Automatic operating robot for mine explosion-proof high and low voltage electrical equipment and operating method

Abstract

The application discloses an automatic operation robot for mine explosion-proof high-low voltage electrical equipment and an operation method, and the robot comprises a walking mechanism, a joint mechanism, an execution mechanism and a control system. The execution mechanism comprises a two-dimensional moving platform, a distance measuring module and an execution terminal. The execution terminal is located on the two-dimensional moving platform. The execution terminal comprises a target detection and positioning module and at least one execution tool. First, the robot is moved to a working distance range, then plane positioning is carried out, after leveling, the target detection and positioning module is used to identify and position the operation switch, the operation switch to be operated is selected, the corresponding execution tool is determined, and the corresponding execution tool is located in front of the operation switch to be operated by adjusting the two-dimensional moving platform. Therefore, operation errors are effectively eliminated, automatic and accurate operation of high-low voltage electrical equipment is realized, and the function of the inspection robot is enriched.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of switch operation, and particularly relates to an automatic operation robot for mine explosion-proof high-low voltage electrical equipment and an operation method. BACKGROUND

[0002] In the prior art, the operation of high-low voltage switches in a coal mine underground substation is generally manual, which has certain safety hazards. With the development of robot technology, robots for coal mine underground substations have gradually emerged, but the main work of the robots for coal mine underground substations is currently inspection, and the high-low voltage switches are not operated. The main reason is that the switch cabinet may be installed non-perpendicularly due to the limitation of the coal mine underground environment, the robot is prone to inaccurate positioning, the robot actuator is not parallel to the switch cabinet operation panel, the robot actuator has certain operation errors, and thus the target switch button cannot be accurately operated.

[0003] Based on the above problems, the present application provides an automatic operation robot for mine explosion-proof high-low voltage electrical equipment and an operation method which can realize accurate positioning and accurate operation. SUMMARY

[0004] The present application aims to provide an automatic operation robot for mine explosion-proof high-low voltage electrical equipment and an operation method to solve the problems in the prior art.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] The present application provides an automatic operation robot for mine explosion-proof high-low voltage electrical equipment, comprising a walking mechanism, a joint mechanism, an execution mechanism and a control system,

[0007] The joint mechanism is used to drive the execution mechanism to rotate up and down and rotate left and right;

[0008] The execution mechanism comprises a two-dimensional moving platform, a distance measuring module and an execution terminal;

[0009] The distance measuring module comprises a plurality of distance measuring units arranged in a rectangular array on the two-dimensional moving platform, and is used to detect the distance between the high-low voltage electrical equipment operation panel to adjust the execution mechanism to be parallel to the high-low voltage electrical equipment operation panel;

[0010] The execution terminal is located on the two-dimensional moving platform and can move up and down and move left and right under the action of the two-dimensional moving platform; the execution terminal comprises a target detection and positioning module and at least one execution tool; the target detection and positioning module is used to detect and identify the type and position of the operation switch to be operated;

[0011] The control system is electrically connected with the walking mechanism, the joint mechanism, the distance measuring module, the two-dimensional moving platform, the target detection and positioning module and the execution tool.

[0012] Preferably, the joint mechanism comprises a first joint and a second joint, the second joint is located at the end of the first joint, and the execution mechanism is located at the end of the second joint.

[0013] The first joint is used to drive the second joint and the execution mechanism on the second joint to rotate up and down, and the second joint is used to drive the execution mechanism to rotate left and right.

[0014] Preferably, the execution mechanism is adjusted to be parallel to the operating panel of the high-low voltage electrical equipment, and further comprising:

[0015] The distance measuring units are four;

[0016] The four distance measuring units are first divided into upper and lower groups, and the joint mechanism is adjusted to move up and down according to the detection information, so that the distances detected by the upper and lower groups of distance measuring units are equal.

[0017] Then the four distance measuring units are divided into left and right groups, and the joint mechanism is adjusted to move left and right according to the detection information, so that the distances detected by the left and right groups of distance measuring units are equal.

[0018] Preferably, the two-dimensional moving platform comprises a support platform, an up-down moving mechanism and a horizontal moving mechanism located on the support platform.

[0019] The up-down moving mechanism comprises a first driving mechanism, a center guide rail and two auxiliary guide rails located on the support platform, a center slider located on the center guide rail, and two auxiliary sliders located on the two auxiliary guide rails respectively; the center slider and the auxiliary sliders are fixedly connected through connecting rods; the first driving mechanism is used to drive the center slider and the auxiliary sliders to move up and down along the center guide rail and the auxiliary guide rails respectively.

[0020] The left-right moving mechanism comprises two support blocks located on the two auxiliary sliders respectively, a horizontal guide rail located between the two support blocks, a horizontal slider located on the horizontal guide rail, and a second driving mechanism located on any one of the support blocks; the execution terminal is located on the horizontal slider; the second driving mechanism is used to drive the horizontal slider to move the execution terminal left and right along the horizontal guide rail.

[0021] Preferably, the up-down moving mechanism further comprises a first buffer assembly located on the support platform, and the center slider is located on the first buffer assembly.

[0022] The left-right moving mechanism further comprises a second buffer assembly between the two support blocks, and the horizontal sliding block is located on the second buffer assembly.

[0023] Preferably, the execution tool comprises an operating rod, an operating head at the head end of the operating rod, and a third driving mechanism at the tail end of the operating rod; the third driving mechanism is used to drive the operating rod to work with the operating head;

[0024] The shape of the operating head and the driving mode of the third driving mechanism are adapted to the type of the operating switch.

[0025] Preferably, the execution tool comprises one or more of a button switch execution tool, a rotary switch execution tool;

[0026] The operating head of the button switch execution tool is cylindrical, and the corresponding third driving mechanism is linear driving;

[0027] The operating head of the rotary switch execution tool is hexagonal slot, rectangular block, rectangular slot or cross slot, and the corresponding third driving mechanism is circumferential driving.

[0028] Preferably, the automatic operating robot further comprises an automatic navigation system electrically connected with the control system, used to guide the walking mechanism to automatically move the entire automatic operating robot to a target position.

[0029] Preferably, the high-low voltage electrical equipment is provided with an identification tag;

[0030] The target detection and positioning module is further used to identify the identification tag.

[0031] The second aspect of the present application provides an operating method of an automatic operating robot for a mine explosion-proof high-low voltage electrical equipment, which is adapted to the automatic operating robot as described above, and the operating method comprises the following steps:

[0032] Obtaining the target position of the operating switch, controlling the walking mechanism to move to the target position, and facing the high-low voltage electrical equipment operation panel;

[0033] Sending an instruction to the distance measuring module, and adjusting the up-down rotation or horizontal rotation of the joint mechanism according to the detection information, until the execution mechanism is parallel to the high-low voltage electrical equipment operation panel;

[0034] Sending an instruction to the target detection and positioning module, and selecting the operating switch to be operated according to the detection information, determining the corresponding execution tool, adjusting the movement of the two-dimensional moving platform, until the corresponding execution tool is located in front of the operating switch to be operated;

[0035] controlling the corresponding execution tool to operate the operation switch to be operated.

[0036] The automatic operation robot and operation method provided by the application first control the walking mechanism to move the entire automatic operation robot into the working distance range, and then perform plane positioning. The execution mechanism and the operation panel are leveled by the distance measuring module, so that the execution tool can be vertically aligned with the operation switch for operation. After leveling, the target detection and positioning module is used to identify and position the operation switch, select the operation switch to be operated, determine the corresponding execution tool, adjust the two-dimensional moving platform so that the corresponding execution tool is located directly in front of the operation switch to be operated, and then accurately operate the operation switch. Thus, operation errors are effectively eliminated, the automatic and accurate operation of electrical equipment is realized, and the functions of the inspection robot are enriched. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a structural schematic diagram of a typical coal mine underground high-explosion switch cabinet;

[0038] Figure 2 is a structural schematic diagram of an automatic operation robot for a mine explosion-proof high-low voltage electrical equipment provided by the preferred embodiment of the application;

[0039] Figure 3 is Figure 2 is a structural schematic diagram from another perspective;

[0040] Figure 4 is a structural schematic diagram of a two-dimensional moving platform provided by the preferred embodiment of the application;

[0041] Figure 5 is Figure 4 is a structural schematic diagram from another perspective of

[0042] Figure 6 is a structural schematic diagram of a horizontal sliding block and an execution terminal provided by the preferred embodiment of the application;

[0043] Figure 7 is a structural schematic diagram of an execution terminal provided by the preferred embodiment of the application;

[0044] BRIEF DESCRIPTION OF DRAWINGS

[0045] 1-high-explosion switch cabinet; 10-cabinet body; 11-operation panel; 12-operation switch;

[0046] 2-automatic operation robot; 20-machine body; 21-walking mechanism; 221-first joint; 222-second joint; 223-connection arm;

[0047] 23-two-dimensional moving platform;

[0048] 231-Support platform; 2321-First drive mechanism; 2322-Central guide rail; 2323-Auxiliary guide rail; 2324-Central slider; 2325-Auxiliary slider; 2326-Connecting rod; 2327-First buffer assembly;

[0049] 2331-Support block; 2332-Horizontal guide rail; 2333-Horizontal slider; 2334-Second drive mechanism; 2335-Second buffer assembly;

[0050] 24-Distance measuring module;

[0051] 25 - Execution terminal;

[0052] 251-Base plate; 252-Target detection and positioning module; 253-Execution tool; 2531-Operating lever; 2532-Operating head; 2533-Third drive mechanism; 254-Connecting screw. Detailed Implementation

[0053] Figure 1 A typical underground high-explosive switchgear 1 in a coal mine includes a cabinet 10. The front of the cabinet 10 is an operation panel 11, on which multiple operation switches 12 are provided. The operation switches can have various structures, such as push-button switches, rotary switches, toggle switches, etc. Each type of switch can also include multiple forms, such as the knob of a rotary switch can be a hexagonal nut type, a cross nut type, a rectangular block type, a rectangular slot type, etc.

[0054] In traditional technologies, these operating switches all require manual operation, which poses significant safety hazards under the high-pressure environment underground. Currently, the main function of robots used in coal mines is inspection, and they cannot perform automated, precise operations.

[0055] Based on the above-mentioned technical problems, this application provides an automated operating robot 2 for explosion-proof high and low voltage electrical equipment in mining, such as... Figures 2-7 As shown, the robot has a walking mechanism 21, a joint mechanism, an actuator, and a control system.

[0056] As those skilled in the art will understand, the automated robot also includes a body 20 for supporting the aforementioned components.

[0057] The walking mechanism 21 preferably uses walking wheels with simple structure and low cost, but other mechanisms that can achieve walking function, such as tracked, legged or footed, can also be selected.

[0058] A joint mechanism is used to drive an actuator to rotate vertically and horizontally. This application provides a preferred joint mechanism, such as... Figure 3As shown, the robot arm includes two joints, specifically a first joint 221 and a second joint 222, which respectively drive the upper and lower rotation and the left and right rotation of the execution mechanism. Further, the second joint 222 is located at the end of the first joint 221, and the execution mechanism is located at the end of the second joint; the first joint 221 can drive the second joint 222 and the execution mechanism located on the second joint 222 to rotate up and down, and the second joint 222 can drive the execution mechanism to rotate left and right.

[0059] A connecting arm 223 can be used to assist the connection between the second joint 222 and the execution mechanism.

[0060] The execution mechanism includes a two-dimensional moving platform 23, a ranging module 24, and an execution terminal 25.

[0061] The execution terminal 25 is located on the two-dimensional moving platform 23 and can move up and down and left and right under the action of the two-dimensional moving platform 23.

[0062] The two-dimensional moving platform 23 is used to realize the up and down movement and the left and right movement of the execution terminal. The application provides a preferred two-dimensional moving platform, as shown in the accompanying drawings. Figures 4-5 As shown, the two-dimensional moving platform 23 includes a support platform 231, an up and down moving mechanism, and a horizontal moving mechanism located on the support platform 231.

[0063] The up and down moving mechanism includes a first driving mechanism 2321 located on the support platform 231, a center guide rail 2322, and two auxiliary guide rails 2323 located on the left and right of the center guide rail 2322, a center sliding block 2324 located on the center guide rail 2322, and two auxiliary sliding blocks 2325 located on the left and right auxiliary guide rails 2323; the center sliding block 2324 and the auxiliary sliding block 2325 are fixedly connected through a connecting rod 2326, and the center sliding block 2324 and the auxiliary sliding block 2325 are connected as a whole through the connecting rod 2326 to realize synchronous movement.

[0064] The left and right moving mechanism includes two support blocks 2331 located on the left and right auxiliary sliding blocks 2325, a horizontal guide rail 2332 located between the two support blocks, a horizontal sliding block 2333 located on the horizontal guide rail 2332, and a second driving mechanism 2334 located on any one of the support blocks 2331; the execution terminal 25 is located on the horizontal sliding block 2333.

[0065] The first driving mechanism 2321 is used to drive the center slider 2324 and the auxiliary slider 2325 to move up and down along the center guide rail 2322 and the auxiliary guide rail 2323 respectively. When the auxiliary slider 2325 moves up and down, the support block 2331 located on the auxiliary slider 2325 also moves synchronously, thereby driving the execution terminal 25 located on the horizontal guide rail 2332 and the horizontal slider 2333 to move synchronously up and down. The second driving mechanism 2334 is used to drive the horizontal slider 2333 to drive the execution terminal 25 to move left and right along the horizontal guide rail 2332.

[0066] The up-and-down moving mechanism bears the weight of the left-and-right moving mechanism, and therefore multiple guide rails such as the center guide rail and the two auxiliary guide rails are adopted to make the movement more stable and facilitate accurate control of the execution terminal stopping position. Further, to make the movement more stable, the up-and-down moving mechanism further comprises a first buffer assembly 2327 located on the support platform 231, and the center slider is located on the first buffer assembly. The left-and-right moving mechanism further comprises a second buffer assembly 2335 located between the two support blocks 2331, and the horizontal slider is located on the second buffer assembly. The first buffer assembly 2327 and the second buffer assembly 2335 are preferably springs.

[0067] The first driving mechanism 2321 and the second driving mechanism 2334 can be motors, air cylinders, hydraulic cylinders, etc.

[0068] The distance measuring module 24 comprises a plurality of distance measuring units arranged in a rectangular array on the two-dimensional moving platform 23. There should be a certain distance between adjacent two distance measuring units. Further, the distance measuring units are preferably four, which are located at the four corner positions of the two-dimensional moving platform 23, for detecting the distance between the two-dimensional moving platform and the high-low voltage electrical equipment operation panel. By detecting the distance between the two-dimensional moving platform and the high-low voltage electrical equipment operation panel, the inclination direction and angle of the two-dimensional moving platform can be found, so that corresponding adjustment can be made through the joint mechanism to adjust the two-dimensional moving platform and the entire execution mechanism to be parallel to the high-low voltage electrical equipment operation panel. By arranging at least four distance measuring units, the distances between the corners of the two-dimensional moving platform and the operation panel can be obtained, so that the inclination direction and angle of the two-dimensional moving platform can be accurately obtained, and targeted adjustment can be made to effectively ensure that the entire plane of the two-dimensional moving platform is parallel to the operation panel.

[0069] In order to ensure the stability of the distance measuring module, the distance measuring module is preferably immovable, i.e. located at an immovable position on the two-dimensional moving platform, such as the support platform 231 of the two-dimensional moving platform provided in the present application.

[0070] The distance measuring module can adopt conventional technologies such as laser, ultrasonic wave, infrared, and photoelectricity.

[0071] As shown in FIG. 1, the execution mechanism 2 comprises a two-dimensional moving platform 23 and an execution terminal 25. Figures 6-7As shown, the execution terminal 25 includes a target detection and positioning module 252 and at least one execution tool 253. As those skilled in the art will understand, the execution terminal 25 also includes a base plate 251 supporting the above-mentioned components, the base plate 251 being fixed to the horizontal slider 2333 by connecting screws 254.

[0072] like Figure 1 Each switchgear control panel has multiple control switches 12, therefore, it is necessary to select the control switch to be operated. This application utilizes a target detection and positioning module 252 installed on the execution terminal to identify and locate the type and position of the control switches using visual recognition technology. The control switch to be operated is selected, and the corresponding execution tool 253 is determined. Then, the execution terminal 25 is moved by the two-dimensional moving platform 23, bringing the corresponding execution tool directly in front of the control switch to be operated, and then the operation is performed, thereby achieving precise operation of the high and low voltage switches. Specifically, the relative coordinates of each execution tool and the target detection and positioning module are known. The target detection and positioning module uses visual technology to identify and locate the control switches on the control panel, selects the control switch to be operated, obtains its coordinates, and determines the corresponding execution tool and its coordinates. This yields the coordinate difference between the execution tool and the control switch to be operated, further determining the distance and direction the two-dimensional moving platform needs to move. Then, the execution terminal 25 is moved a corresponding distance in the corresponding direction by the two-dimensional moving platform 23, bringing the corresponding execution tool directly in front of the control switch to be operated.

[0073] Preferably, the execution tool 253 includes an operating lever 2531, an operating head 2532 located at the head end of the operating lever 2531, and a third drive mechanism 2533 located at the tail end of the operating lever 2531; the third drive mechanism 2533 is used to drive the operating lever 2531 to drive the operating head 2532 to work; the shape of the operating head 2532 and the driving method of the third drive mechanism are adapted to the type of operating switch. The operating lever and the operating head should be installed vertically to the support platform, so that when the support platform is parallel to the operation panel, the operating lever and the operating head can be vertically aligned with the operating switch for operation.

[0074] The execution tool 253 includes, but is not limited to, one or more of push-button switch execution tools and rotary switch execution tools; the operating head of the push-button switch execution tool is cylindrical, etc., and the corresponding third drive mechanism is linear drive, such as a motor + lead screw method, which controls the displacement of the lead screw to realize the pressing operation of the operation switch; the operating head of the rotary switch execution tool is hexagonal socket, rectangular block, rectangular slot or cross slot, etc., and the corresponding third drive mechanism is linear drive + circumferential drive, which drives the operating lever to extend and retract to cooperate with the operation switch through linear drive, and the circumferential drive can be a motor, etc., which controls the rotation angle and direction by controlling the rotation angle of the motor.

[0075] In the case of space permission, the execution tool category and quantity should be as many as possible, so as to meet the demand use of different operation switches. Figure 6 As shown in the execution terminal, four kinds of execution tools are arranged around the target detection and positioning module, and the operation heads of each execution tool are different. The coordinates of the four kinds of execution tools relative to the target detection and positioning module are fixed and known. The operation head on the left upper side is cylindrical, which can press the button type operation switch; the operation head on the left lower side is hexagonal slot, which can be inserted into the hexagonal column nut type knob type operation switch for rotation operation; the operation head on the right upper side is rectangular slot, which can be inserted into the rectangular block type operation switch for rotation operation; and the operation head on the right lower side is rectangular plug, which can be inserted into the rectangular slot type operation switch for rotation operation.

[0076] Preferably, an identification tag is arranged on the high-low voltage electrical equipment, and the identification tag records information such as the high-low voltage electrical equipment number and position coordinates; after the operation robot reaches the target position, the target detection and positioning module is further used to identify the identification tag, and further verify whether the operation target high-low voltage electrical equipment is wrong.

[0077] The control system is electrically connected with the walking mechanism 21, the joint mechanism, the distance measuring module 24, the two-dimensional moving platform 23, the target detection and positioning module 252 and the execution tool 253. The control system is used to drive the walking mechanism to move to the target position; is further used to send instructions to the distance measuring module and the target detection and positioning module, and adjust the execution mechanism to be parallel to the operation panel of the high-low voltage electrical equipment, select the operation switch to be operated, determine the corresponding execution tool, and adjust the corresponding execution tool to be located in front of the operation switch to be operated; and is used to control the corresponding execution tool to operate the operation switch to be operated.

[0078] By setting the control system, the automatic operation of the device can be realized. The control system can be installed in the body.

[0079] Preferably, the adjustment of the execution mechanism to be parallel to the operation panel of the high-low voltage electrical equipment further comprises:

[0080] The number of distance measuring units is 4;

[0081] The four distance measuring units are first divided into upper and lower groups, and the joint mechanism is adjusted to rotate up and down according to the detection information, so that the distances detected by the upper and lower groups of distance measuring units are equal;

[0082] Then, the four distance measuring units are divided into left and right groups, and the joint mechanism is adjusted to rotate left and right according to the detection information, so that the distances detected by the left and right groups of distance measuring units are equal.

[0083] The ranging units are grouped into two groups for leveling, which can adapt to the joint mechanism and reduce the adjustment time.

[0084] The method is suitable for the joint mechanism as shown in the Figures 2-3 The second joint capable of rotating left and right is located on the first joint capable of rotating up and down, so the ranging units are first grouped into two groups for leveling, the first joint is adjusted first, and then the second joint is adjusted after the first joint is adjusted to the appropriate position.

[0085] If the first joint adopts the structure capable of rotating up and down and the second joint adopts the structure capable of rotating left and right, the ranging units are first grouped into two groups for leveling, and then the ranging units are grouped into two groups for leveling. The specific steps include the following steps:

[0086] The four ranging units are first grouped into two groups, the left and right groups, and the joint mechanism is adjusted to rotate left and right according to the detection information, so that the distances detected by the left and right groups of ranging units are equal.

[0087] The four ranging units are then grouped into two groups, the upper and lower groups, and the joint mechanism is adjusted to rotate up and down according to the detection information, so that the distances detected by the upper and lower groups of ranging units are equal.

[0088] Preferably, the automatic operating robot further comprises an automatic navigation system electrically connected with the control system, for guiding the walking mechanism to automatically move the entire automatic operating robot to the target position. If necessary, manual assistance can also be used to guide the automatic operating robot to the target position.

[0089] The application also provides an operating method for the above-mentioned automatic operating robot, which comprises the following steps:

[0090] S1. Obtain the target position of the operating switch 12, control the walking mechanism 21 to move to the target position, and face the high-low voltage electrical equipment operation panel; the target position is within the working distance range of the high-low voltage electrical equipment operation panel;

[0091] S2. Send instructions to the ranging module 24, and adjust the joint mechanism to rotate up and down or horizontally according to the detection information, until the execution mechanism is parallel to the high-low voltage electrical equipment operation panel;

[0092] S3. Send instructions to the target detection and positioning module 252, and select the operating switch to be operated according to the detection information, determine the corresponding execution tool 253, and adjust the two-dimensional moving platform 23 to move until the corresponding execution tool is located in front of the operating switch to be operated;

[0093] S4. Control the corresponding execution tool 253 to operate the operating switch to be operated.

[0094] The above control process can be automatically controlled by the control system.

[0095] The operation method provided by the application first controls the walking mechanism to move the entire automatic operation robot into the operation distance range, and then performs plane positioning. The execution mechanism and the operation panel are leveled by the distance measuring module, so that the execution tool can be vertically aligned with the operation switch for operation. After leveling, the target detection and positioning module is used to identify and position the operation switch, select the operation switch to be operated, determine the corresponding execution tool, adjust the two-dimensional movement platform to make the corresponding execution tool located in front of the operation switch to be operated, and then accurately operate the operation switch. Therefore, the operation error is effectively eliminated, the automatic and accurate operation of high and low voltage electrical equipment is realized, and the function of the inspection robot is enriched.

[0096] In real operation, it is difficult to control the walking mechanism to accurately move the automatic operation robot into the operation distance range. To solve this problem, the embodiment proposes a scheme of accurately moving the automatic operation robot into the operation distance range by combining the real-time position of the two-dimensional movement platform, the real-time speed along the X and Y axes, and the related rotation angle. Specifically, define r(t)=[x(t),y(t)] as the position of the two-dimensional movement platform, where x(t) is the horizontal coordinate of the two-dimensional movement platform at time t, and y(t) is the vertical coordinate of the two-dimensional movement platform at time t. Set the motion equation to calculate the movement distance of the two-dimensional movement platform along the X axis at time t and the movement distance of the two-dimensional movement platform along the Y axis at time t Thus, the two-dimensional movement platform is controlled to move into the operation distance range. Specifically, the motion equation is:

[0097]

[0098] Where θ(t) is the rotation angle of the first joint at time t, φ(t) is the rotation angle of the second joint at time t, v x (t) is the speed component of the two-dimensional movement platform along the X axis at time t, and v y (t) is the speed component of the two-dimensional movement platform along the Y axis at time t.

[0099] After the automatic operation robot is accurately moved into the operation distance range, the execution mechanism needs to be aligned with the operation panel to complete the accurate operation. Specifically:

[0100] According to the data of the distance measuring module, the alignment error of the execution mechanism and the operation panel is compensated by adjusting the angle of the execution mechanism to make the alignment error minimum. The alignment error is obtained by the following formula:

[0101]

[0102] wherein E align (t) is the alignment error of the actuator and the operation panel at time t, a1 is the first weight of the alignment error, d up (t) is the distance measured by the distance measuring module to the upper edge of the operation panel at time t, d down (t) is the distance measured by the distance measuring module to the lower edge of the operation panel at time t, a2 is the second weight of the alignment error, d left (t) is the distance measured by the distance measuring module to the left edge of the operation panel at time t, d right (t) is the distance measured by the distance measuring module to the right edge of the operation panel at time t.

[0103] Different switches, such as button switches or rotary switches, require different forces to operate. Since the present application operates the operation switch by the actuator, the force required to operate the operation switch needs to be accurately controlled to avoid the problem of failed switch operation. Therefore, the following scheme is adopted:

[0104] Preferably, when the actuator operates the operation switch, if it is a button switch, the force F b (t) required to press the button switch at time t is calculated, and specifically, the force F b (t) is obtained by the following formula:

[0105] F b (t) = μ b · (r(t) - r target ) 2

[0106] wherein μ b is the force constant of the button switch (a force sensor such as a pressure sensor or a load sensor is used to experimentally measure the force required to press the button switch), r(t) is the position of the actuator pressing the button switch at time t, and r target is the position of the button for successfully starting or resetting the high-low voltage electrical equipment.

[0107] Preferably, if it is a rotary switch, the torque τ r (t) required to rotate the rotary switch at time t is calculated, and specifically, the torque τ r (t) is obtained by the following formula:

[0108] τ r (t) = μ r · (r'(t) - r target ') 3

[0109] wherein μ rThe torque constant of the rotary switch (the torque required to measure the rotary switch using a torque sensor), r'(t) is the position of the actuator rotating the rotary switch at time t, r target The position of the rotary switch for successful starting or resetting of the high-low voltage electrical equipment.

[0110] Preferably, step S2 further comprises:

[0111] The number of distance measuring units is 4; first divide the 4 distance measuring units into upper and lower groups, adjust the up-down rotation of the joint mechanism according to the detection information, so that the distances detected by the upper and lower groups of distance measuring units are equal;

[0112] Then divide the 4 distance measuring units into left and right groups, adjust the left-right rotation of the joint mechanism according to the detection information, so that the distances detected by the left and right groups of distance measuring units are equal.

[0113] Or;

[0114] First divide the 4 distance measuring units into left and right groups, adjust the left-right rotation of the joint mechanism according to the detection information, so that the distances detected by the left and right groups of distance measuring units are equal;

[0115] Then divide the 4 distance measuring units into upper and lower groups, adjust the up-down rotation of the joint mechanism according to the detection information, so that the distances detected by the upper and lower groups of distance measuring units are equal.

[0116] On the other hand, as an optional embodiment, the device as shown in Figures 2-7 is used to automatically operate the rectangular block rotary operation switch on the lower right of the operation panel on the high-low voltage electrical equipment as shown in Figure 1 .

[0117] S1. First, obtain the position coordinates of the high-low voltage electrical equipment, and control the walking mechanism 21 to move to the working distance range under the guidance of the automatic navigation system, and face the operation panel;

[0118] S2. After reaching the target position, send instructions to the distance measuring module 24, and the detection results are fed back to the control system in time. The control system includes a data processing module. First, the distance data detected by the four distance measuring units are divided into upper and lower two groups. By comparing the upper and lower two groups of data, if the sum of the upper group data is less than the sum of the lower group data, it proves that the actuator is tilted downward, and then the first joint drives the actuator to rotate upward (clockwise rotation). Conversely, if the sum of the upper group data is greater than the sum of the lower group data, it proves that the actuator is tilted upward, and then the first joint drives the actuator to rotate downward (counterclockwise rotation) until the sum of the upper group data is equal to the sum of the lower group data. Then the distance data detected by the four distance measuring units are divided into left and right two groups. If the sum of the left group data is less than the sum of the right group data, it proves that the actuator is tilted to the right, and then the second joint drives the actuator to rotate to the left (clockwise rotation). Conversely, if the sum of the left group data is greater than the sum of the right group data, it proves that the actuator is tilted to the left, and then the second joint drives the actuator to rotate to the right (counterclockwise rotation) until the sum of the left group data is equal to the sum of the right group data. Then control the distance measuring module to stop working. After the above adjustment, the parallelism between the actuator and the operation panel is ensured.

[0119] S3. After leveling, the control system sends instructions to the target detection and positioning module 252, and the target detection and positioning module 252 sends the photographed image information to the control system. The data processing module identifies and locates the photographed image information, determines the type and position coordinates of the operation switch to be operated, and then determines the corresponding execution tool as the right upper rectangular slot type execution tool. Since the coordinates of the rectangular slot type execution tool are known, the coordinate difference between the rectangular slot type execution tool and the operation switch to be operated can be obtained through analysis, and then the position of the two-dimensional moving platform is adjusted to move the rectangular slot type execution tool to the front of the operation switch to be operated.

[0120] S4. The control system sends instructions to the third driving device of the rectangular slot type execution tool, first moves it forward to cooperate with the rectangular block type operation switch, and then rotates to operate the operation switch. After completion, the rectangular slot type execution tool is retracted, waiting for the next command.

[0121] If other operation switches on the same operation panel need to be operated, steps S1 and S2 can be omitted.

[0122] While the preferred embodiments of the application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they have the benefit of the present disclosure without departing from the spirit and scope of the application. Accordingly, it is intended that the appended claims include all such variations and modifications as fall within the scope of the present application. It is apparent that those skilled in the art can modify and adapt the present application in various ways without departing from the spirit and scope of the present application. It is therefore intended that the present application encompass all such modifications and variations as fall within the scope of the claims and their equivalents.

Claims

1. An automatic operation robot for mine explosion-proof high-low voltage electrical equipment, comprising a walking mechanism, a joint mechanism, an execution mechanism and a control system, characterized in that, the joint mechanism is used to drive the execution mechanism to rotate up and down and rotate left and right; the execution mechanism comprises a two-dimensional moving platform, a distance measuring module and an execution terminal; the distance measuring module comprises a plurality of distance measuring units arranged in a rectangular array on the two-dimensional moving platform, which is used to detect the distance between the high-low voltage electrical equipment operation panel to adjust the execution mechanism parallel to the high-low voltage electrical equipment operation panel; the execution terminal is located on the two-dimensional moving platform and can move up and down and left and right under the action of the two-dimensional moving platform; the execution terminal comprises a target detection and positioning module and at least one execution tool; the target detection and positioning module is used to detect and identify the type and position of the operation switch to be operated; the control system is electrically connected with the walking mechanism, the joint mechanism, the distance measuring module, the two-dimensional moving platform, the target detection and positioning module and the execution tool.

2. The automatic operation robot for mine explosion-proof high-low voltage electrical equipment according to claim 1, characterized in that, the joint mechanism comprises a first joint and a second joint, the second joint is located at the end of the first joint, and the execution mechanism is located at the end of the second joint; the first joint is used to drive the second joint and the execution mechanism located on the second joint to rotate up and down, and the second joint is used to drive the execution mechanism to rotate left and right.

3. The automatic operation robot for mine explosion-proof high-low voltage electrical equipment according to claim 2, characterized in that, the adjustment of the execution mechanism parallel to the high-low voltage electrical equipment operation panel further comprises: the distance measuring unit is 4; firstly, the four distance measuring units are divided into upper and lower groups, and the joint mechanism is adjusted to move up and down according to the detection information, so that the distances detected by the upper and lower groups of distance measuring units are equal; secondly, the four distance measuring units are divided into left and right groups, and the joint mechanism is adjusted to move left and right according to the detection information, so that the distances detected by the left and right groups of distance measuring units are equal.

4. The automatic operation robot for mine explosion-proof high-low voltage electrical equipment according to claim 1, characterized in that, the two-dimensional moving platform comprises a support platform, an up-down moving mechanism and a horizontal moving mechanism located on the support platform; the up-down moving mechanism comprises a first driving mechanism located on the support platform, a center guide rail and two auxiliary guide rails, a center sliding block located on the center guide rail, and two auxiliary sliding blocks located on the two auxiliary guide rails; the center sliding block and the auxiliary sliding blocks are fixedly connected by a connecting rod; the first driving mechanism is used to drive the center sliding block and the auxiliary sliding blocks to move up and down along the center guide rail and the auxiliary guide rails, respectively. The horizontal moving mechanism comprises left and right supporting blocks respectively arranged on the left and right auxiliary sliders, a horizontal guide rail arranged between the left and right supporting blocks, a horizontal slider arranged on the horizontal guide rail, and a second driving mechanism arranged on any one of the supporting blocks; the execution terminal is arranged on the horizontal slider; and the second driving mechanism is used to drive the horizontal slider to move the execution terminal along the horizontal guide rail leftward and rightward. 5.The automatic operating robot for mine-used explosion-proof high-low voltage electrical equipment according to claim 4, characterized in that, The up-down moving mechanism further comprises a first buffer assembly arranged on the supporting platform, and the central slider is arranged on the first buffer assembly. The horizontal moving mechanism further comprises a second buffer assembly arranged between the left and right supporting blocks, and the horizontal slider is arranged on the second buffer assembly. 6.The automatic operating robot for mine-used explosion-proof high-low voltage electrical equipment according to claim 1, characterized in that, The execution tool comprises an operating rod, an operating head arranged at the head end of the operating rod, and a third driving mechanism arranged at the tail end of the operating rod; the third driving mechanism is used to drive the operating rod to work with the operating head; The operating head and the third driving mechanism are adapted to the type of the operating switch. 7.The automatic operating robot for mine-used explosion-proof high-low voltage electrical equipment according to claim 6, characterized in that, The execution tool comprises one or more of a button switch execution tool and a rotary switch execution tool; The operating head of the button switch execution tool is in a cylindrical shape, and the corresponding third driving mechanism is a linear driving mechanism; The operating head of the rotary switch execution tool is in an internal hexagonal slot shape, a rectangular plug shape, a rectangular slot shape, or a cross slot shape, and the corresponding third driving mechanism is a linear driving mechanism combined with a circumferential driving mechanism. 8.The automatic operating robot for mine-used explosion-proof high-low voltage electrical equipment according to claim 1, characterized in that, The automatic operating robot further comprises an automatic navigation system electrically connected to the control system, which is used to guide the walking mechanism to automatically move the automatic operating robot to a target position. 9.The automatic operating robot for mine-used explosion-proof high-low voltage electrical equipment according to claim 1, characterized in that, An identification tag is arranged on the high-low voltage electrical equipment; The target detection and positioning module is further used to identify the identification tag.

10. An operating method of an automatic operating robot for a mine explosion-proof high-low voltage electrical equipment, characterized by, The operation method is adapted to the automatic operating robot according to any one of claims 1 to 9, and the operation method comprises the following steps: A target position of an operating switch is acquired, the walking mechanism is controlled to move to the target position, and the walking mechanism faces the operating panel of the high-low voltage electrical equipment; An instruction is sent to the distance measuring module, and the up-down rotation or horizontal rotation of the joint mechanism is adjusted according to the detection information until the execution mechanism is parallel to the operating panel of the high-low voltage electrical equipment; and The tail end of the operating rod is arranged on the third driving mechanism, and the third driving mechanism is used to drive the operating rod to work with the operating head. sending an instruction to the target detection and positioning module, and selecting an operation switch to be operated according to detection information, determining a corresponding execution tool, adjusting the movement of the two-dimensional movement platform, and until the corresponding execution tool is located in front of the operation switch to be operated; controlling the corresponding execution tool to operate the operation switch to be operated.

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