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

Abstract

The present application belongs to the technical field of inspection robots, and discloses an unlocking and door opening device, an unlocking and door opening method and an inspection robot. The unlocking and door opening device comprises a rack, a press-lock mechanism, a rotating mechanism and a door opening mechanism arranged on the rack. The press-lock mechanism can press the lock hole of a pop-up flat lock to make the rotating handle pop up. The rotating mechanism can operate the rotating handle to rotate to unlock. The door opening mechanism is used to pull the cabinet door to open the cabinet door. The unlocking and door opening device provided by the present application is used for unlocking and opening the cabinet door with a pop-up flat lock. When the rack is close to the cabinet door and faces the pop-up flat lock, the press-lock mechanism, the rotating mechanism and the door opening mechanism act in turn to realize a series of automatic control 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. Thus, the remote control unlocking and door opening of the cabinet door with the pop-up flat lock are easily realized, and the execution efficiency is high, and the success rate of unlocking and door opening is high.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to an unlocking and opening device, an unlocking and opening method, and an inspection robot, which can be used for the automatic operation of unlocking and opening the cabinet doors of electrical cabinets in substations. Background Technology

[0002] Substation inspection includes the testing and maintenance of electrical equipment. The electrical equipment is generally installed in electrical cabinets, and the cabinet door locks are normally closed. When testing and maintenance are required, the cabinet door needs to be opened.

[0003] Cabinet door locks typically use pop-up flat locks, providing reliable security for electrical cabinets and preventing unauthorized personnel from opening them. Unlocking a pop-up flat lock requires pressing the lock to pop up the handle, rotating it 90°, and then pulling the door open. This complex operation is beyond the capabilities of existing mechanical devices, and existing robots are prone to insufficient or excessive force during operation, potentially damaging the cabinet door or lock. Therefore, when an inspection robot detects an electrical equipment malfunction, manual unlocking of the cabinet door is necessary; the inspection robot cannot perform the unlocking itself. Summary of the Invention

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

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] This invention first provides an unlocking and opening device, comprising:

[0007] frame;

[0008] The locking mechanism is mounted on the frame and can press the key hole of the pop-up flat lock to make the rotating handle pop out.

[0009] A rotating mechanism is provided on the frame, and the rotating mechanism can operate the rotating handle to rotate to unlock;

[0010] A door opening mechanism is provided on the frame and is used to pull the cabinet door to open the cabinet door.

[0011] In some embodiments, the locking mechanism includes:

[0012] A first driving component is disposed on the frame;

[0013] The pressing member is located at the output end of the first driving member, and the first driving member can drive the pressing member to move and provide pressing force.

[0014] In some embodiments, the push-lock mechanism further includes a first force sensor, which is disposed between the output end of the pressing member and 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] The second driving component is fixed on the frame;

[0017] A contouring fixture is provided at the output end of the second drive member. The contouring fixture cooperates with the rotary handle to hold the rotary handle. The second drive member can drive the contouring fixture to rotate.

[0018] In some embodiments, the rotating mechanism further includes a second force sensor disposed between the contouring fixture and the output end of the second drive member.

[0019] In some embodiments, the rotating mechanism further includes a drive shaft, the two ends of which are respectively connected to the output end of the second drive member and the contouring tooling.

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

[0021] A third driving component is disposed on the frame;

[0022] A suction member is provided at the output end of the third driving member and is hinged to the output end of the third driving member. When the suction member picks up 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 disposed between the output end of the suction member and the third driving member.

[0024] The present invention also provides a method for unlocking and opening a door, which, using the unlocking and opening device provided by the present invention, includes the following steps:

[0025] S1, the frame is close to the cabinet door, so that the push-lock mechanism is directly opposite the key hole of the pop-up flat lock, and the rotating mechanism is directly opposite the rotating handle;

[0026] S2, the locking mechanism is activated and presses the keyhole to cause the rotating handle to pop out;

[0027] S3, the rotating mechanism is activated and drives the rotating handle to rotate to unlock;

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

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

[0030] The beneficial effects of this invention are:

[0031] The unlocking and opening device provided by this invention is used for unlocking and opening cabinet doors with pop-up flat locks. The device comprises a locking mechanism, a rotating mechanism, and an opening mechanism mounted on a frame. When the frame is close to the cabinet door and directly facing the pop-up flat lock, the locking mechanism, rotating mechanism, and opening mechanism operate sequentially, achieving a series of automatic controls: pressing the lock to pop up the rotating handle, rotating the rotating handle to unlock, and pulling the cabinet door to open. This facilitates remote control unlocking and opening of cabinet doors with pop-up flat locks, and offers high efficiency and a high success rate in unlocking and opening.

[0032] The unlocking and opening method provided by this invention, through the unlocking and opening device, can realize the continuous action of pressing the key hole of the pop-up flat lock to make the rotating handle pop out, rotating the rotating handle to unlock, and pulling the cabinet door open. It is suitable for the automatic unlocking of pop-up flat locks and the automatic opening of corresponding cabinet doors, and has high execution efficiency and high success rate of unlocking and opening doors.

[0033] The inspection robot provided by this invention, by setting a vision camera and an unlocking and opening device on the robotic arm, can accurately locate the cabinet door when the robotic arm moves the unlocking and opening device close to the cabinet door. The unlocking and opening device can unlock and open the cabinet door, which has high execution efficiency and high unlocking and opening success rate, realizing the multi-functionality and high adaptability of the inspection robot. Attached Figure Description

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

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

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

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

[0038] In the picture:

[0039] 1. Rack;

[0040] 2. Locking mechanism; 21. First driving component; 22. Pressing component; 23. First force sensor;

[0041] 3. Rotating mechanism; 31. Second driving component; 32. Contouring fixture; 33. Second force sensor; 34. Drive shaft;

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

[0043] 5. Visual camera; 6. Robotic arm. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0045] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0047] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0048] The present invention first provides an unlocking and opening device, which is suitable for cabinet doors with pop-up flat locks. The cabinet door is rotated and installed on the cabinet body and locked by the pop-up flat lock. When it is necessary to inspect and repair the electrical equipment inside the cabinet, it is necessary to unlock the cabinet door and open the cabinet door.

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

[0050] The unlocking and opening device provided by this invention is used for unlocking and opening cabinet doors equipped with pop-up flat locks. For example... Figure 1 As shown, the unlocking and opening device is equipped with a locking mechanism 2, a rotating mechanism 3, and an opening mechanism 4 on the frame 1. Based on the structural characteristics of the pop-up flat lock, the locking mechanism 2, the rotating mechanism 3, and the opening mechanism 4 are arranged in a predetermined order on the frame 1. That is, when the frame 1 is close to the cabinet door and facing the pop-up flat lock, the locking mechanism 2, the rotating mechanism 3, and the 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 such as pressing the lock to pop up the rotating handle, rotating the rotating handle to unlock, and pulling the cabinet door to open. This makes it easy to remotely control the unlocking and opening of the cabinet door of the pop-up flat lock, and the execution efficiency is high with a high success rate of unlocking and opening.

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

[0052] like Figure 1As shown, according to the structure of the pop-up flat lock, the first driving member 21 is installed at the bottom of the frame 1 with screws, and 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 rotating 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 also includes a first force sensor 23. The first force sensor 23 is located between the pressing member 22 and the output end of the first driving member 21, or located at the end of the pressing member 22 away from the first driving member 21 (pressing end). Thus, according to the size of the pressing member 22, the pressing member 22 can realize 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, it is possible to achieve reasonable force when pressing the lock hole, avoiding excessive force causing damage to the lock hole and insufficient force affecting the unlocking effect. The first driving component 21 adopts a linear drive mechanism, such as a cylinder, motor, or electric actuator. In this embodiment, an electric actuator is preferred. The first force sensor 23 is preferably located at the end of the pressing component 22, directly contacting the lock hole to sense the pressing force. Further, in some embodiments, when the size of the output end of the electric actuator matches the lock hole for pressing, the pressing component 22 can be omitted, and the first force sensor 23 can be located at the output end of the first driving component 21 for pressing and force detection. This simplifies the structure and reduces costs. During operation, the centers of the pressing component 22 and the first force sensor 23 are aligned with the lock hole. The output end of the first driving component 21 extends, causing the pressing component 22 to press the lock hole. After reaching the preset force, the first driving component 21 stops extending and retracts. At this time, the handle is rotated to pop out.

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

[0054] like Figure 1 and Figure 2 As shown, the contouring fixture 32 has a groove structure with contoured arcs on the inner wall to accommodate rotating handles of different sizes. When the rotating handle pops up, it fits perfectly into the groove of the contouring fixture 32. The second drive component 31 drives the contouring fixture 32 to rotate, thereby causing the rotating handle to rotate. When the rotating handle rotates 90°, the cabinet door unlocks. The second drive component 31 is a rotary drive mechanism, such as a servo motor, which is fixed to the top plate of the frame 1 with screws. The servo motor can be remotely controlled to start and stop, and the rotation angle of the rotating handle can be precisely controlled. The servo motor has high torque and small size, and can provide more than 5 NM of torque, providing stable torque when rotating the rotating handle.

[0055] To achieve real-time sensing of the rotational force of the operating handle, in some embodiments, the rotating mechanism 3 further includes a second force sensor 33, which is located between the output end of the contouring fixture 32 and the second drive member 31. For example... Figure 2 The second force sensor 33 can collect the force between the contouring fixture 32 and the rotary handle. When the rotary handle pops up and contacts the contouring fixture 32, the second force sensor 33 begins to sense the force between the rotary handle and the contouring fixture 32, and collects and provides feedback in real time. When the magnitude of this force reaches the preset force, it is considered that the rotary handle has rotated to the correct position and the unlocking is complete. At this time, the second drive component 31 can be remotely controlled to stop and maintain its position. The servo motor can be directly connected to the second force sensor 33. When the force collected by the second force sensor 33 in real time is equal to the preset force, the servo motor can automatically stop, achieving accurate control of the rotation angle between 0-180°.

[0056] In some embodiments, the rotating mechanism 3 further includes a drive shaft 34, the two ends of which are respectively connected to the output end of the second drive member 31 and the contouring tooling 32.

[0057] For example Figure 1 and Figure 2 The groove bottom outer wall of the contour tooling 32 is provided with a connecting part. The connecting part is connected to the output end of the second drive member 31 through the drive shaft 34. The second force sensor 33 can be set between the contour tooling 32 and the drive shaft 34, that is, set at the connection. The drive shaft 34 is used to install the contour tooling 32 and the second force sensor 33, and can control the installation of the contour tooling 32 according to the structural position to adapt it to the structure of the pop-up flat 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 is hinged to the output end of the third driving member 41. When the suction member 42 sucks up the cabinet door, the third driving member 41 can drive the suction member 42 to move to open the cabinet door.

[0059] like Figure 1 and Figure 2The function of the door opening mechanism 4 is to open the cabinet door after the handle is rotated to unlock. The cabinet door has a rotating opening and closing structure. When the cabinet door needs to be opened, the output end of the third driving component 41 extends, causing the suction component 42 to contact the cabinet door. After the suction component 42 picks up the cabinet door, the output end of the third driving component 41 retracts, driving the cabinet door to open. Since the suction component 42 is hinged to the output end of the third driving component 41, the suction component 42 rotates relative to the third driving component 41 when the cabinet door rotates open. Furthermore, the third driving component 41 can be a cylinder or an electric actuator, which is simple in structure and easy to control. When the output end of the third driving component 41 is rotatably connected to the suction component 42, the third driving component 41 can be fixedly connected to the frame 1 or hinged to the frame 1, realizing the rotational opening control of the cabinet door and ensuring that the opening process does not jam, allowing the door to open smoothly. In this embodiment, the suction component 42 can use a vacuum suction cup to pick up the cabinet door or a magnet (such as an electromagnet) to pick up the cabinet door, which is simple in structure and easy to control. It is understandable that, while ensuring the suction component 42 can contact and suction the cabinet door, its installation position and operating space must avoid the locking mechanism 2 and the rotating mechanism 3. In this embodiment, the door opening mechanism 4 is positioned between the locking mechanism 2 and the rotating mechanism 3. Figure 2 As shown, the contouring fixture 32 cooperates with the pop-up rotating handle. When the output end of the third drive component 41 extends, the suction component 42 extends beyond the contouring fixture 32 and contacts the cabinet door, which can avoid positional interference between the suction component 42 and the contouring fixture 32.

[0060] In some embodiments, the door opening mechanism 4 further includes a third force sensor 43, which is disposed between the output ends of the suction member 42 and the third drive member 41. After the suction member 42 contacts and picks up the cabinet door, the third force sensor 43 senses and feeds back the force between the two, and ensures that the suction member 42 always has a stable force with the cabinet door through the extension and retraction distance and speed of the third drive member 41, until the cabinet door is fully opened.

[0061] The present invention also provides a method for unlocking and opening a door. Using the unlocking and opening device provided by the present invention, the method includes the following steps:

[0062] S1, the frame 1 is close to the cabinet door, so that the push-lock mechanism 2 is directly opposite the key hole of the pop-up flat lock, and the rotating mechanism 3 is directly opposite the rotating handle;

[0063] S2, press the lock mechanism 2 to activate and press the lock hole to make the rotating handle pop out;

[0064] According to the first force sensor 23, after the first driving member 21 drives the pressing member 22 to extend and contact the lock hole, force feedback begins to appear. The unlocking status is judged in real time according to the magnitude of the force. After the preset force is reached, the handle is rotated to pop out, and the first driving member 21 is remotely controlled to stop, or the first driving member 21 is directly controlled to stop according to the magnitude of the feedback force, and the pressing member 22 is retracted in the opposite direction.

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

[0066] When the rotary handle pops out, since the contouring fixture 32 is directly opposite the rotary handle, the second force sensor 33 receives feedback force when the rotary handle pops out into the groove of the contouring fixture 32. At this time, the remote control center or the second drive unit 31 starts the second drive unit 31 based on the feedback force signal. The second drive unit 31 drives the contouring fixture 32 to rotate, causing the rotary handle to rotate into place and unlocking the door. Generally, the second drive unit 31 can be set to stop driving after the rotary handle rotates 90°. In this embodiment, after the rotary handle is unlocked, the feedback force of the second force sensor 33 increases, and the second drive unit 31 stops after reaching a preset value.

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

[0068] The door opening mechanism 4 starts after the second drive component 31 stops, the third drive component 41 extends, and the suction component 42 adopts an electromagnet. When the electromagnet is energized, the suction component 42 picks up the cabinet door after contacting it. The contact force between the suction component 42 and the cabinet door is fed back to the third drive component 41 or the remote control center. The third drive component 41 stops extending and retracts in the opposite direction. During the process of retracting the suction component 42, the cabinet door rotates and opens.

[0069] The unlocking and opening method provided by this invention, through an unlocking and opening device, enables a continuous action of pressing the keyhole of a pop-up flat lock to pop out the rotary handle, rotating the rotary handle to unlock, and pulling the cabinet door open. It is suitable for the automatic unlocking of pop-up flat locks and the automatic opening of corresponding cabinet doors, with high execution efficiency and a high success rate. The positions of the locking mechanism 2 and the rotating mechanism 3 on the frame 1 are preset according to the structure of the pop-up flat lock so that they are directly aligned with the keyhole and the rotary handle respectively when the frame 1 is near the cabinet door. Unlocking and opening the cabinet door are achieved by remotely controlling the first driving component 21, the second driving component 31, and the third driving component 41. Based on the first force sensor 23, the second force sensor 33, and the third force sensor 43 installed on the unlocking and opening device, the force conditions of the locking mechanism 2, the rotating mechanism 3, and the opening mechanism 4 can be collected in real time, thereby flexibly adjusting and controlling the output of the first driving component 21, the second driving component 31, and the third driving component 41 to achieve precise unlocking and opening with high efficiency.

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

[0071] like Figure 3 and Figure 4 The inspection robot provided by this invention features a multi-degree-of-freedom robotic arm 6. A vision camera 5 and an unlocking / opening device are mounted on the end effector of the robotic arm 6. The pressing mechanism 2 of the unlocking / opening device is located below the frame 1, ensuring the actuator remains vertical. This prevents the rotating handle from hitting the actuator when it springs back up after the locking mechanism is pressed. When the robotic arm 6 moves the unlocking / opening device close to the cabinet door, the vision camera 5 accurately positions it, allowing the unlocking / opening device to unlock and open the cabinet door. This results in high execution efficiency and a high success rate for unlocking and opening, achieving multi-functionality and high adaptability for the inspection robot.

[0072] During the opening process of the door opening mechanism 4, the robotic arm 6 can move its position according to the rotation and opening trajectory of the cabinet door, so that the unlocking and opening device can move synchronously with the cabinet door and the cabinet door can be opened smoothly.

[0073] The vision camera 5, mounted at the top of the frame 1, can identify different models of pop-up flat locks and transmit visual information to the remote control center. Based on the identified location, the remote control center plans the robotic arm 6 to move the actuator to the target position, ensuring that the unlocking and opening device aligns with the pop-up flat lock. The frame 1 is made of lightweight nylon material, resulting in a lighter weight for the same volume, which helps reduce the overall weight of the actuator and facilitates the control and execution of the unlocking and opening actions.

[0074] The inspection robot provided by this invention, without requiring replacement of the front-end actuator, adapts to cabinet doors of different specifications with rotating handles by using a contouring tool 32 at the front of the rotating handle and a retractable suction component 42. When pressing the lock, the robotic arm is adjusted so that the first drive component 21 is aligned with the keyhole; when rotating the handle, the output shaft of the second drive component 31 is aligned with the rotation center of the handle. This invention features a small and lightweight end effector for the inspection robot. When setting up an unlocking and opening device for unlocking pop-up flat locks, it is suitable for opening locks of different specifications, greatly improving the processing speed of opening combination flat locks and expanding the application range of the inspection robot in operating combination flat locks. 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 force throughout the entire operation, facilitating adjustments to the inspection robot's movements at any time. Compared to robots equipped with force-sensing actuators, this significantly improves the success rate and efficiency of the operation.

[0075] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An unlocking and door-opening device, characterized in that, include: Rack (1); The locking mechanism (2) is mounted on the frame (1) and can press the lock hole of the pop-up flat lock to make the rotating handle pop out. A rotating mechanism (3) is provided on the frame (1) and the rotating mechanism (3) can operate the rotating handle to rotate to unlock; Door opening mechanism (4), the door opening mechanism (4) is provided on the frame (1), the door opening mechanism (4) is used to pull the cabinet door to open the cabinet door; The rotating mechanism (3) includes: The second drive unit (31) is fixed on the frame (1); A contouring fixture (32) is provided at the output end of the second drive member (31). The contouring fixture (32) cooperates with the rotating handle to hold the rotating handle. The second drive member (31) can drive the contouring fixture (32) to rotate. The contouring fixture (32) is a groove structure. The inner wall of the groove is provided with a contouring arc to adapt to rotating handles of different specifications. When the rotating handle pops up, it just matches the groove of the contouring fixture (32). The door opening mechanism (4) includes: The third drive unit (41) is disposed on the frame (1); A suction member (42) is provided 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). When the suction member (42) sucks up the cabinet door, the third driving member (41) can drive the suction member (42) to move to open the cabinet door.

2. The unlocking and door opening device according to claim 1, characterized in that, The locking mechanism (2) includes: A first driving member (21) is disposed on the frame (1); The pressing member (22) is located at the output end of the first driving member (21), and the first driving member (21) can drive the pressing member (22) to move and provide pressing force.

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

4. The unlocking and door opening device according to claim 1, characterized in that, The rotating mechanism (3) further includes a second force sensor (33), which is located between the contouring fixture (32) and the output end of the second drive member (31).

5. The unlocking and door opening device according to claim 4, characterized in that, The rotating mechanism (3) further includes a drive shaft (34), the two ends of which are respectively connected to the output end of the second drive member (31) and the contouring tool (32).

6. The unlocking and door opening device according to claim 1, characterized in that, The door opening mechanism (4) also includes a third force sensor (43), which is located between the output end of the suction member (42) and the third driving member (41).

7. A method for unlocking and opening the door, characterized in that, The door unlocking and opening device according to any one of claims 1-6, the door unlocking and opening method includes the following steps: S1, the frame (1) is close to the cabinet door, so that the push-lock mechanism (2) is directly opposite the lock hole of the pop-up flat lock, and the rotating mechanism (3) is directly opposite the rotating handle; S2, the locking mechanism (2) is activated and presses the lock hole to make the rotating handle pop out; S3, the rotating mechanism (3) is activated and drives the rotating handle to rotate to unlock; S4, the door opening mechanism (4) is activated and pulls the cabinet door to open the cabinet door.

8. An inspection robot, characterized in that, The inspection robot includes a robotic arm (6), a vision camera (5), and an unlocking and opening device according to any one of claims 1-6. The vision camera (5) is mounted on the frame (1) of the unlocking and opening device, and the frame (1) is mounted on the robotic arm (6).

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