the execution efficiency is high, and the success rate of unlocking and door opening is high.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an unlocking and door-opening device, an unlocking and door-opening method, and an inspection robot, which can be used for automatic operations of unlocking and opening the cabinet door of an electrical cabinet in a substation. Background Art

[0002] Substation inspection includes the detection and maintenance of electrical equipment. The electrical equipment is generally arranged in an electrical cabinet body, and the cabinet door lock on the cabinet body is in a normally closed state. When detection and maintenance are required, the cabinet door needs to be opened.

[0003] The cabinet door lock generally adopts a pop-up flat lock, which can provide reliable safety protection for the electrical cabinet and prevent unauthorized personnel from opening the electrical cabinet. When unlocking the pop-up flat lock, it is necessary to first press the cabinet lock to make the handle pop up, then rotate the handle 90°, and then pull the cabinet door to open. The unlocking and door-opening operations are complex, and existing ordinary mechanical devices cannot complete this door-opening task. Moreover, during the execution of tasks by existing robots, the situation of insufficient or excessive handling force is likely to occur, resulting in damage to the cabinet door or the cabinet door lock. Therefore, after the inspection robot discovers an electrical equipment failure, manual operation is required to open the cabinet door, and the inspection robot cannot unlock the door. Summary of the Invention

[0004] The purpose of the present invention is to provide an unlocking and door-opening device, an unlocking and door-opening method, and an inspection robot, which can solve the problems of remote automatic unlocking and door-opening operations of electrical cabinets with pop-up flat locks, with high execution efficiency and high success rate of unlocking and door-opening.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] The present invention first provides an unlocking and door-opening device, including:

[0007] A frame;

[0008] A lock-pressing mechanism, which is arranged on the frame and can press the lock hole of the pop-up flat lock to make the rotating handle pop up;

[0009] A rotating mechanism, which is arranged on the frame and can operate the rotating handle to rotate for unlocking;

[0010] A door-opening mechanism, which is arranged on the frame and is used to pull the cabinet door to open the cabinet door.

[0011] In some embodiments, the lock-pressing mechanism includes:

[0012] A first driving member, which is arranged on the frame;

[0013] A pressing member, which is provided at the output end of the first driving member, and the first driving member can drive the pressing member to move and provide a pressing force.

[0014] In some embodiments, the locking mechanism further includes a first force sensor, which is provided between the pressing member and the output end of the first driving member, or at the end of the pressing member away from the first driving member.

[0015] In some embodiments, the rotating mechanism includes:

[0016] A second driving member, which is fixed on the frame;

[0017] A profiling tooling, which is provided at the output end of the second driving member, and the profiling tooling cooperates with the rotating handle to hold the rotating handle, and the second driving member can drive the profiling tooling to rotate.

[0018] In some embodiments, the rotating mechanism further includes a second force sensor, which is provided between the profiling tooling and the output end of the second driving member.

[0019] In some embodiments, the rotating mechanism further includes a transmission shaft, and both ends of the transmission shaft are respectively connected to the output end of the second driving member and the profiling tooling.

[0020] In some embodiments, the door opening mechanism includes:

[0021] A third driving member, which is provided on the frame;

[0022] A suction member, which is provided at the output end of the third driving member, and the suction member is hinged to the output end of the third driving member. When the suction member sucks the cabinet door, the third driving member can drive the suction member to move to open the cabinet door.

[0023] In some embodiments, the door opening mechanism further includes a third force sensor, which is provided between the suction member and the output end of the third driving member.

[0024] The present invention also provides an unlocking and door opening method, which is applied to the unlocking and door opening device provided by the present invention. The unlocking and door opening method includes the following steps:

[0025] S1, the frame approaches the cabinet door, so that the locking mechanism faces the lock hole of the pop-up flat lock, and the rotating mechanism faces the rotating handle;

[0026] S2, the locking mechanism is activated and presses the lock hole to make the rotating handle pop up;

[0027] S3. The rotation mechanism is activated and drives the rotation handle to rotate for unlocking the lock.

[0028] S4. The door opening mechanism is activated and pulls the cabinet door to open the cabinet door.

[0029] The present invention further provides an inspection robot, which includes a robotic arm, a vision camera, and the unlocking and door opening device provided by the present invention. The vision camera is arranged on the frame of the unlocking and door opening device, and the frame is arranged on the robotic arm.

[0030] Advantages of the present invention:

[0031] The unlocking and door opening device provided by the present invention is used for unlocking and opening the cabinet door with a pop-up flat lock. By arranging a lock pressing mechanism, a rotation mechanism, and a door opening mechanism on the frame, when the frame approaches the cabinet door and faces the pop-up flat lock, the lock pressing mechanism, the rotation mechanism, and the door opening mechanism act in sequence to realize a series of automatic controls of pressing the lock to pop up the rotation handle, rotating the rotation handle to unlock the lock, and pulling the cabinet door to open the door, thereby facilitating the realization of remote control unlocking and opening of the cabinet door with a pop-up flat lock, with high execution efficiency and high success rate of unlocking and opening the door.

[0032] The unlocking and door opening method provided by the present invention can realize continuous actions of pressing the keyhole of the pop-up flat lock to make the rotation handle pop up, rotating the rotation handle to unlock the lock, and pulling the cabinet door to open through the unlocking and door opening device, which is applicable to automatic unlocking of the pop-up flat lock and automatic opening of the corresponding cabinet door, with high execution efficiency and high success rate of unlocking and opening the door.

[0033] The inspection robot provided by the present invention, by arranging a vision camera and an unlocking and door opening device on the robotic arm, when the robotic arm drives the unlocking and door opening device to approach the cabinet door, accurate positioning can be achieved through the vision camera, and the unlocking and door opening device realizes unlocking and opening of the cabinet door, with high execution efficiency and high success rate of unlocking and opening the door, realizing the multi-function and high adaptability of the inspection robot. Description of the Drawings

[0034] Figure 1 is a schematic structural diagram of the unlocking and door opening device provided by an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of the door opening state of the unlocking and door opening device provided by an embodiment of the present invention;

[0036] Figure 3 is a schematic structural diagram of the inspection robot provided by an embodiment of the present invention;

[0037] Figure 4 is a schematic diagram of the installation position of the vision camera related to an embodiment of the present invention on the unlocking and door opening device.

[0038] In the figure:

[0039] 1. Frame

[0040] 2. Press-lock mechanism; 21. First driving member; 22. Pressing member; 23. First force sensor

[0041] 3. Rotating mechanism; 31. Second driving member; 32. Profiling tooling; 33. Second force sensor; 34. Transmission shaft

[0042] 4. Door-opening mechanism; 41. Third driving member; 42. Suction member; 43. Third force sensor

[0043] 5. Vision camera; 6. Robot arm Detailed implementation manners

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only parts related to the present invention rather than all structures are shown in the drawings.

[0045] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0046] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is at a lower horizontal height than the second feature.

[0047] In the description of this embodiment, the orientation or positional relationships such as "upper", "lower", "left", "right", etc. are based on the orientation or positional relationships shown in the drawings. They are only for the convenience of description and simplifying the operations, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0048] The present invention first provides an unlocking and door-opening device, which is applicable to a cabinet door with a pop-up flat lock. The cabinet door is rotatably installed on the cabinet body and locked by the pop-up flat lock. When it is necessary to detect and repair the electrical equipment in the cabinet, it is necessary to unlock and open the cabinet door.

[0049] As Figure 1 - Figure 2 , the unlocking and door-opening device provided by the present invention includes a frame 1 and a lock-pressing mechanism 2, a rotating mechanism 3, and a door-opening mechanism 4 provided on the frame 1. It can be understood that the unlocking process of the pop-up flat lock requires pressing the lock hole to make the rotating handle pop out, and then rotating the rotating handle 90° to unlock. Specifically, in the present invention, the lock-pressing mechanism 2 is provided on the frame 1, and the lock-pressing mechanism 2 can press the lock hole of the pop-up flat lock to make the rotating handle pop out; the rotating mechanism 3 is provided on the frame 1, and the rotating mechanism 3 can operate the rotating handle to rotate for unlocking; the door-opening mechanism 4 is provided on the frame 1, and the door-opening mechanism 4 is used to pull the cabinet door to open the cabinet door.

[0050] The unlocking and door-opening device provided by the present invention is used for unlocking and opening the cabinet door with a pop-up flat lock. As Figure 1 shown, by setting the lock-pressing mechanism 2, the rotating mechanism 3, and the door-opening mechanism 4 on the frame 1, according to the structural characteristics of the pop-up flat lock, the lock-pressing mechanism 2, the rotating mechanism 3, and the door-opening mechanism 4 are arranged on the frame 1 in a predetermined order. That is, when the frame 1 approaches the cabinet door and faces the pop-up flat lock, the lock-pressing mechanism 2, the rotating mechanism 3, and the door-opening mechanism 4 respectively target the lock hole, the rotating handle, and the cabinet door of the pop-up flat lock, and then act in sequence to realize a series of automatic controls of pressing the lock to pop up the rotating handle, rotating the rotating handle to unlock, and pulling the cabinet door to open the door, thereby facilitating the realization of remote control unlocking and opening of the cabinet door with a pop-up flat lock, with high execution efficiency and high success rate of unlocking and opening the door.

[0051] In some embodiments, the lock-pressing mechanism 2 includes a first driving member 21 and a pressing member 22. The first driving member 21 is provided on the frame 1; the pressing member 22 is provided at the output end of the first driving member 21, and the first driving member 21 can drive the pressing member 22 to move linearly and provide a pressing force.

[0052] As Figure 1As shown, according to the structure of the pop-up flat lock, the first driving member 21 is installed at the bottom end of the frame 1 by screws. The pressing member 22 is adapted to the lock hole, so that the pressing member 22 can press into the lock hole and cause the rotary handle to pop up under the action of the pressing force. In order to sense the pressing force of the pressing member 22 when pressing the lock hole, the locking mechanism 2 further includes a first force sensor 23. The first force sensor 23 is disposed between the pressing member 22 and the output end of the first driving member 21, or at the end (pressing end) of the pressing member 22 facing away from the first driving member 21. Furthermore, according to the size of the pressing member 22, the pressing member 22 can realize the pressure feedback or sensing of the lock hole. By collecting the pressing force of the first force sensor 23 and reasonably controlling the driving force of the first driving member 21, the reasonable force application when pressing the lock hole can be realized, avoiding damage to the lock hole caused by excessive force application and insufficient force application affecting the unlocking effect. The first driving member 21 adopts a linear driving mechanism, such as a cylinder, a motor or an electric push rod, etc. In this embodiment, an electric push rod is preferably adopted, and the first force sensor 23 is preferably disposed at the end of the pressing member 22 to directly contact the lock hole to sense the pressing force. Further, in some embodiments, when the size of the output end of the electric push rod can cooperate with the lock hole for pressing, the pressing member 22 can be omitted, and the first force sensor 23 is disposed at the output end of the first driving member 21 for pressing and pressing force detection, with a simple structure and cost reduction. During operation, the centers of the pressing member 22 and the first force sensor 23 are aligned with the lock hole. The output end of the first driving member 21 extends to cause the pressing member 22 to press the lock hole. After reaching the preset force, the first driving member 21 stops extending and retracts, and at this time the rotary handle pops up.

[0053] In some embodiments, the rotating mechanism 3 includes a second driving member 31 and a profiling tooling 32. The second driving member 31 is fixed on the frame 1; the profiling tooling 32 is disposed at the output end of the second driving member 31, and the profiling tooling 32 cooperates with the rotary handle to hold the rotary handle, and the second driving member 31 can drive the profiling tooling 32 to rotate.

[0054] As Figure 1 and Figure 2 As shown, the profiling tooling 32 is a groove structure, and the inner wall of the groove is provided with a profiling arc to adapt to rotary handles of different specifications. When the rotary handle pops up, the rotary handle just fits into the groove of the profiling tooling 32. The second driving member 31 drives the profiling tooling 32 to rotate, thereby driving the rotary motion of the rotary handle. When the rotary handle rotates 90°, the cabinet door is unlocked. The second driving member 31 is a rotary driving mechanism, such as a servo motor, which is fixed on the top vertical plate of the frame 1 by screws. The start and stop of the servo motor can be remotely controlled, and the rotation angle of the rotary handle can be accurately controlled. The servo motor has a large torque and a small volume, and can provide a torque of more than 5 NM, and stably provides torque when rotating the rotary handle.

[0055] In order to achieve real-time perception of the rotational force for operating the rotary handle, in some embodiments, the rotating mechanism 3 further includes a second force sensor 33, and the second force sensor 33 is disposed between the profiling tooling 32 and the output end of the second driving member 31. As Figure 2 , the second force sensor 33 can collect the acting force between the profiling tooling 32 and the rotary handle. When the rotary handle pops up and contacts the profiling tooling 32, the second force sensor 33 starts to sense the acting force between the rotary handle and the profiling tooling 32, and performs real-time collection and feedback. When the magnitude of this acting force reaches the preset force, it is considered that the rotary handle has rotated in place and the unlocking is completed. At this time, the second driving member 31 can be remotely controlled to stop and hold. Among them, the servo motor and the second force sensor 33 can be directly communicatively connected. When the acting force collected by the second force sensor 33 in real time is equal to the preset force, the servo motor can automatically stop, realizing accurate control of the rotation angle between 0 - 180°.

[0056] In some embodiments, the rotating mechanism 3 further includes a transmission shaft 34, and both ends of the transmission shaft 34 are respectively connected to the output end of the second driving member 31 and the profiling tooling 32.

[0057] Again, such as Figure 1 and Figure 2 , a connecting portion is provided on the outer side wall of the bottom of the groove structure of the profiling tooling 32. The connecting portion is connected to the output end of the second driving member 31 through the transmission shaft 34. The second force sensor 33 can be disposed between the profiling tooling 32 and the transmission shaft 34, that is, at the connection point. The transmission shaft 34 is used to install the profiling tooling 32 and the second force sensor 33, and can control the installation of the profiling tooling 32 according to the structural position to adapt it to the structure of the pop-up planar lock.

[0058] In some embodiments, the door opening mechanism 4 includes a third driving member 41 and a suction member 42. The third driving member 41 is disposed on the frame 1; the suction member 42 is disposed at the output end of the third driving member 41, and the suction member 42 is hinged to the output end of the third driving member 41. When the suction member 42 sucks the cabinet door, the third driving member 41 can drive the suction member 42 to move to open the cabinet door.

[0059] Such as Figure 1 and Figure 2, the function of the door opening mechanism 4 is to operate the cabinet door to open after the rotary handle rotates to unlock. It can be understood that the cabinet door is a rotating opening and closing structure. When the cabinet door needs to be opened, the output end of the third driving member 41 extends and makes the sucking member 42 contact the cabinet door. After the sucking member 42 sucks the cabinet door, the output end of the third driving member 41 retracts and drives the cabinet door to open. Since the sucking member 42 is hinged to the output end of the third driving member 41, when the cabinet door rotates and opens, the sucking member 42 rotates relative to the third driving member 41. Further, the third driving member 41 adopts a cylinder or an electric push rod, which has a simple structure and is easy to control. When the output end of the third driving member 41 is rotatably connected to the sucking member 42, the third driving member 41 can be fixedly connected to the frame 1 or hinged to the frame 1 to realize the rotational opening control of the cabinet door, ensuring that the door opening process does not jam and making the door opening proceed smoothly. In this embodiment, the sucking member 42 can use a vacuum chuck to suck the cabinet door or a magnet (such as an electromagnet) to suck the cabinet door, which has a simple structure and is easy to control. It can be understood that on the premise that the sucking member 42 can contact and suck the cabinet door, the installation position and operation space should avoid the lock pressing mechanism 2 and the rotating mechanism 3. In this embodiment, the door opening mechanism 4 is arranged in the middle of the lock pressing mechanism 2 and the rotating mechanism 3, such as Figure 2 shown, the profiling tooling 32 cooperates with the popped-up rotary handle. When the output end of the third driving member 41 extends, the sucking member 42 contacts the cabinet door after exceeding the profiling tooling 32, which can avoid the position interference between the sucking member 42 and the profiling tooling 32.

[0060] In some embodiments, the door opening mechanism 4 further includes a third force sensor 43, and the third force sensor 43 is arranged between the sucking member 42 and the output end of the third driving member 41. After the sucking member 42 contacts and sucks the cabinet door, the third force sensor 43 senses and feeds back the acting force between the two, and through the telescopic movement distance and speed of the third driving member 41, ensures that there is always a stable acting force between the sucking member 42 and the cabinet door until the cabinet door is completely opened.

[0061] The present invention also provides an unlocking and door opening method, which applies the unlocking and door opening device provided by the present invention. The unlocking and door opening method includes the following steps:

[0062] S1, the frame 1 approaches the cabinet door, so that the lock pressing mechanism 2 faces the keyhole of the pop-up flat lock, and the rotating mechanism 3 faces the rotary handle;

[0063] S2, the lock pressing mechanism 2 is activated and presses the keyhole to make the rotary handle pop up;

[0064] According to the first force sensor 23, after the first driving member 21 drives the pressing member 22 to extend and contact the keyhole, force feedback starts to occur. According to the magnitude of the acting force, the unlocking situation is judged in real time. After reaching the preset force, the rotating handle pops out. The first driving member 21 is remotely controlled to stop, or the first driving member 21 directly controls the stop according to the magnitude of the feedback acting force, and the pressing member 22 retracts in the reverse direction.

[0065] S3, the rotating mechanism 3 is activated and drives the rotating handle to rotate to unlock the lock;

[0066] After the rotating handle pops out, since the profiling tooling 32 is aligned with the rotating handle, when the rotating handle pops into the groove of the profiling tooling 32, the second force sensor 33 receives the feedback force. At this time, the remote control center or the second driving member 31 starts the second driving member 31 according to the feedback force signal. The second driving member 31 drives the profiling tooling 32 to rotate so that the rotating handle rotates in place to achieve unlocking. Generally, it can be set that the second driving member 31 stops driving after the rotating handle rotates 90°. In this embodiment, after the rotating handle rotates to unlock the lock, the feedback acting force of the second force sensor 33 increases, and after reaching the preset value, the second driving member 31 stops.

[0067] S4, the door opening mechanism 4 is activated and pulls the cabinet door to open the cabinet door.

[0068] The door opening mechanism 4 is activated after the second driving member 31 stops. The third driving member 41 extends. The sucking member 42 uses an electromagnet. The electromagnet is powered on. After the sucking member 42 contacts the cabinet door, it sucks the cabinet door. The contact force between the sucking member 42 and the cabinet door is fed back to the third driving member 41 or the remote control center. The third driving member 41 stops extending and retracts in the reverse direction. During the process of driving the sucking member 42 to retract, the cabinet door rotates and opens.

[0069] The unlocking and door opening method provided by the present invention can, through the unlocking and door opening device, realize the continuous actions of pressing the keyhole of the pop-up flat lock to make the rotating handle pop out, rotating the rotating handle to unlock the lock, and pulling the cabinet door to open. It is applicable to the automatic unlocking of the pop-up flat lock and the automatic opening of the corresponding cabinet door, and has high execution efficiency and high success rate of unlocking and door opening. Among them, the positions of the lock pressing mechanism 2 and the rotating mechanism 3 on the rack 1 are preset according to the structure of the pop-up flat lock, so as to be aligned with the keyhole and the rotating handle respectively when the rack 1 is close to the cabinet door. By remotely controlling the first driving member 21, the second driving member 31, and the third driving member 41, the unlocking and door opening of the cabinet door are realized. According to the first force sensor 23, the second force sensor 33, and the third force sensor 43 provided on the unlocking and door opening device, the force-bearing conditions of the lock pressing mechanism 2, the rotating mechanism 3, and the door opening mechanism 4 can be collected in real time, and then the outputs of the first driving member 21, the second driving member 31, and the third driving member 41 can be flexibly adjusted and controlled to achieve precise unlocking and door opening, with high unlocking and door opening efficiency.

[0070] The present invention also provides an inspection robot, which includes a robotic arm 6, a vision camera 5, and the unlocking and door-opening device provided by the present invention. The vision camera 5 is arranged on the frame 1 of the unlocking and door-opening device, and the frame 1 is arranged on the robotic arm 6.

[0071] As Figure 3 and Figure 4 , for the inspection robot provided by the present invention, the robotic arm 6 adopts a multi-degree-of-freedom structure, and the vision camera 5 and the unlocking and door-opening device are arranged on the end effector of the robotic arm 6. Among them, the pressing mechanism 2 of the unlocking and door-opening device is located below the frame 1, and the end effector always remains in a vertical state, ensuring that after the locking mechanism presses, the rotating handle will not hit the end effector when it bounces. When the robotic arm 6 drives the unlocking and door-opening device close to the cabinet door, accurate positioning can be achieved through the vision camera 5, and the unlocking and door-opening device can unlock and open the cabinet door, with high execution efficiency and high success rate of unlocking and opening the door, realizing the multi-function and high adaptability of the inspection robot.

[0072] During the process of the door-opening mechanism 4 executing the door-opening operation, the robotic arm 6 can move according to the rotation opening trajectory of the cabinet door to facilitate the synchronous movement of the unlocking and door-opening device and the cabinet door, and the cabinet door can be smoothly opened.

[0073] Among them, the vision camera 5 is arranged at the top of the frame 1, can identify different models of pop-up flat locks, and feeds back visual information to the remote control center. The remote control center plans to move the end effector of the robotic arm 6 to the target position according to the identified position, and makes the unlocking and door-opening device correspond to the position of the pop-up flat lock. The frame 1 adopts a nylon lightweight material, and the weight is lighter under the same volume, which is beneficial to reducing the overall weight of the end effector and facilitating the operation and execution of the unlocking and door-opening actions.

[0074] For the inspection robot provided by the present invention, without the need to replace the front end effector, through the profiling tooling 32 at the front end of the rotating handle and the telescopically movable suction member 42, the adaptation to different specifications of rotating handle type cabinet doors is realized. When pressing the lock, the robotic arm is adjusted so that the first driving member 21 is aligned with the lock hole, and when rotating the rotating handle, the output shaft of the second driving member 31 is aligned with the rotation center of the rotating handle. The end effector of the inspection robot of the present invention is small in volume and light in weight. In the unlocking of the pop-up flat lock by setting the unlocking and door-opening device, it is applicable to the opening tasks of different specifications of door locks, greatly improving the disposal speed of opening the combined flat lock, expanding the application range of the inspection robot operating the combined flat lock operation. In actual operation, due to the setting of the first force sensor 23, the second force sensor 33, and the third force sensor 43, the operator can sense the force throughout the operation process, which is convenient for adjusting the actions of the inspection robot at any time. Compared with the robot equipped with a force-unperceiving end effector, the success rate and efficiency of the operation are greatly improved.

[0075] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. Unlocking door opening device, characterized in that: include: Rack (1); A push lock mechanism (2), the push lock mechanism (2) being arranged on the frame (1), and the push lock mechanism (2) being capable of pressing a lock hole of a pop-up flat lock so that the rotating handle pops out; A rotating mechanism (3), the rotating mechanism (3) being arranged on the frame (1), and the rotating mechanism (3) being capable of operating the rotating handle to rotate to unlock; A door opening mechanism (4), wherein the door opening mechanism (4) is arranged on the frame (1), and the door opening mechanism (4) is used to pull the cabinet door to open the cabinet door.

2. The door unlocking and opening device according to claim 1, characterized in that: The push-lock mechanism (2) comprises: A first driving member (21), wherein the first driving member (21) is arranged on the frame (1); A pressing member (22), wherein the pressing member (22) is arranged at an output end of the first driving member (21), and the first driving member (21) is capable of driving the pressing member (22) to move and provide a pressing force.

3. The door unlocking and opening device according to claim 2, characterized in that: The push-lock mechanism (2) further comprises a first force sensor (23), wherein the first force sensor (23) is arranged between the pressing member (22) and an output end of the first driving member (21), or is arranged at an end of the pressing member (22) away from the first driving member (21).

4. The door unlocking and opening device according to claim 1, characterized in that: The rotating mechanism (3) comprises: A second driving member (31), wherein the second driving member (31) is fixed on the frame (1); A contour tooling (32) is provided at the output end of the second driving member (31), the contour tooling (32) cooperates with the rotating handle to hold the rotating handle, and the second driving member (31) can drive the contour tooling (32) to rotate.

5. The door unlocking and opening device according to claim 4, characterized in that: The rotating mechanism (3) further comprises a second force sensor (33), wherein the second force sensor (33) is arranged between the contour tooling (32) and an output end of the second driving member (31).

6. The door unlocking and opening device according to claim 5, characterized in that: The rotating mechanism (3) further comprises a transmission shaft (34), the two ends of which are respectively connected to the output end of the second driving member (31) and the contour tooling (32).

7. The door unlocking and opening device according to claim 1, characterized in that: The door opening mechanism (4) comprises: A third driving member (41), wherein the third driving member (41) is arranged on the frame (1); A suction member (42), the suction member (42) is arranged at the output end of the third driving member (41), the suction member (42) is hinged to the output end of the third driving member (41), and when the suction member (42) sucks the cabinet door, the third driving member (41) can drive the suction member (42) to move to open the cabinet door.

8. The door unlocking and opening device according to claim 7, characterized in that: The door opening mechanism (4) further comprises a third force sensor (43), wherein the third force sensor (43) is arranged between the suction member (42) and the output end of the third driving member (41).

9. Unlocking door opening method, characterized in that: The unlocking and door opening device according to any one of claims 1 to 8 is applied, and the unlocking and door opening method comprises the following steps: S1, the frame (1) is close to the cabinet door, so that the push lock mechanism (2) is directly opposite to the lock hole of the pop-up flat lock, and the rotating mechanism (3) is directly opposite to the rotating handle; S2, the locking mechanism (2) is activated and presses the locking hole so that the rotating handle pops out; S3, the rotating mechanism (3) is started and drives the rotating handle to rotate to unlock; S4, the door opening mechanism (4) starts and pulls the cabinet door to open the cabinet door.

10. Inspection robot, characterized in that: The inspection robot comprises a mechanical arm (6), a visual camera (5) and the unlocking and door-opening device according to any one of claims 1 to 8, wherein the visual camera (5) is arranged on a frame (1) of the unlocking and door-opening device, and the frame (1) is arranged on the mechanical arm (6).

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