Auxiliary uncovering robot and method for coal mine underground high-low voltage switch

Abstract

The invention discloses an auxiliary uncovering robot for a coal mine underground high-low voltage switch, which comprises a walking mechanism, a joint mechanism, an executing mechanism and a control system, and is characterized in that the executing mechanism comprises a two-dimensional moving platform, a distance measuring module, a target detecting and positioning module and an uncovering mechanism; the cover opening mechanism comprises a fixed frame, a telescopic mechanism, a vibration mechanism, a first driving mechanism, a first transmission mechanism and a plurality of operation units distributed on the fixed frame in a linear array mode in the X direction. The walking mechanism is controlled to carry out rough positioning, then the joint mechanism is controlled to carry out plane positioning, then the two-dimensional moving platform is used for fine positioning, and finally the vibration mechanism is used for supplementary positioning, so that accurate matching of the operating rod and the fixing screw is achieved, and automatic mounting and dismounting of the fixing screw are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of switch operation, and in particular relates to an auxiliary cover-opening robot and method for high and low voltage switches in underground coal mines. Background Art

[0002] At present, the high and low voltage switches in underground substations and distribution points of coal mines are relatively concentrated and large in number. According to the coal mine safety regulations, such switch equipment needs to be opened for inspection and maintenance regularly to ensure the explosion-proofness and reliability of the switches. However, in actual work, it is found that in order to ensure the stability of the fixed connection of such equipment, the wiring chamber cover is generally fixed with more than ten or twenty screws. In addition, there are many and concentrated equipment in the site. Manual opening of the cover for each inspection requires a lot of time to remove and tighten the screws, which is very inefficient and also poses a great safety hazard.

[0003] To address this problem, the present application provides an auxiliary cover-opening robot and method for high and low voltage switches in underground coal mines to achieve efficient cover-opening operation. Summary of the invention

[0004] The purpose of the present invention is to provide an auxiliary cover opening robot and method for high and low voltage switches in underground coal mines in order to solve the deficiencies of the prior art.

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

[0006] In a first aspect, the present application provides an auxiliary cover opening robot for high and low voltage switches in underground coal mines, comprising a walking mechanism, a joint mechanism, an actuator, and a control system electrically connected to the above three mechanisms;

[0007] The joint mechanism is used to drive the actuator to rotate along the X direction and the Y direction;

[0008] The actuator includes a two-dimensional mobile platform, a distance measurement module, a target detection and positioning module and a cover opening mechanism; the distance measurement module includes a plurality of distance measurement units distributed in a rectangular array on the two-dimensional mobile platform; the target detection and positioning module is used to identify and locate the fixing screws on the switch cabinet cover;

[0009] The cover opening mechanism is located on the two-dimensional moving platform and can move linearly along the X direction and the Y direction;

[0010] The cover opening mechanism includes a fixed frame, a telescopic mechanism connected to the fixed frame, a vibration mechanism located on the fixed frame, a first driving mechanism, a first transmission mechanism, and a plurality of operating units distributed on the fixed frame in a linear array along the X direction;

[0011] The operation unit includes a fixed block, an operating rod rotatably connected to the fixed block, and a second transmission mechanism fixedly connected to the operating rod;

[0012] Compression springs are provided between adjacent two of the fixed blocks, and between the fixed blocks at both ends and the two ends of the fixed frame. There is a clearance fit between the fixed block, the operating rod and the fixed frame;

[0013] The first transmission mechanism is in transmission connection with the second transmission mechanisms of each of the operation units, and the first driving mechanism is in transmission connection with the first transmission mechanism or any one of the second transmission mechanisms;

[0014] The telescopic mechanism is used to drive the fixed frame to move in the Z direction.

[0015] Preferably, the first transmission mechanism is located outside the fixed frame;

[0016] A first installation groove for installing the second transmission mechanism is provided inside the fixed block. The first installation groove penetrates through the two sides of the fixed block in the Y direction, so that the edge of the second transmission mechanism can protrude outside the fixed block; at least one side wall of the first installation groove in the Z direction is provided with a first through hole for the operating rod to pass through;

[0017] A plurality of second installation grooves for installing the fixed blocks and third installation grooves for installing the compression springs are provided inside the fixed frame; the second installation grooves penetrate through the two sides of the fixed frame in the Y direction, so that the edge of the second transmission mechanism can protrude outside the fixed frame to cooperate with the first transmission mechanism; and at least one side wall of the second installation groove in the Z direction is provided with a second through hole for the operating rod to pass through; the diameter of the second through hole is slightly larger than that of the operating rod, so that there is a clearance fit between the fixed block, the operating rod and the fixed frame.

[0018] Preferably, the first transmission mechanism is a chain, and the second transmission mechanism is a gear that can mesh with the chain; a through hole for the operating rod to pass through is provided at the center of the gear.

[0019] Preferably, the upper and lower edges of the chain protrude. When the chain meshes with the gear, the protruding parts at the upper and lower ends of the chain can be respectively hung on the upper and lower ends of the gear.

[0020] Preferably, a buffer assembly is provided on the telescopic mechanism.

[0021] Preferably, limiting grooves are provided on the outer side walls at both ends of the fixed block, and the ends of the compression springs are located in the limiting grooves.

[0022] Preferably, on the outer sides of both ends of the fixed frame, a driving wheel and a driven wheel which are in transmission connection with the first transmission mechanism are further provided, and the first driving mechanism is in transmission connection with the driving wheel.

[0023] Target detection and positioning module Preferably, the joint mechanism is further configured to drive the actuating mechanism to linearly move along the Z direction.

[0024] Preferably, there are 4 ranging modules, which are respectively located at 4 corner positions on the two-dimensional moving platform.

[0025] The second aspect of the present application further provides an operation method for a robot used for a switch cabinet, which is adapted to be used by the robot as described above. The operation method includes the following steps:

[0026] S1. Obtain the target position of the switch cabinet, and control the traveling mechanism to move to the target position;

[0027] S2. Send an instruction to the ranging module, and adjust the rotation of the joint mechanism according to the detection information until the opening mechanism is parallel to the switch cabinet cover plate;

[0028] S3. Send an instruction to the target detection and positioning module, and adjust the movement of the two-dimensional moving platform according to the detection information until the operating rod of the opening mechanism is directly above the fixing screw to be operated;

[0029] S4. Control the telescopic mechanism to act, so that the operating rod moves along the Z direction to cooperate with the fixing screw. When the operating rod cannot cooperate with the fixing screw, control the vibration mechanism to act until the operating rod and the fixing screw are successfully cooperated, and then control the first driving mechanism and the telescopic mechanism to act to operate the fixing screw.

[0030] The present application realizes rough positioning by controlling the traveling mechanism, then realizes planar positioning by controlling the joint mechanism, then realizes fine positioning by the two-dimensional moving platform, and finally realizes supplementary positioning by the vibration mechanism, so as to achieve the precise cooperation between the operating rod and the fixing screw, and realize the automatic installation and disassembly of the fixing screw. Description of the Drawings

[0031] Figure 1 It is a schematic structural diagram of a typical switch cabinet;

[0032] Figure 2 It is a schematic structural diagram of the auxiliary opening robot provided by the preferred embodiment of the present application;

[0033] Figure 3 It is a schematic structural diagram of an opening mechanism provided by the preferred embodiment of the present application;

[0034] Figure 4 is Figure 3 the bottom structure schematic diagram;

[0035] Figure 5 is Figure 3 the structure schematic diagram with the fixed frame omitted (in order to clearly show the gear structure, one operating unit omits the fixed block);

[0036] Figure 6 is the structure schematic diagram of a two-dimensional moving platform provided by a preferred embodiment of the present application;

[0037] Figure 7 is Figure 6 the structure schematic diagram from another perspective;

[0038] Explanation of reference numerals:

[0039] 10 - Switchgear; 11 - Cover plate; 12 - Fixing screw;

[0040] 20 - Body; 21 - Traveling mechanism; 22 - First joint; 23 - Second joint; 24 - Third joint; 25 - Fourth joint; 26 - Connecting arm;

[0041] 30 - Two-dimensional moving platform; 31 - Support platform;

[0042] 321 - Second driving mechanism; 322 - Central guide rail; 323 - Auxiliary guide rail; 324 - Central slider; 325 - Auxiliary slider; 326 - Connecting rod; 327 - First buffer assembly;

[0043] 331 - Support block; 332 - Horizontal guide rail; 333 - Horizontal slider; 334 - Third driving mechanism; 335 - Second buffer assembly;

[0044] 34 - Distance measurement module;

[0045] 40 - Cover opening mechanism;

[0046] 41 - Fixed frame; 411 - Second installation groove; 412 - Second through hole; 42 - Telescopic mechanism; 43 - First driving mechanism; 44 - First transmission mechanism; 441 - Auxiliary wheel; 45 - Operating unit;

[0047] 451 - Fixed block; 452 - Operating rod; 453 - Second transmission mechanism; 454 - Bearing;

[0048] 46 - Compression spring; 47 - Vibration mechanism; 48 - Connecting frame;

[0049] 50 - Target detection and positioning module. Detailed implementation manners

[0050] Figure 1For a typical switchgear cabinet 10, the top of the switchgear cabinet is a cover plate 11, and there are multiple fixing screws 12 on the cover plate for connecting and fixing the cover plate 11 to the cabinet body below. The fixing screws are generally distributed in a linear equidistant array. Generally, after installation, the position coordinates of the switchgear cabinet are fixed and known, and the position coordinates of each column of fixing screws on the cover plate are also fixed and known. In some substations, multiple switchgear cabinets of the same specification are concentrated. During maintenance, it is necessary to manually tighten and loosen the screws, consuming a lot of time.

[0051] Based on the above problems, the present application provides an auxiliary cover-opening robot for switchgear cabinets of the same specification and similar specifications, which can replace manual labor to tighten and loosen screws, saving manpower and improving the maintenance efficiency and safety.

[0052] An auxiliary cover-opening robot for high-voltage and low-voltage switches in coal mines provided by the present application, as Figure 2 shown, includes a traveling mechanism 21, a joint mechanism, an actuating mechanism, and a control system electrically connected to the above three mechanisms. As those skilled in the art can understand, the robot further includes a fuselage 20 for supporting the above components.

[0053] The traveling mechanism 21 can adopt existing technologies, and it is only necessary to be able to realize the traveling function of the robot, such as using wheeled, tracked, legged, footed, etc. The present application preferably uses a traveling wheel with a simple structure and low cost.

[0054] The joint mechanism can also adopt existing technologies, and it is only necessary to be able to drive the actuating mechanism to rotate along the X direction (as Figure 2 shown, driving the actuating mechanism to rotate left and right) and rotate along the Y direction (as Figure 2 shown, driving the actuating mechanism to rotate forward and backward), so as to be able to adjust the actuating mechanism to be parallel to the cover plate of the switchgear cabinet.

[0055] Furthermore, the joint mechanism of the present application can also drive the actuating mechanism to linearly move along the Z direction, so as to be able to adjust the height of the actuating mechanism. When walking, the actuating mechanism can be lifted to prevent encountering obstacles during the walking process, and when working, the actuating mechanism is lowered again.

[0056] The present application provides a preferred joint mechanism, as Figure 2As shown in the figure, it includes four joints, specifically the first joint 22, the second joint 23, the third joint 24, and the fourth joint 25. Both the first joint and the second joint drive the actuator to rotate back and forth, and the third joint drives the cover opening mechanism to rotate left and right. The fourth joint 25 can drive the actuator to move up and down; further, the first joint is located at the end of the fourth joint, the second joint is located at the end of the first joint, the third joint is located at the end of the second joint, and the actuator is located at the end of the third joint; the fourth joint can drive the first joint, the second joint, the third joint, and the actuator to move up and down, the first joint can drive the second joint, the third joint, and the actuator to rotate back and forth, the second joint can also drive the third joint and the actuator to rotate back and forth, and the third joint can drive the actuator to rotate left and right.

[0057] A connecting arm 26 can be used to assist in connecting between the third joint 24 and the actuator.

[0058] The actuator includes a two-dimensional moving platform 30, a ranging module 34, a target detection and positioning module 50, and a cover opening mechanism 40.

[0059] The ranging module 34 includes a plurality of ranging units distributed in a rectangular array on the two-dimensional moving platform 30, and is used to detect the distance from the switch cabinet cover plate.

[0060] The target detection and positioning module 50 is used to identify and position the fixing screws on the switch cabinet cover plate, and can determine the position coordinates of the fixing screws to be operated.

[0061] The cover opening mechanism 40 is located on the two-dimensional moving platform and can move in the X direction and the Y direction under the action of the two-dimensional moving platform 30.

[0062] The two-dimensional moving platform can adopt the existing technology, and it is only necessary to realize the two-dimensional moving function of the cover opening mechanism.

[0063] The cover opening mechanism 40 provided in this application, as Figures 3 to 5 shown, includes a fixed frame 41, a vibration mechanism 47, a telescopic mechanism 42, a first driving mechanism 43, a first transmission mechanism 44, and a plurality of operating units 45 linearly arrayed in the X direction on the fixed frame. The distance between adjacent two operating units is equal to the distance between adjacent two fixing screws.

[0064] Among them, the fixed frame 41 is used to support the entire mechanism.

[0065] The operating unit 45 includes a fixed block 451, an operating rod 452, and a second transmission mechanism 453 fixedly connected to the operating rod. The operating rod 452 is rotatably connected to the fixed block 451, that is, the operating rod and the second transmission mechanism can rotate synchronously within the fixed block. The shape of the head end of the operating rod is adapted to the fixing screw, and can be cross-shaped or hexagonal.

[0066] Preferably, a magnetic adsorption component is further provided at the head end of the operating rod, which can adsorb and fix the screw. Preferably, in order to reduce friction, a bearing 454 is further provided between the operating rod 452 and the fixed block 451.

[0067] Compression springs 46 are provided between adjacent two fixed blocks 451, and between the fixed blocks 451 at both ends and the two ends of the fixed frame 41. The fixed block 451 is positioned by the compression spring 46, and there is a clearance fit between the fixed block, the operating rod and the fixed frame.

[0068] When machining the threaded holes on the switch cabinet cover plate, even if the distance between adjacent two threaded holes is determined, due to the limitation of machining accuracy, it is impossible to ensure that the distances between adjacent two threaded holes are exactly equal. Therefore, in this application, a fixed block and an operating rod with a clearance fit with the fixed frame are provided, which can slightly adjust the positions of the fixed block and the operating rod in the X direction and the Y direction on the fixed frame, so that the operating rod can align with the fixed screw in the threaded hole of the cover plate.

[0069] Positioning is carried out by using the compression spring. It is not only convenient for installation, but also the compression spring has a certain elasticity, and the fixed block can displace smoothly in the X direction.

[0070] As Figure 3 shown, the X direction is the left - right direction of the fixed frame, the Y direction is the front - back direction of the fixed frame, and the Z direction is the up - down direction of the fixed frame.

[0071] The vibration mechanism 47 is arranged on the fixed frame 41. Under the action of the vibration mechanism 47, the fixed frame 41 and the operating rod 452 located on the fixed frame can generate vibration. When the operating rod and the fixed screw are almost misaligned, the operating rod 452 generates vibration through the vibration mechanism 47. On the one hand, the positions of the fixed block and the operating rod can change slightly with the fixed frame. On the other hand, since there is a clearance fit between the fixed block and the operating rod and the fixed frame, the positions of the fixed block and the operating rod in the fixed frame will also change slightly, so as to be able to align with the fixed screw.

[0072] The first transmission mechanism 44 is in transmission connection with the second transmission mechanisms 453 of each operating unit. The first driving mechanism 43 is in transmission connection with the first transmission mechanism 44 or any one of the second transmission mechanisms 453, and is used to drive the first transmission mechanism or the second transmission mechanism 453 connected to the first driving mechanism to rotate, and then drive the second transmission mechanisms of all operating units to rotate synchronously. In this way, one driving mechanism can be used to drive all the operating rods to rotate synchronously. Compared with setting multiple driving mechanisms, it not only reduces power consumption and production costs, but also improves the operation synchronization.

[0073] Preferably, the first transmission mechanism 44 is a chain, and the second transmission mechanism 453 is a gear that can mesh with the chain; a through hole for the operating rod to pass through is provided at the center of the gear. As can be understood by those skilled in the art, the first transmission mechanism and the second transmission mechanism can also adopt other transmission structures, such as belt drive.

[0074] The telescopic mechanism 42 is connected to the fixed frame 41 and is used to drive the fixed frame and the operating unit located on the fixed frame to move in the Z direction, so as to approach or move away from the switch cabinet cover plate. When disassembling the cover plate, first align the operating rod with the fixing screw, place the operating rod directly above the fixing screw, and then the telescopic mechanism acts to drive the fixed frame to drive the operating rod to move downward and cooperate with the fixing screw. As described above, when the operating rod and the fixing screw are almost misaligned, the operating rod is vibrated by the vibration mechanism until the cooperation is completed.

[0075] Then the first driving mechanism 43 acts to drive the first transmission mechanism 44 to drive the second transmission mechanism 453 and the operating rod 452 to rotate. At the same time, the telescopic mechanism 42 acts to drive the fixed frame and the operating rod to move upward slowly, unscrew the fixing screw, and then the telescopic mechanism resets upward to perform the following operations on the fixing screws. After all the fixing screws on the cover plate are disassembled, move the cover opening mechanism away for maintenance. After the maintenance is completed, place the cover plate on the cabinet body, move the cover opening mechanism above the cover plate, and place the fixing screw in the threaded hole. Then align the operating rod with the fixing screw in the threaded hole on the cover plate, and the telescopic mechanism acts to drive the fixed frame to move downward to cooperate with the fixing screw. After the cooperation is completed, the first driving mechanism acts to drive the operating rod to rotate in the opposite direction to tighten the fixing screw.

[0076] The number of operating units can be adjusted according to the actual situation, preferably 4 to 8. Further, it is preferably the same as the number of a row of fixing screws on the switch cabinet cover plate, which can utilize the operating units with the highest efficiency. As Figure 1 shown, there are 4 fixing screws in a row on the outer side of the cover plate, and 4 operating units can be used. When disassembling the fixing screws in the outer row, when disassembling the fixing screws in the middle row, there are only two fixing screws in the middle row. Therefore, the operating rod in the middle will rotate idly. Therefore, this structure is not suitable for the case where the top plane of the fixing screw after cooperation is lower than the cover plate.

[0077] Preferably, the first transmission mechanism 44 is located outside the fixed frame 41. A first installation groove for installing the second transmission mechanism 453 is provided inside the fixed block 451. The first installation groove penetrates through the two sides of the fixed block in the Y direction (i.e., the front and back sides), so that the edge of the second transmission mechanism can protrude outside the fixed block; a first through hole for the operating rod to pass through is provided on at least one side wall of the first installation groove in the Z direction (i.e., the upper and lower sides), so that the operating rod can extend outside the fixed block to cooperate with the fixing screw.

[0078] The interior of the fixed frame 41 is provided with a plurality of second mounting grooves 411 for mounting the fixed block and a third mounting groove for mounting the compression spring 46; the second mounting grooves 411 penetrate both sides of the fixed frame 41 in the Y direction, so that the edge of the second transmission mechanism can protrude outside the fixed frame and cooperate with the first transmission mechanism; and a second through hole 412 for the operating rod to pass through is provided on at least one side wall in the Z direction of the second mounting groove, so that the operating rod can extend out of the fixed block and the fixed frame and cooperate with the fixing screw. The diameter of the second through hole 412 is slightly larger than the operating rod 452, so that the fixed block and the operating rod can cooperate with the fixed frame and can move slightly.

[0079] Preferably, two auxiliary wheels 441 are further provided on the outer sides of both ends of the fixed frame 41 and are drivingly connected to the first transmission mechanism 44 for auxiliary supporting the first transmission mechanism.

[0080] Preferably, the upper and lower edges of the chain are protruding, and when the chain is engaged with the gear, the upper and lower protruding parts of the chain can be hung on the upper and lower ends of the gear respectively, thereby limiting the chain and preventing the chain from falling off the gear easily.

[0081] Preferably, a buffer component, such as a spring, is provided on the telescopic mechanism 42 to form a buffer so as to enable the fixed frame and the operating rod to move smoothly, while preventing the operating rod from moving too fast and too violently to cause damage to the cover plate.

[0082] Preferably, a pressure sensor or other sensor is provided on the telescopic mechanism. When the operating rod is matched with the fixing screw, the pressure on the telescopic mechanism increases. By detecting the pressure, it can be confirmed whether the operating rod and the fixing screw are matched. The target and detection positioning module can further assist in determining whether the operating rod and the fixing screw are matched through visual technology.

[0083] Preferably, limiting grooves are provided on the outer side walls at both ends of the fixing block 451, and the ends of the compression spring are located in the limiting grooves, which can limit the compression spring and prevent the compression spring from moving arbitrarily.

[0084] The first driving mechanism 43 can first drive the first transmission mechanism or first drive the second transmission mechanism to rotate.

[0085] Preferably, a driving wheel and a driven wheel which are transmission-connected to the first transmission mechanism 44 are also provided on the outer sides of both ends of the fixed frame 41. The first driving mechanism 43 is transmission-connected to the driving wheel. The first driving mechanism drives the driving wheel to rotate, and then drives the driven wheel, the first transmission mechanism (chain) 44, the second transmission mechanism (gear) 453 and the operating rod 452 to rotate in turn.

[0086] The present application provides a preferred two-dimensional mobile platform 30, such as Figures 6 to 7As shown, it includes a supporting platform 31 and an X-axis moving mechanism and a Y-axis moving mechanism located on the supporting platform 31.

[0087] The Y-axis moving mechanism includes a second driving mechanism 321 located on the supporting platform 31, a central guide rail 322 and two left and right auxiliary guide rails 323, as well as a central slider 324 located on the central guide rail and two left and right auxiliary sliders 325 located on the left and right auxiliary guide rails respectively; the central slider and the auxiliary slider are fixedly connected by a connecting rod 326, and the central slider and the auxiliary slider can be connected as a whole by the connecting rod to achieve synchronous movement.

[0088] The X-axis moving mechanism includes left and right supporting blocks 331 respectively located on the left and right auxiliary sliders, a horizontal guide rail 332 located between the left and right supporting blocks, a horizontal slider 333 located on the horizontal guide rail, and a third driving mechanism 334 located on any one of the supporting blocks; the cover opening mechanism 40 is located on the horizontal slider 333.

[0089] As described above, a robot can be equipped with multiple cover opening mechanisms of different specifications (the number and distance of the operating units of the cover opening mechanisms of different specifications are different, and the rest of the structure is the same). The cover opening mechanism can be provided with a quick connection frame 48, which can quickly cooperate or separate with the horizontal slider 333, so as to facilitate the replacement of the cover opening mechanism.

[0090] The second driving mechanism 321 is connected to the central slider and is used to drive the central slider and the auxiliary slider to move along the central guide rail and the auxiliary guide rail respectively in the Y direction. When the auxiliary slider moves in the Y direction, the support block on the auxiliary slider also moves synchronously, thereby driving the cover opening mechanism on the horizontal guide rail and the horizontal slider to move synchronously in the Y direction. The third driving mechanism 334 is connected to the horizontal slider and is used to drive the horizontal slider to drive the cover opening mechanism to move along the horizontal guide rail in the X direction.

[0091] The Y-moving mechanism bears the weight of the X-moving mechanism, so the central guide rail and the auxiliary guide rails on both sides are used to make the movement smoother and facilitate the precise control of the terminal stop position. Furthermore, in order to make the movement smoother, the Y-moving mechanism also includes a first buffer assembly 327 located on the support platform, and the central slider is connected to the first buffer assembly; the X-moving mechanism also includes a second buffer assembly 335 located between the left and right support blocks, and the horizontal slider is connected to the second buffer assembly. The first buffer assembly and the second buffer assembly preferably use springs.

[0092] The second driving mechanism and the third driving mechanism may adopt motors, cylinders, hydraulic cylinders and the like.

[0093] The ranging module 34 includes ranging units distributed in a plurality of rectangular arrays on the two-dimensional moving platform. There should be a certain distance between two adjacent ranging units. Further, the number of ranging units is at least 4, and the 4 ranging units are located at the four corner positions of the two-dimensional moving platform 30 for detecting the distance to the switch cabinet cover plate. By detecting the distance to the switch cabinet cover plate, the tilt direction and angle of the two-dimensional moving platform can be found, so that corresponding adjustments can be made through the joint mechanism to adjust the two-dimensional moving platform and the cover opening mechanism to be parallel to the switch cabinet cover plate. By setting at least 4 ranging units, the distances between the corners of the two-dimensional moving platform and the cover plate can be obtained, so as to accurately obtain the tilt direction and angle of the two-dimensional moving platform and make targeted adjustments, effectively ensuring that the entire plane of the two-dimensional moving platform is parallel to the cover plate.

[0094] To ensure the stability of the ranging module, it is preferably immovable, that is, located at an immovable position on the two-dimensional moving platform, such as on the support platform 31 of the two-dimensional moving platform provided in this application.

[0095] The ranging module can adopt conventional technologies such as laser, ultrasonic, infrared, and optoelectronic.

[0096] The target detection and positioning module can detect the positions of the fixing screws, so as to adjust the position of the operating rod through the two-dimensional moving platform to align the operating rod with the fixing screws. The target detection and positioning module is preferably located on the cover opening mechanism, and further at the bottom of the fixed frame, near the operating rod. The coordinates of each operating rod relative to the target detection and positioning module are fixed and known. Specifically, the relative coordinates of each operating rod and the target detection and positioning module are known. The target detection and positioning module identifies and locates all the fixing screws on the cover plate through vision technology, selects the fixing screw to be operated and obtains the coordinates of the fixing screw, and according to the coordinates of the operating rod, obtains the coordinate difference between the corresponding operating rod and the fixing screw to be operated, and further obtains the distance and direction that the two-dimensional moving platform needs to move. Then, the two-dimensional moving platform drives the cover opening mechanism to move a corresponding distance in the corresponding direction, so that each operating rod can reach directly above the fixing screw to be operated.

[0097] As can be understood by those skilled in the art, the operating rod should be perpendicularly installed to the support platform, so that when the support platform is parallel to the cover plate, the operating rod can be perpendicularly aligned with the fixing screw for operation.

[0098] The control system is electrically connected to the traveling mechanism 21, the joint mechanism, the ranging module 34, the target detection and positioning module 50, the two-dimensional moving platform 30, the vibration mechanism 47, the telescopic mechanism 42, and the first driving mechanism.

[0099] A control system is used to drive the traveling mechanism to move to a target position; it is also used to send instructions to the ranging module and the target detection and positioning module, and adjust the actuator to be parallel to the switch cabinet cover plate and adjust the operating rod of the cover opening mechanism to be directly above the fixing screw according to the feedback information; and it is used to control the vibration mechanism, the telescopic mechanism and the first driving mechanism to operate on the fixing screw.

[0100] By setting up the control system, the automatic operation of the robot can be realized. The control system can be installed inside the fuselage.

[0101] Preferably, the robot provided by the present application further includes an automatic navigation system electrically connected to the control system, which is used to guide the traveling mechanism to drive the whole robot to automatically move to the target position. When necessary, manual assistance can also be used to guide the robot to reach the target position.

[0102] The present application also provides an operation method for the above-mentioned auxiliary cover opening robot, including the following steps:

[0103] S1. Obtain the target position of the switch cabinet and control the traveling mechanism to move to the target position; the target position is to make the cover opening mechanism directly above the cover plate;

[0104] S2. Send an instruction to the ranging module and adjust the rotation of the joint mechanism according to the detection information until the actuator is parallel to the switch cabinet cover plate;

[0105] S3. Send an instruction to the target detection and positioning module and adjust the movement of the two-dimensional moving platform according to the detection information until the operating rod of the cover opening mechanism is directly above the fixing screw;

[0106] S4. Control the telescopic mechanism to act, so that the operating rod moves along the Z direction to cooperate with the fixing screw. When the operating rod cannot cooperate with the fixing screw, control the vibration mechanism to act until the operating rod is completed with the fixing screw. Then control the first driving mechanism and the telescopic mechanism to act on the fixing screw.

[0107] The above control process can be realized by the control system for automatic control.

[0108] The operation method provided by this application first controls the traveling mechanism to move the entire robot within the working distance range, and then performs planar positioning. The distance measuring module is used to level the actuator and the cover plate so that the operating rod can be vertically aligned with the fixing screw for operation. After leveling, the target detection and positioning module is used to identify and position the position of the fixing screw. Then, by adjusting the two-dimensional moving platform, the operating rod is positioned directly above the fixing screw to be operated. Then, the telescopic mechanism is controlled to act, so that the fixing frame drives the operating rod to move downward and cooperate with the fixing screw. When the operating rod cannot cooperate with the fixing screw, the vibration mechanism is controlled to act until the operating rod and the fixing screw are fully cooperated. Then, the first driving mechanism and the telescopic mechanism are controlled to act to operate the fixing screw.

[0109] Therefore, this application realizes rough positioning by controlling the traveling mechanism, planar positioning by controlling the joint mechanism, fine positioning by the two-dimensional moving platform, and supplementary positioning by the vibration mechanism, so as to achieve the precise cooperation between the operating rod and the fixing screw and realize the automatic installation and disassembly of the fixing screw.

[0110] Preferably, step S2 further includes:

[0111] The number of distance measuring units is at least 4, which are respectively located at the four corner positions of the two-dimensional moving platform;

[0112] The 4 distance measuring units are first divided into front and rear groups along the Y direction (taking the Figure 5 shown direction as the standard), and the joint mechanism is adjusted to rotate forward and backward according to the detection information, so that the distances detected by the front and rear groups of distance measuring units are equal.

[0113] Then, the 4 distance measuring units are divided into left and right groups along the X direction (taking the Figure 5 shown direction as the standard), 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.

[0114] In order to make the purpose, technical solution and advantages of this application clearer, the following will describe this application in detail with reference to the accompanying drawings and specific embodiments.

[0115] Now, a robot as shown in Figures 2 to 7 is to be used to automatically operate the fixing screws on the cover plate of the switch cabinet as shown in Figure 1 shown.

[0116] S1. First, obtain the position coordinates of the switch cabinet. The control system controls the fourth joint to lift the actuator, and under the guidance of the automatic navigation system, controls the traveling mechanism to move within the working distance range and be located above the cover plate, and then controls the fourth joint to lower the actuator.

[0117] S2. After reaching the target position, send an instruction to the ranging module 34, and feedback the detection result to the control system in a timely manner. The control system includes a data processing module. First, divide the distance data detected by the 4 ranging units into two groups: front and back. Compare the data of the front and back groups. If the sum of the data in the front group is less than the sum of the data in the back group, it proves that the lid-opening mechanism tilts backward, then control the first joint or the second joint to drive the lid-opening mechanism to rotate forward (clockwise rotation). On the contrary, if the sum of the data in the front group is greater than the sum of the data in the back group, it proves that the lid-opening mechanism tilts forward, then control the first joint or the second joint to drive the lid-opening mechanism to rotate backward (counterclockwise rotation) until the sum of the data in the front group is equal to the sum of the data in the back group. Then divide the distance data detected by the 4 ranging units into two groups: left and right. If the sum of the data in the left group is less than the sum of the data in the right group, it proves that the lid-opening mechanism tilts to the right, then control the third joint to drive the lid-opening mechanism to rotate left (clockwise rotation). On the contrary, if the sum of the data in the left group is greater than the sum of the data in the right group, it proves that the lid-opening mechanism tilts to the left, then control the third joint to drive the lid-opening mechanism to rotate right (counterclockwise rotation) until the sum of the data in the left group is equal to the sum of the data in the right group, and then control the ranging module to stop working. After the above adjustment, the parallelism between the lid-opening mechanism and the cover plate is ensured.

[0118] S3. After leveling, the control system sends an instruction to the target detection and positioning module. The target detection and positioning module sends the captured image information to the control system. The data processing module identifies and locates the captured image information. Since the coordinates of each operating rod are known, the coordinate differences between each operating rod and the fixed screw to be operated can be obtained through analysis. Then adjust the position of the two-dimensional moving platform to move the operating rod directly above the fixed screw to be operated.

[0119] S4. The control system sends an instruction to the telescopic mechanism, and the telescopic mechanism drives the operating rod downward to cooperate with the fixing screw. When the operating rod cannot cooperate with the fixing screw, the vibration mechanism is controlled to act until the operating rod and the fixing screw are fully cooperated. Then, the first driving mechanism is controlled to act, driving the second transmission mechanism and the operating rod of each operating unit to rotate. At the same time, the telescopic mechanism acts to drive the fixed frame and the operating rod to move upward slowly, unscrewing the fixing screw from the threaded hole. Then, the telescopic mechanism resets upward and performs the following operations on the fixing screws (sequentially controlling the two-dimensional moving platform to move to the following fixing screws for operations). After all the fixing screws on the cover plate are removed, the traveling mechanism is controlled to move away from the switch cabinet for maintenance. After the maintenance is completed, the cover plate is placed on the cabinet body, and the fixing screw is placed in the threaded hole. Then, the traveling mechanism is controlled to move again to move the cover opening mechanism above the cover plate, align the operating rod with the fixing screw in the threaded hole on the cover plate, and the telescopic mechanism acts to drive the fixed frame and the operating rod downward to cooperate with the fixing screw. After the cooperation is completed, the first driving mechanism acts to drive the operating rod to rotate in the reverse direction. At the same time, the telescopic mechanism acts to drive the fixed frame and the operating rod to move downward slowly to tighten the fixing screw. Then, the telescopic mechanism resets upward and performs the following operations on the fixing screws (sequentially controlling the two-dimensional moving platform to move to the following fixing screws for operations) until all the fixing screws on the cover plate are installed.

[0120] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present invention. Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An auxiliary switch - cover - opening robot for high - and low - voltage switches in coal mines, comprising a traveling mechanism, a joint mechanism, an execution mechanism, and a control system electrically connected to the above three mechanisms, characterized in that, The joint mechanism is used to drive the execution mechanism to rotate along the X - direction and rotate along the Y - direction; The execution mechanism includes a two - dimensional moving platform, a ranging module, a target detection and positioning module, and a switch - cover - opening mechanism; the ranging module includes a plurality of ranging units distributed in a rectangular array on the two - dimensional moving platform; the target detection and positioning module is used to identify and position the fixing screws on the switch cabinet cover plate; The switch - cover - opening mechanism is located on the two - dimensional moving platform and can linearly move along the X - direction and the Y - direction; The switch - cover - opening mechanism includes a fixed frame, a telescopic mechanism connected to the fixed frame, a vibration mechanism located on the fixed frame, a first driving mechanism, a first transmission mechanism, and a plurality of operating units linearly arrayed along the X - direction on the fixed frame; The operating unit includes a fixed block, an operating rod rotatably connected to the fixed block, and a second transmission mechanism fixedly connected to the operating rod; Compression springs are provided between adjacent two of the fixed blocks, and between the fixed blocks at both ends and the two ends of the fixed frame. There is a clearance fit between the fixed block, the operating rod and the fixed frame; The first transmission mechanism is in transmission connection with the second transmission mechanisms of each of the operating units, and the first driving mechanism is in transmission connection with the first transmission mechanism or any one of the second transmission mechanisms; The telescopic mechanism is used to drive the fixed frame to move along the Z - direction.

2. The auxiliary switch - cover - opening robot for high - and low - voltage switches in coal mines according to claim 1, characterized in that, The first transmission mechanism is located outside the fixed frame; A first installation groove for installing the second transmission mechanism is provided inside the fixed block. The first installation groove penetrates through both sides of the fixed block in the Y - direction, so that the edge of the second transmission mechanism can protrude outside the fixed block; at least one side wall of the first installation groove in the Z - direction is provided with a first through - hole for the operating rod to pass through; A plurality of second installation grooves for installing the fixed blocks and third installation grooves for installing the compression springs are provided inside the fixed frame; the second installation grooves penetrate through both sides of the fixed frame in the Y - direction, so that the edge of the second transmission mechanism can protrude outside the fixed frame to cooperate with the first transmission mechanism; and at least one side wall of the second installation groove in the Z - direction is provided with a second through - hole for the operating rod to pass through; the diameter of the second through - hole is slightly larger than the operating rod, so that there is a clearance fit between the fixed block, the operating rod and the fixed frame.

3. The auxiliary switch - cover - opening robot for high - and low - voltage switches in coal mines according to claim 1, characterized in that, The first transmission mechanism is a chain, and the second transmission mechanism is a gear that can mesh with the chain; a through - hole for the operating rod to pass through is provided at the center of the gear.

4. The auxiliary switch - cover - opening robot for high - and low - voltage switches in coal mines according to claim 3, characterized in that, The upper and lower edges of the chain protrude. When the chain meshes with the gear, the protruding parts at the upper and lower ends of the chain can be respectively hung on the upper and lower ends of the gear.

5. The auxiliary cover-opening robot for high- and low-voltage switches in coal mines as claimed in claim 1, wherein A buffer assembly is provided on the telescopic mechanism.

6. The auxiliary cover-opening robot for high- and low-voltage switches in coal mines as claimed in claim 1, wherein Limiting grooves are provided on the outer side walls at both ends of the fixed block, and the ends of the compression springs are located in the limiting grooves.

7. The auxiliary cover-opening robot for high- and low-voltage switches in coal mines as claimed in claim 2, wherein Active wheels and driven wheels which are in transmission connection with the first transmission mechanism are further provided on the outer sides at both ends of the fixed frame, and the first driving mechanism is in transmission connection with the active wheels.

8. The auxiliary cover-opening robot for high- and low-voltage switches in coal mines as claimed in claim 1, wherein The joint mechanism is further used to drive the actuator to linearly move in the Z direction.

9. The auxiliary cover-opening robot for high- and low-voltage switches in coal mines as claimed in claim 1, wherein There are 4 ranging modules, which are respectively located at the 4 corner positions on the two-dimensional moving platform.

10. An operating method of an auxiliary cover-opening robot for high and low voltage switches in coal mines, characterized in that, It is adapted to be used with the cover-opening robot as claimed in any one of claims 1 to 9, and the operation method includes the following steps: S1. Obtain the target position of the switch cabinet, and control the traveling mechanism to move to the target position; S2. Send an instruction to the ranging module, and adjust the rotation of the joint mechanism according to the detection information until the actuator is parallel to the switch cabinet cover plate; S3. Send an instruction to the target detection and positioning module, and adjust the movement of the two-dimensional moving platform according to the detection information until the operating rod of the cover-opening mechanism is directly above the fixed screw to be operated; S4. Control the telescopic mechanism to act, so that the operating rod moves in the Z direction to cooperate with the fixed screw. When the operating rod cannot cooperate with the fixed screw, control the vibration mechanism to act until the operating rod and the fixed screw are successfully cooperated, and then control the first driving mechanism and the telescopic mechanism to act to operate the fixed screw.

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