Power distribution room operation and maintenance operation robot

Abstract

The invention relates to a mechanical device for carrying out automatic operation maintenance and overhaul operation on power distribution room equipment, in particular to a power distribution room operation and maintenance operation robot which mainly comprises mechanism modules such as an AGV chassis, a grounding knife switch operation device, an identification module, a mechanical arm, a first quick-change male disc, a door lock operation tool, an aviation plug operation tool, a screwing operation tool and a box body. Based on action bionics of a manual operation process, adaptive execution functions of cabinet door opening and closing, electrical switch opening and closing, grounding knife switch opening and closing, aviation plug plugging, circuit breaker swing-in and swing-out and the like of a high-voltage cabinet of a power distribution room are realized by developing specific structures and space combinations of all mechanism modules, and automation, mechanization and unmanned operation of daily operation and maintenance operation of the power distribution room are realized. Operation and maintenance efficiency is obviously improved, and operation process safety is guaranteed. The robot is high in function integration level, has function expansion capacity, and is suitable for function execution in different power distribution room environments.

Description

Technical Field

[0001] The present invention relates to a mechanical device for automatically operating, maintaining and repairing equipment in a power distribution room, and in particular to a power distribution room operation and maintenance robot. Background Art

[0002] To ensure safe power supply operation, power system management requires routine maintenance and overhaul of high-voltage cabinets and other substation equipment within distribution rooms. Currently, this work is primarily performed manually on-site by operators. This process requires the collaboration of multiple teams, including maintenance, protection, and testing teams, involving at least three to five people. This process involves repeated steps, including tool handling, equipment positioning, and test wiring, which can take up to four to six hours, leading to inefficient process management. Operators are also required to carry over 20 tools, including insulation testers and torquers, weighing over 50 kg. The frequent tool switching is time-consuming and labor-intensive, resulting in less than 40% of effective working time. Furthermore, maintenance of power equipment often involves live equipment, posing safety risks and causing electric shock and mechanical injuries. Analysis shows that accidents during maintenance operations primarily involve accidental contact with live components and incomplete disconnection of grounding switches. These incidents are primarily caused by close proximity, the lack of specialized insulation protection in existing auxiliary equipment, and the inability to monitor the real-time status of distribution equipment. In addition, the sizes of high-voltage cabinets from different manufacturers vary significantly. Although some automated equipment has appeared, there are still problems with operational adaptability and integration, which cannot meet the requirements of full-process automation, mechanization, and unmanned operation.

[0003] Through the search of existing technologies, some research results targeting the above-mentioned problems were found. For example, the patent technology with the announcement number CN118514119A proposed a robot for high-voltage cabinet switching operation, which uses an AGV trolley to determine the robot's operating position and adopts a quick-change disc to clamp the tool. However, the tool is relatively bulky and has low modularity. The operating tool can only perform a single operation, and the operating tool needs to be replaced frequently. The work efficiency has not been significantly improved, and the adaptability to different types of switch cabinets is weak.

[0004] To solve the above technical problems, this patent has developed a distribution room operation and maintenance robot. The robot can use the AGV chassis to achieve automatic navigation and positioning and autonomously perform operation and maintenance operations. It can also autonomously adapt to high-voltage cabinets of different heights and different manufacturers in the distribution room, with an operation error of less than 1mm. In particular, it implements high-efficiency and high-precision bionic implementation of complex execution actions such as "torque control of grounding knife switch" and "precise gripping and plugging of aviation plugs" that are difficult in existing technologies. Through the ingenious combination of the robotic arm and the vision system, the automatic control robot arm can accurately execute the operation position, with a positioning accuracy of less than 0.5mm. The robot's supporting operating tools are switched using a pneumatic quick-change disk, and the switching time is less than 10 seconds. The robot's main body safety protection level has been significantly improved, with an insulation withstand voltage greater than or equal to 10kV, real-time status monitoring and anti-electric shock interlocking. The robot adopts a modular design overall. By developing the specific structure and spatial combination of each mechanism module, it can realize adaptive execution functions such as opening and closing the cabinet door of the high-voltage cabinet in the distribution room, opening and closing the electrical switch, opening and closing the grounding knife switch, plugging and unplugging the aviation plug, and swinging in and out the circuit breaker, significantly improving the operation and maintenance efficiency and ensuring the safety of the operation process. Summary of the Invention

[0005] A distribution room operation and maintenance operation robot, comprising: an AGV chassis, an earthing knife switch operating device, an identification module, a robotic arm, a first quick-change male disc, a door lock operating tool, an aerial plug operating tool, a screwing operating tool, and a box; the AGV chassis adopts a rectangular box structure, is arranged on the ground plane, and the box is fixedly installed on the upper surface. The box is a single-step box structure, the front is the lower end of the step, and the rear is the upper end of the step. The identification module is arranged on the upper surface of the lower end of the step of the box, and the robotic arm is installed on the left side of the upper surface of the high end of the step. The door lock operating tool, aerial plug operating tool, and screwing operating tool are installed on the right side of the inner side of the high end of the step, and the upper part of this position is in an open state. The earthing knife switch operating device is arranged on the left side of the inner side of the front side of the box, and the front part of this position is in an open state; a first quick-change male disc is installed on the operating end of the robotic arm.

[0006] A further solution is that the grounding knife switch operating device includes: a main support plate, a reduction motor, a knife switch opening and closing mechanism, a first sleeve, an auxiliary support, a horizontal drive module, a fixed plate, a linear guide rail, and a vertical drive module; the main support plate and the front auxiliary support plate are both L-shaped, and are fixedly connected by the L-shaped vertical surface, and horizontal through holes are provided on the vertical surfaces, and a reduction motor is installed on the vertical plane of the main support plate, and the output end of the reduction motor faces horizontally and forward, and passes through the through holes on the vertical surfaces of the main support plate and the auxiliary support plate, and is driven and connected to the first sleeve through a coupling; the knife switch opening and closing mechanism is fixedly installed on the front upper surface of the auxiliary support plate and surrounds the front end of the first sleeve; the lower bottom surface of the main support plate is installed on the horizontal drive module; the fixed plate is a horizontal beam structure arranged in the front and rear directions, the rear end is slidably connected to the vertical drive module, the front end is slidably connected to the vertically arranged linear guide rail, and the upper surface supports the horizontal drive module; The cam is provided with a plurality of guide rails, and the guide rails are provided with a plurality of guide rails, and the guide rails are provided with a plurality of guide rails. On the outside of the panel, a short guide rail is provided at the front end of the lower swing arm for connection, and a long guide rail is provided at the front end of the upper swing arm for connection. A cylindrical guide rail is provided at the intersection of the A-shaped tips of the upper swing arm and the lower swing arm for connection. The cylindrical guide rail is installed in the slide groove and can slide back and forth in the slide groove; a cylindrical protrusion is provided at the intersection of the upper swing arm and the reinforcing rib; a non-through limit slide groove is provided on the outer surface of the guide plate, and the structure of the limit slide groove is that it bends backward from top to bottom in the middle, and the lower part of the limit slide groove is tangentially connected to the inside of the slide groove, and the depth is half of the thickness of the guide plate; the cylindrical protrusion is embedded in the limit slide groove to maintain a sliding connection; the spring clamping groove is a circular tube shape, and the front part is provided with left and right opening grooves with the opening direction facing forward. The rear part is fixedly installed on the fixing plate, and the spring is provided in the spring clamping groove, and the spring is clamped in the circular tube of the spring clamping groove by the cylindrical guide rail placed horizontally at the front end.

[0007] A further solution is that the recognition module includes: a fixture plate, a laser rangefinder, a fill light, a visual camera, a lower support plate, a second quick-change male disc, a first quick-change female disc, and a second quick-change female disc; the fixture plate is a U-shaped box structure, and the lower support plate is a double-layer support plate structure, the two are fixedly connected up and down, a second quick-change female disc is installed on the top of the fixture plate, and a first quick-change female disc is installed on the lower part of the lower support plate; two laser rangefinders are respectively arranged on the left and right sides of the fixture plate, the visual camera is fixed in the middle of the interior of the fixture plate, and multiple fill lights are arranged around the visual camera; the lower part of the first quick-change female disc is connected to a second quick-change male disc, and the entire recognition module is fixed to the box through the second quick-change male disc.

[0008] A further solution is that the door lock operating tool includes: an outer clamping block, an inner clamping block, a knife plate, an unlocking key, an unlocking plate, a connecting sleeve, and a third quick-change mother disk; the upper end of the knife plate is in an arc shape, the lower end gradually narrows, and finally a long rod structure extends from the bottom, and the inner clamping block and the outer clamping block are installed on the right side surface of the upper end of the knife plate, the inner clamping block is an irregular trapezoidal structure as a whole, installed in the front, and the outer clamping block is a wedge-shaped structure, installed in the back; the unlocking plate is a rectangular fixed plate, which is connected to the right surface of the knife plate; the connecting sleeve is cylindrical and is installed on the rear surface of the unlocking plate, the third quick-change mother disk is installed on the rear surface of the connecting sleeve, and the unlocking key is fixed on the front surface of the unlocking plate and is coaxial with the connecting sleeve.

[0009] A further solution is that the aerial plug operation tool includes: a fourth quick-change mother disk, a first connecting block, a transition plate, a base plate, a main mounting plate, a swing arm, a guide groove, a first follower, a slide rail group, a shift claw, a clamping claw, a vertical hole, a second follower, a transverse hole, a third follower, an arc groove, a short groove, a trapezoidal hole, a short rail, a drive motor, a left shift lever, a large pin hole, and a right shift lever; the fourth quick-change mother disk is connected to the first connecting block in the front, and then connected to the upper surface of the base plate through the transition plate, and the overall structure is supported and fixed by the base plate and the main mounting plate; the main mounting plate is installed on the upper surface of the base plate, and the surface Irregular openings are provided, including: an arc groove with an arc mouth facing forward, a vertical hole in the front, a horizontal hole on the right, and a special-shaped hole provided to reduce weight; the slide rail group is fixed on the upper surface of the bottom plate and is provided in front of the main mounting plate in the left and right directions; the first follower is installed at the top rear end of the slide rail group 6-9, and a pusher claw is installed at the front end, and the pusher claw is a "J"-shaped structure; the swing arm is sickle-shaped, and a through guide groove is provided on the sickle handle, and the swing arm is provided on the upper surface of the main mounting plate; the first follower is provided in the guide groove and maintains a sliding connection, and at the same time, the first follower passes through the guide groove matched therewith, so that the lower The left lever is arranged in the arc groove and maintains a sliding connection; a clamping lever is arranged between the swing arm and the main mounting plate, and the clamping lever includes: a left lever, a large pin hole, and a right lever. The clamping lever is a rod-type structure, a cylindrical pin is arranged at the top of the left lever, a pin hole is arranged at the top of the right lever, and a large pin hole is arranged at the middle connection of the left lever and the right lever. The large pin hole is coaxial with the output end of the driving motor and the two can slide relative to each other; the left lever contacts the lower surface of the sickle handle part of the swing arm through the cylindrical pin, and a second follower and a third follower are respectively arranged on the right front of the main mounting plate, and the second follower The follower is connected to the pin hole at the top of the right lever and is arranged in the vertical hole, and the third follower is arranged in the horizontal hole; a trapezoidal hole is arranged on the left side of the base plate, and a short slot is arranged in front of the trapezoidal hole; the driving motor is tilted and fixed at the center position of the upper surface of the base plate, and the output end of the driving motor passes through the base plate, the main mounting plate and the large pin hole, and finally realizes the drive of the swing arm; a cylindrical protrusion is arranged in the middle of the clamping jaw, which can slide left and right in the short slot, and the rear end of the clamping jaw is installed in cooperation with the third follower; the third follower is then connected together with the second follower on the lower right at both ends of the short rail, and the three are placed tilted in the trapezoidal hole.

[0010] A further solution is that the screwing operation tool includes: a support block, a screw clamp, a second sleeve, a guide rail, a fixing ring, a spring 6, a guide rail terminal, a transmission flange, a fixing plate, a mounting sleeve, a second connecting block, and a fifth quick-change mother disc; the support block is an inverted V-shaped frame structure, with a sharp corner facing upward and a screw clamp provided at the top, the screw clamp is a hollow tubular structure, and two symmetrical protruding ends are provided on the left and right sides of the front, a guide rail is provided on each of the left and right sides of the lower part of the support block, the fixing ring is clamped at the rear position of the middle of the guide rail, and the two springs pass through the guide rails and are located at the rear of the fixing ring. After passing through the fixing plate, it is fixed by the guide rail terminal with an internal thread at the rear end; the fixing plate is annular and fixed in front of the mounting sleeve, and convex circular hole platforms are provided on the left and right sides below for the guide rail to pass through and fix; the mounting sleeve is a hollow cylindrical structure, in which the drive motor is placed, with the output end facing forward, and the output end is connected to the transmission flange, and the transmission flange then outputs the power to the second sleeve through the coupling in front, and the screw clamp is fixed on the front end head of the second sleeve; the rear surface of the mounting sleeve is connected to the front end of the second connecting block, and the fifth quick-change mother disc is installed on the rear surface of the second connecting block.

[0011] A further solution is that the box includes: an outer shell, an upper cover, and a tool holder; the outer shell is an L-shaped hollow structure with a low end in the front and a high end in the rear, which can support the entire mechanism. The left side of the upper surface of the rear high end of the outer shell is provided with a mounting hole for the robotic arm, and the right side is an upward opening, and inside the opening there are two tool holders placed in the front and one in the rear, and the T-shaped upper cover is fitted on the upper surface of the outer shell, and a mounting hole is provided in the middle of its upper surface to cooperate with the installation of the identification module.

[0012] A further solution is that the first sleeve and the second sleeve are designed as a dual-purpose sleeve clamping structure, and the sleeve clamping structure includes: a ground knife sleeve and a circuit breaker sleeve; the ground knife sleeve is in the shape of a hexagon with an inscribed circle diameter of 17 mm, and the grounding knife switch operation is performed, and then the circuit breaker sleeve is composed of two quadrilaterals with a side length of 14 mm that are symmetrical about the central axis at an angle of 30 degrees to the ground knife sleeve, so as to perform the circuit breaker rotation operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is the overall structural diagram of the operation and maintenance robot of the present invention; Figure 2 It is a structural schematic diagram of the grounding switch operating device of the present invention; Figure 3 This is a schematic diagram of the appearance structure of the knife switch opening and closing mechanism of the present invention; Figure 4 This is a schematic diagram of the internal structure of the knife switch opening and closing mechanism of the present invention; Figure 5 This is a schematic diagram of the planed surface structure of the knife gate opening and closing mechanism of the present invention; Figure 6It is a schematic diagram of the structure of the identification module of the present invention; Figure 7 It is a schematic structural diagram of the door lock operating tool of the present invention; Figure 8 This is a front structural diagram of the aerial insertion operation tool of the present invention; Figure 9 This is a schematic diagram of the structure of the lever of the aerial insertion operation tool of the present invention; Figure 10 This is a schematic diagram of the back structure of the aerial insertion operation tool of the present invention; Figure 11 It is a schematic structural diagram of the screwing operation tool of the present invention; Figure 12 This is an exploded schematic diagram of the box structure of the present invention; Figure 13 is a schematic cross-sectional view of the sleeve of the present invention; Figure 14 It is a schematic diagram of the cross-sectional profile of the sleeve of the present invention. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should be noted that the terms used here are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof. In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application. The directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself. In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0015] A distribution room operation and maintenance robot, such as Figure 1 As shown, it includes: an AGV chassis 1, an earthing knife switch operating device 2, an identification module 3, a robotic arm 4, a first quick-change male disk 4-1, a door lock operating tool 5, an aerial plug operating tool 6, a screwing operating tool 7, and a box 8; the AGV chassis 1 adopts a rectangular box structure, which is arranged on the ground plane, and the box 8 is fixedly installed on the upper surface. The box 8 is a single-step box structure, the front is the lower end of the step, and the rear is the upper end of the step. The identification module 3 is arranged on the upper surface of the lower end of the step of the box 8, and the robotic arm 4 is installed on the left side of the upper surface of the high end of the step. The door lock operating tool 5, the aerial plug operating tool 6, and the screwing operating tool 7 are installed on the right side of the inner side of the high end of the step, and the upper part of this position is in an open state. The earthing knife switch operating device 2 is arranged on the left side of the inner side of the front side of the box 8, and the front part of this position is in an open state; a first quick-change male disk 4-1 is installed on the operating end of the robotic arm 4.

[0016] The grounding switch operating device 2 is as follows Figure 2 As shown, it includes: a main support plate 2-1, a reduction motor 2-2, a knife gate opening and closing mechanism 2-3, a first sleeve 2-4, an auxiliary support plate 2-5, a horizontal drive module 2-6, a fixed plate 2-7, a linear guide rail 2-8, and a vertical drive module 2-9; the main support plate 2-1 and the front auxiliary support plate 2-5 are both L-shaped, and the two are fixedly connected by the L-shaped vertical surface, and horizontal through holes are provided on the vertical surface. The reduction motor 2-2 is installed on the vertical surface of the main support plate 2-1, and the output end of the reduction motor 2-2 is horizontally forward and passes through the main support plate 2-1 and the through holes on the vertical surfaces of the auxiliary support plate 2-5 are connected to the first sleeve 2-4 through a coupling drive; the knife gate opening and closing mechanism 2-3 is fixedly installed on the front upper surface of the auxiliary support plate 2-5 and surrounds the front end of the first sleeve 2-4; the lower bottom surface of the main support plate 2-1 is installed on the horizontal drive module 2-6; the fixed plate 2-7 is a horizontal beam structure arranged in the front and rear directions, the rear end is slidably connected to the vertical drive module 2-9, the front end is slidably connected to the vertically arranged linear guide rail 2-8, and the upper surface supports the horizontal drive module 2-6.

[0017] The knife gate opening and closing mechanism 2-3 is as follows Figure 3-Figure 5 As shown, it includes: a guide plate 201, a fixing plate 202, a slide groove 203, a cylindrical guide rail 204, a reinforcing rib 205, a short guide rail 206, a lower swing arm 207, an upper swing arm 208, a long guide rail 209, a cylindrical protrusion 210, a limiting slide groove 211, a spring 212, and a spring clamping groove 213; the structure of the guide plate 201 is a rectangular trough in the front-to-back direction, and the left and right side surfaces are parallel plates. The two parallel plates are provided with a left-to-right through slide groove 203 in the front-to-back direction, and the lower bottom surface is fixed to the front upper surface of the auxiliary support plate 2-5; the fixing plate 202 is a rectangular plate with an arc cutout on the top, which is installed on the rear end surface of the guide plate 201, and the lower bottom surface of the fixing plate 202 is in contact with the upper surface of the auxiliary support plate 2-5; the reinforcing rib 2 05. The lower swing arm 207 and the upper swing arm 208 form a toggle bracket, and the trigger end of the toggle bracket is horizontally forward and symmetrically arranged. The left and right viewing structure is a tilted A-shape, with a reinforcing rib 205 in the middle of the A-shape, the bent rod below is the lower swing arm 207, and the straight rod inclined upward is the upper swing arm 208. The toggle bracket is clamped on the outside of the two flat plates of the guide plate 201, and a short guide rail 206 is set at the front end of the lower swing arm 207 for connection, and a long guide rail 209 is set at the front end of the upper swing arm 208 for connection. A cylindrical guide rail 204 is set at the intersection of the A-shaped tips of the upper swing arm 208 and the lower swing arm 207 for connection. The cylindrical guide rail 204 is installed in the slide groove 203 and can slide back and forth in the slide groove 203.

[0018] A cylindrical protrusion 210 is provided at the intersection of the upper swing arm 208 and the reinforcing rib 205; a non-through limiting groove 211 is provided on the outer surface of the guide plate 201, and the structure of the limiting groove 211 is that it bends backward in the middle from top to bottom, and the lower part of the limiting groove 211 is tangentially connected to the inside of the groove 203, and the depth is half the thickness of the guide plate 201; the cylindrical protrusion 210 is embedded in the limiting groove 211 to maintain a sliding connection.

[0019] The spring slot 213 is in the shape of a circular tube, with left and right open slots penetrating the front, the opening direction facing forward, and the rear part fixedly mounted on the fixing plate 202. The spring 212 is arranged in the spring slot 213, and the spring 212 is clamped in the circular tube of the spring slot 213 by the cylindrical guide rail 204 placed horizontally at the front end.

[0020] The identification module 3 is as follows Figure 6 As shown, it includes: a fixture plate 3-1, a laser rangefinder 3-2, a fill light 3-3, a visual camera 3-4, a lower support plate 3-5, a second quick-change male disk 3-6, a first quick-change female disk 3-7, and a second quick-change female disk 3-8; the fixture plate 3-1 is a U-shaped box structure, and the lower support plate 3-5 is a double-layer support plate structure, the two are fixedly connected up and down, a second quick-change female disk 3-8 is installed on the top of the fixture plate 3-1, and a first quick-change female disk 3-7 is installed on the lower part of the lower support plate 3-5; two laser rangefinders 3-2 are respectively arranged on the left and right sides of the fixture plate 3-1, the visual camera 3-4 is fixed in the middle of the fixture plate 3-1, and multiple fill lights 3-3 are arranged around the visual camera 3-4; the lower part of the first quick-change female disk 3-7 is connected to a second quick-change male disk 3-6, and the recognition module 3 is fixed to the box body 8 as a whole through the second quick-change male disk 3-6.

[0021] The door lock operating tool 5 is as follows Figure 7 As shown, it includes: an outer card block 5-1, an inner card block 5-2, a knife-shaped plate 5-3, an unlocking key 5-4, an unlocking plate 5-5, a connecting sleeve 5-6, and a third quick-change mother disk 5-7; the upper end of the knife-shaped plate 5-3 is in an arc shape, the lower end gradually narrows, and finally a long rod structure extends from the bottom to facilitate hooking the cabinet door when closing the door. The inner card block 5-2 and the outer card block 5-1 are installed on the right surface of the upper end of the knife-shaped plate 5-3. The inner card block 5-2 is an irregular trapezoidal structure as a whole and is installed in the front. The outer card Block 5-1 is a wedge-shaped structure and is installed at the rear; the unlocking plate 5-5 is a rectangular fixed plate, which is connected to the right surface of the knife-shaped plate 5-3; the connecting sleeve 5-6 is cylindrical and is installed on the rear surface of the unlocking plate 5-5, and the third quick-change mother disk 5-7 is installed on the rear surface of the connecting sleeve 5-6. The shape of the unlocking key 5-4 is the same as the key of the manually operated cabinet door lock, which is fixed on the front surface of the unlocking plate 5-5 and coaxial with the connecting sleeve 5-6 to ensure the centration of the unlocking key 5-4.

[0022] The aerial insertion operation tool 6 is as follows Figures 8-10 As shown, it includes: a fourth quick-change mother plate 6-1, a first connecting block 6-2, a transition plate 6-3, a bottom plate 6-4, a main mounting plate 6-5, a swing arm 6-6, a guide groove 6-7, a first follower 6-8, a slide rail assembly 6-9, a shifter claw 6-10, a clamping claw 6-11, a vertical hole 6-12, a second follower 6-13, a horizontal hole 6-14, a third follower 6-15, an arc groove 6-16, a short groove 6-17, a trapezoidal hole 6-18, a short rail 6-19, a drive motor 6-20, and a left shift lever 601. , large pin hole 602, right lever 603; the fourth quick-change mother plate 6-1 is connected to the first connecting block 6-2 in the front, and then connected to the upper surface of the bottom plate 6-4 through the transition plate 6-3. The entire structure is supported and fixed by the bottom plate 6-4 and the main mounting plate 6-5; the main mounting plate 6-5 is mounted on the upper surface of the bottom plate 6-4, and irregular openings are set on the surface, including an arc groove 6-16 with an arc opening facing forward, the purpose of which is to limit the sliding direction and distance of the first follower 6-8, and also includes a front vertical hole 6-12 , the right horizontal hole 6-14 is used to limit the displacement of the second follower 6-13 and the third follower 6-15, and also includes a special-shaped hole set to reduce weight; the slide rail group 6-9 is fixed to the upper surface of the bottom plate 6-4 and is arranged in front of the main mounting plate 6-5 in the left and right directions. The first follower 6-8 is installed at the top of the rear part of the slide rail group 6-9, and a pusher claw 6-10 is installed at the front end. The pusher claw 6-10 is a "X"-shaped structure, which can realize the opening and closing of the switch on the aviation plug through mechanical cooperation; the swing arm 6-6 is Sickle-shaped, a through guide groove 6-7 is provided on the sickle handle, and the swing arm 6-6 is arranged on the upper surface of the main mounting plate 6-5; the first follower 6-8 is arranged in conjunction with the guide groove 6-7 and maintains a sliding connection. At the same time, the first follower 6-8 passes through the guide groove 6-7 matched with it, so that the lower part is arranged in the arc groove 6-16 and maintains a sliding connection. The movement of the swing arm 6-6 drives the first follower 6-8, and the first follower 6-8 drives the slide rail group 6-9, which can make the pusher claw 6-10 move up and down and left and right.

[0023] A clamping lever is provided between the swing arm 6-6 and the main mounting plate 6-5; Figure 9 As shown, the clamping lever is a rod-type structure, including: a left lever 601, a large pin hole 602, and a right lever 603. A cylindrical pin is set at the top of the left lever 601, and a pin hole is set at the top of the right lever 603. A large pin hole 602 is set at the middle connection between the left lever 601 and the right lever 603. The diameter of the large pin hole 602 is larger than the diameter of the output end of the drive motor 6-20. The large pin hole 602 is coaxial with the output end of the drive motor 6-20 and the two can slide relative to each other. Figure 8 and Figure 9As shown, the left lever 601 contacts the lower surface of the sickle handle part of the swing arm 6-6 through a cylindrical pin, and the second follower 6-13 and the third follower 6-15 are respectively arranged on the right front of the main mounting plate 6-5. The second follower 6-13 is connected to the pin hole at the top of the right lever 603 and is arranged in the vertical hole 6-12. The third follower 6-15 is arranged in the horizontal hole 6-14.

[0024] A trapezoidal hole 6-18 is provided on the left side of the base plate 6-4, and a short slot 6-17 is provided in front of the trapezoidal hole 6-18; the driving motor 6-20 is tilted and fixed at the center position of the upper surface of the base plate 6-4, and the output end of the driving motor 6-20 passes through the base plate 6-4, the main mounting plate 6-5 and the large pin hole 602, and finally realizes the driving of the swing arm 6-6; a cylindrical protrusion is provided in the middle of the clamping jaw 6-11, which can slide left and right in the short slot 6-17, and the rear end of the clamping jaw 6-11 is installed in cooperation with the third follower 6-15; the third follower 6-15 is then connected together with the second follower 6-13 on the lower right at both ends of the short rail 6-19, and the three are placed tilted in the trapezoidal hole 6-18.

[0025] The screwing operation tool 7 is as follows Figure 11 As shown, it includes: a support block 7-1, a screw clamp 7-2, a second sleeve 7-3, a guide rail 7-4, a fixing ring 7-5, a spring 7-6, a guide rail terminal 7-7, a transmission flange 7-8, a fixing plate 7-9, a mounting sleeve 7-10, a second connecting block 7-11, and a fifth quick-change mother disc 7-12; the support block 7-1 is an inverted V-shaped frame structure, with the sharp corner facing upward and a screw clamp 7-2 provided at the top, the screw clamp 7-2 is a hollow tubular structure, and two symmetrical protruding ends are provided on the left and right sides of the front, which can clamp the knob to complete the operation of turning the knob, a guide rail 7-4 is provided on the left and right sides of the lower part of the support block 7-1, and the fixing ring 7-5 is clamped at the middle and rear position of the guide rail 7-4, and two springs 7-6 pass through the guide rail 7-4 and are located at the fixing ring 7-5 respectively. At the rear of the guide rail 7-4, the rear part passes through the fixing plate 7-9 and is then fixed by the guide rail terminal 7-7 with an internal thread at the rear end; the fixing plate 7-9 is annular and is fixed in front of the mounting sleeve 7-10, and convex circular hole platforms are provided on the left and right sides below for the guide rail 7-4 to pass through and fix; the mounting sleeve 7-10 is a hollow cylindrical structure, in which the drive motor is placed, with the output end facing forward, and the output end is connected to the transmission flange 7-8, and the transmission flange 7-8 then outputs the power to the second sleeve 7-3 through the front coupling, and the screw clamp 7-2 is fixedly sleeved on the front end head of the second sleeve 7-3; the rear surface of the mounting sleeve 7-10 is connected to the front end of the second connecting block 7-11, and the fifth quick-change mother disc 7-12 is installed on the rear surface of the second connecting block 7-11.

[0026] The box 8 is as follows Figure 12As shown, it includes: a shell 8-1, an upper cover 8-2, and a tool bracket 8-3; the shell 8-1 is an L-shaped hollow structure, with the front being the low end and the rear being the high end, which can carry the entire mechanism. The left side of the upper surface of the rear high end of the shell 8-1 is provided with a mounting hole for the robot arm 4, and the right side is an upward opening, inside which there are two tool brackets 8-3 placed in the front and one in the rear, and the T-shaped upper cover 8-2 is fitted on the upper surface of the shell 8-1, and a mounting hole is provided in the middle of its upper surface to cooperate with the installation of the identification module 3.

[0027] The first sleeve 2-4 and the second sleeve 7-3 are designed as a dual-purpose sleeve clamping structure. Figure 13-14 As shown, it includes: a ground knife sleeve 9-1, a circuit breaker sleeve 9-2; Figure 13 As shown, the ground knife sleeve 9-1 is shaped like a hexagon with an inscribed circle diameter of 17 mm, which is used for grounding knife switch operation. Then, the circuit breaker sleeve 9-2 is formed by two quadrilaterals with a side length of 14 mm symmetrically arranged at an angle of 30 degrees with the ground knife sleeve 9-1, thereby performing circuit breaker rotation operation. Figure 14 As shown, the outlines of the ground cutter sleeve 9-1 and the circuit breaker sleeve 9-2 are marked with dotted lines; their outlines are simplified by design, the corresponding force points are retained to ensure the realization of the operation, and then the sleeves are rotated to fit into the corresponding operating holes to perform the corresponding operations.

[0028] Example 1, the overall working process of the robot: when the distribution room needs regular operation and maintenance operations, first control the AGV chassis 1 to drive the robot into the distribution room, and realize the movement of the entire robot by building a map and remote control, and finally navigate to the location of the high-voltage cabinet that needs maintenance; due to the differences in the models and sizes of the high-voltage cabinets in the distribution room, it is necessary to import different cabinet data in advance for learning, capture feature points, and judge the cabinet status. After entering the distribution room, the recognition module 3 is used to capture images, measure distances, and determine the model of the current high-voltage cabinet. The robot autonomously judges and uses different operation strategies; the robotic arm 4 can realize displacement compensation for different high-voltage cabinets to ensure the accuracy of operation. The first quick-change male disc 4-1 installed at the operating end of the robotic arm 4 can realize the clamping of tools. After clamping the tools, the corresponding operation method is used to complete the grounding knife switch opening and closing, aviation plug plugging and unplugging, cabinet door opening and closing, circuit breaker swinging in and out, and electrical switch opening and closing operations. The map construction, remote control, data learning, feature point capture, status judgment, image capture, distance measurement, autonomous judgment, displacement compensation, robotic arm control, and tool clamping technologies in the embodiments are all well-known technologies.

[0029] Example 2, high-voltage cabinet operation process: During the operation of the distribution room, the unlocking and opening of the high-voltage cabinet are related actions. In order to improve the operation efficiency and reduce the time required for tool replacement, this structure is designed based on the manual action process. Figure 7 and Figure 1 As shown, the unlocking key 5-4 is coaxial with the third quick-change mother disk 5-7 and the connecting sleeve 5-6. By using the mechanical arm 4 to attract the third quick-change mother disk 5-7 on the top of the door lock operating tool 5, the position to be operated is judged, so that the unlocking key 5-4 can be aligned with the lock hole at the operating position. After alignment, the tool is rotated clockwise or counterclockwise as a whole to complete the unlocking or locking operation; when the door opening operation is realized, the operating surface of the tool faces the cabinet, and the tool is tilted and moved to the left as a whole, so that the outer card block 5-1 touches the upper surface of the door handle, and the inner card block 5-1 touches the upper surface of the door handle. Block 5-2 touches the lower surface, and the tool continues to tilt, through the mutual squeezing of the block and the door handle, until the door handle reaches the open position. At this time, the tool is moved out in parallel, placed horizontally, and touches the inner surface of the cabinet door. The cabinet door is opened by pushing it outward. When closing the cabinet door, the upper rear end extension of the knife-shaped plate 5-3 is hooked to the outer side of the top of the cabinet door, and the two generate an interaction force to hook the cabinet door to the closed position. Then, using the outer block 5-1 and the inner block 5-2, the robot arm 4 reverses the door opening action to achieve the cabinet door closing operation. The outer block 5-1 and the inner block 5-2 are made of resin material to ensure strength and will not cause damage to the door handle. The suction operation and position judgment in the embodiment are all well-known technologies.

[0030] Example 3, aviation plug plugging and unplugging process: The aviation plug in the high-voltage cabinet of the power distribution room has a small operating space. The plugging and unplugging needs to be done by turning the switch on the aviation plug, and the left side of the plug needs to be wired out. Therefore, it is necessary to reduce the weight of the tool and extend the operating end. In the operation of the aviation plug operating tool 6, as shown in the following example: Figures 8-10As shown, first, the clamping claw 6-11 is brought into contact with the right side of the aviation plug, so that the inner left side of the claw 6-10 is in a position that can just touch the aviation plug switch, and the top of the plug switch is clamped in the middle of its X-shaped structure, and the swing arm 6-6 is driven by the driving motor 6-20 (torque setting 200kg / cm), and the swing arm 6-6 drives the first follower 6-8 to slide in the guide groove 6-7, and the bottom of the first follower 6-8 slides along the arc groove 6-16, and the first follower 6-8 drives the slide rail group 6-9 to move upward and rightward, so that the claw 6-10 hooks the plug switch and toggles the plug switch to the right (toggling to the right is on, toggling to the left is off). When the swing arm 6-6 rotates 180 degrees, it touches the second follower 6-13 and fits it into the head groove, driving it to move downward in the vertical hole 6-12. The second follower 6-13 drives the short rail 6-19 to move obliquely downward, and then the third follower 6-15 drives the clamping claw 6-11 to move to the left, and the circular protrusion on the clamping claw 6-11 slides in the short groove 6-17 to ensure the stability of its horizontal position. At this time, the claw 6-10 is squeezed with the plug switch, and the clamping claw 6-11 is squeezed with the right side of the aviation plug, and moves backward as a whole so that the aviation plug can be pulled out. Conversely, when inserting, the clamped aviation plug is touched with the base in advance, and the driving motor 6-20 rotates in the opposite direction, and the clamping claw 6-10 moves in the opposite direction to toggle the plug switch to the left. During the process of the driving motor 6-20 rotating 180 degrees in the opposite direction, the lower surface of the swing arm 6-6 touches the cylindrical pin of the left lever 601 to press it down. Through the downward movement of the left lever 601, the right lever 603 moves upward, and the second follower 6-13 in the pin hole of the right lever 603 is lifted upward, so that the clamping claw 6-11 and the right side of the aviation plug are no longer squeezed and return to the initial position, completing the placement action of the aviation plug. The follower in the embodiment is preferably a combination structure of a driving screw and two bearings, which is a well-known technology; the torque and stroke control of the driving electrical system are also well-known technologies.

[0031] Example 4, grounding knife switch opening and closing operation process: Since the operating position of the grounding knife switch of the high-voltage cabinet in the distribution room is relatively low, the operating position of the grounding knife switch of different cabinets is different, and the grounding knife switch needs to press down the lock piece of the operating port to operate when opening and closing the operation. At the same time, the operating space is relatively small. Therefore, the vertical drive module 2-9 (preferred model has a stroke of 400mm, a repeat positioning accuracy of ±0.01mm, and a lead of 6mm) is used to adjust the upper and lower positions, and drive the fixed plate 2-7 and the structure it carries along the linear guide rail 2-8 (preferred model has a length of 4 00mm, height 24mm, end distance 20mm) moves up and down, and after aligning to the operating position, the lock piece is pressed down first, and the horizontal drive module 2-6 (preferred model has a stroke of 160mm, a repeat positioning accuracy of ±0.01mm, and a lead of 2mm) is used for horizontal movement to make the knife gate opening and closing mechanism 2-3 reach the trigger position, so that the short guide rail 206 at the front end of the knife gate opening and closing mechanism 2-3 contacts the cabinet door below the operating position, thereby causing the toggle bracket to tilt downward as a whole, and the cylindrical protrusion 210 is in the limit slide groove on the guide plate 201. 211 slides from top to bottom, the lower swing arm 207 moves downward, and at the same time, the long guide rail 209 moves downward under the drive of the upper swing arm 208, and the long guide rail 209 touches the upper surface of the locking plate, thereby pressing the locking plate. After the locking plate reaches the working position, the horizontal drive module 2-6 continues to move forward, and the cylindrical protrusion 210 slides out of the limiting slide groove 211 and enters the slide groove 203. The toggle bracket is no longer restricted by the displacement in the front and rear directions, and the whole moves backward along the slide groove 203 through the cylindrical guide rail 204, ensuring that the first sleeve 2-4 can be extended for operation; the first sleeve 2 -4 The ground knife is opened and closed by rotating the reduction motor 2-2 in the forward and reverse directions; during the pressing process of the lock plate, the cylindrical guide rail 204 compresses the spring 212 (wire diameter 1.6mm) in the spring slot 213. The elastic force generated by the compression will ensure that the toggle bracket can be restored to its initial position after the operation is completed; on the contrary, during the end of the operation, the horizontal drive module 2-6 moves backward, and with the help of the elastic force, the cylindrical protrusion 210 moves forward in the slide groove 203 to the limit slide groove 211, and the knife switch opening and closing mechanism 2-3 returns to its initial position, and the overall operation is completed.

[0032] Example 5, the working process of the recognition module: Since the robot needs to perform cabinet operation and maintenance remotely and identify the key points of the cabinet to correct the posture of the robotic arm 4, the flexible movement of the recognition module 3 is required. Therefore, when the recognition module 3 is installed on the box 8, it can identify the cabinet and measure the cabinet distance in real time through the laser rangefinder 3-2 (preferably the model is LM-Q300T), and then capture the operation point image through the visual camera 3-4 (preferably the model is ME2C-503-23GM) in conjunction with the fill light 3-3 and the high-brightness LED array (preferably the color temperature is 5000K and the illumination is ≥1000lux). When the robotic arm 4 grabs the second quick-change mother disk 3-8 at the top, the second quick-change male disk 3-6 connected to the first quick-change mother disk 3-7 at the bottom is released, and the robotic arm 4 takes the recognition module 3 for corresponding identification to complete the correction of the overall posture of the robotic arm 4.

[0033] Example 6, circuit breaker operation process: The switch of the electrical switch on the top of the high-voltage cabinet in the distribution room and the screwing-in and screwing-out of the circuit breaker in the middle need to be optimized. The operations of the two are merged and combined into one tool. The knob of the electrical switch on the top of the high-voltage cabinet is clamped in the middle through the protruding structures set on both sides of the screw clamp 7-2. When it is rotated, the protrusion touches the switch to realize the rotary switch operation. When the circuit breaker is rotated, the support block 7-1 and the screw clamp 7-2 cannot pass through the circuit breaker operation hole. When the overall tool moves forward, the springs 7-6 combined in pairs are limited and compressed by the fixing ring 7-5, and the guide rail 7-4 drives the support block 7-1 and the screw clamp 7-2 to move backward, and the second sleeve 7-3 is extended to realize the screwing-in and screwing-out operation of the circuit breaker.

[0034] Example 7, Functional Expansion Optimization Process: Because the present invention needs to operate in different distribution rooms, a removable top cover is designed for installation to accommodate future replacements. To meet processing costs and ensure universal component design, a dual-purpose sleeve clamping structure was designed. Made of high-strength steel, this dual-purpose sleeve clamping structure can handle both grounding switch opening and closing and circuit breaker operation.

[0035] The robot arm control method, identification module, quick-change male disk, and quick-change female disk in the above embodiments are all well-known technologies.

[0036] Advantages: The modular design of the whole machine makes it easy to adapt to different distribution room scenarios and has a high degree of automation. At the same time, it has a complete range of operating tools, a high degree of integration, and can be flexibly and independently replaced. It can safely complete the operation and maintenance of the distribution room in a relatively short time, greatly improving work efficiency.

Claims

1. A power distribution room operation and maintenance robot, characterized in that: include: AGV chassis (1), grounding knife switch operating device (2), identification module (3), robotic arm (4), first quick-change male disc (4-1), door lock operating tool (5), aerial plug operating tool (6), screw operating tool (7), box (8); the AGV chassis (1) adopts a rectangular box structure, is set on the ground plane, and the box (8) is fixedly installed on the upper surface. The box (8) is a single-step box structure, the front part is the low end of the step, and the rear part is the high end of the step. The identification module (3) is set The mechanical arm (4) is installed on the upper surface of the lower end of the step of the box body (8), the mechanical arm (4) is installed on the left side of the upper surface of the upper end of the step, the door lock operating tool (5), the aviation plug operating tool (6), and the screw operating tool (7) are installed on the right side of the inner side of the upper end of the step, and the upper part of the position is open. The grounding knife switch operating device (2) is set on the left side of the inner side of the front side of the box body (8), and the front part of the position is open. A first quick-change male disc (4-1) is installed on the operating end of the mechanical arm (4).

2. A power distribution room operation and maintenance robot according to claim 1, characterized in that: The grounding knife switch operating device (2) comprises: a main support plate (2-1), a reduction motor (2-2), a knife switch opening and closing mechanism (2-3), a first sleeve (2-4), an auxiliary support plate (2-5), a horizontal drive module (2-6), a fixed plate (2-7), a linear guide rail (2-8), and a vertical drive module (2-9); the main support plate (2-1) and the front auxiliary support plate (2-5) are both L-shaped, and are fixedly connected by an L-shaped vertical surface, and horizontal through holes are provided on the vertical surface; the reduction motor (2-2) is installed on the vertical plane of the main support plate (2-1), and the output end of the reduction motor (2-2) is horizontally forward, and passes through the through holes on the vertical surfaces of the main support plate (2-1) and the auxiliary support plate (2-5), and is driven to connect to the first sleeve (2-4) through a coupling; the knife gate opening and closing mechanism (2-3) is fixedly mounted on the front upper surface of the auxiliary support plate (2-5) and surrounds the front end of the first sleeve (2-4); the lower bottom surface of the main support plate (2-1) is mounted on the horizontal drive module (2-6); the fixed plate (2-7) is a horizontal beam structure arranged in the front-back direction, the rear end of which is slidably connected to the vertical drive module (2-9), the front end of which is slidably connected to the vertically arranged linear guide rail (2-8), and the upper surface of which supports the horizontal drive module (2-6); The knife gate opening and closing mechanism (2-3) comprises: a guide plate (201), a fixing plate (202), a slide groove (203), a cylindrical guide rail (204), a reinforcing rib (205), a short guide rail (206), a lower swing arm (207), an upper swing arm (208), a long guide rail (209), a cylindrical protrusion (210), a limiting slide groove (211), a spring (212), and a spring clamping groove (213); the structure of the guide plate (201) is a rectangular groove in the front-to-back direction, and the left and right side surfaces are parallel plates. The two parallel plates are provided with a slide groove (203) that passes through the left and right sides in the front-to-back direction, and the lower bottom surface is fixed to the front upper surface of the auxiliary support plate (2-5); the fixing plate (202) is a rectangular plate with an arc cutout on the top, which is installed on the rear end surface of the guide plate (201), and the lower bottom surface of the fixing plate (202) and the upper surface of the auxiliary support plate (2-5) are connected. Surface contact; the reinforcing rib (205), the lower swing arm (207) and the upper swing arm (208) form a toggle bracket, the trigger end of the toggle bracket is horizontally forward and is arranged in a left-right symmetrical layout. The left-right view structure is a tilted A-shape, the middle of the A-shape is the reinforcing rib (205), the bent rod below is the lower swing arm (207), and the straight rod inclined upward is the upper swing arm (208). The toggle bracket is clamped on the outside of the two flat plates of the guide plate (201), a short guide rail (206) is provided at the front end of the lower swing arm (207) for connection, and a long guide rail (209) is provided at the front end of the upper swing arm (208) for connection. A cylindrical guide rail (204) is provided at the intersection of the A-shaped tips of the upper swing arm (208) and the lower swing arm (207) for connection. The cylindrical guide rail (204) is installed in the slide groove (203) and can slide back and forth in the slide groove (203); A cylindrical protrusion (210) is provided at the intersection of the upper swing arm (208) and the reinforcing rib (205); a non-through limiting chute (211) is provided on the outer surface of the guide plate (201); the limiting chute (211) is structured such that it bends backward in the middle from top to bottom, and the lower portion of the limiting chute (211) is tangentially connected to the inside of the chute (203), with a depth of half the thickness of the guide plate (201); the cylindrical protrusion (210) is embedded in the limiting chute (211) to maintain a sliding connection; The spring clamping groove (213) is in the shape of a circular tube, with left and right opening grooves extending through the front portion, the opening direction of which faces forward, and the rear portion being fixedly mounted on the fixing plate (202). The spring (212) is arranged in the spring clamping groove (213), and the spring (212) is clamped in the circular tube of the spring clamping groove (213) by a cylindrical guide rail (204) placed horizontally at the front end.

3. The power distribution room operation and maintenance robot according to claim 1, characterized in that: The identification module (3) comprises: a tool plate (3-1), a laser rangefinder (3-2), a fill light (3-3), a visual camera (3-4), a lower support plate (3-5), a second quick-change male disc (3-6), a first quick-change female disc (3-7), and a second quick-change female disc (3-8); the tool plate (3-1) is a square box structure, the lower support plate (3-5) is a double-layer support plate structure, and the two are fixedly connected up and down; a second quick-change female disc (3-8) is installed on the top of the tool plate (3-1), and the lower support plate (3-5) is a double-layer support plate structure. A first quick-change female disc (3-7) is installed at the lower part of the plate (3-5); two laser rangefinders (3-2) are respectively arranged on the left and right sides of the mounting plate (3-1); a visual camera (3-4) is fixed in the middle of the mounting plate (3-1); and a plurality of fill lights (3-3) are arranged around the visual camera (3-4); a second quick-change male disc (3-6) is connected to the lower part of the first quick-change female disc (3-7); and the identification module (3) is fixed to the box (8) as a whole through the second quick-change male disc (3-6).

4. The power distribution room operation and maintenance robot according to claim 1, characterized in that: The door lock operating tool (5) comprises: an outer card block (5-1), an inner card block (5-2), a knife-shaped plate (5-3), an unlocking key (5-4), an unlocking plate (5-5), a connecting sleeve (5-6), and a third quick-change mother disk (5-7); the upper end of the knife-shaped plate (5-3) is in an arc shape, the lower end gradually narrows, and finally a long rod structure extends downward, the inner card block (5-2) and the outer card block (5-1) are installed on the right surface of the upper end of the knife-shaped plate (5-3), and the inner card block (5-2) is irregular as a whole. The trapezoidal structure is installed in the front, the outer block (5-1) is a wedge-shaped structure and is installed in the rear; the unlocking plate (5-5) is a rectangular fixed plate and is connected to the right surface of the knife-shaped plate (5-3); the connecting sleeve (5-6) is cylindrical and is installed on the rear surface of the unlocking plate (5-5); the third quick-change mother disc (5-7) is installed on the rear surface of the connecting sleeve (5-6); the unlocking key (5-4) is fixed on the front surface of the unlocking plate (5-5) and is coaxial with the connecting sleeve (5-6).

5. The power distribution room operation and maintenance robot according to claim 1, characterized in that: The aerial insertion operation tool (6) comprises: a fourth quick-change mother disc (6-1), a first connecting block (6-2), a transition plate (6-3), a bottom plate (6-4), a main mounting plate (6-5), a swing arm (6-6), a guide groove (6-7), a first follower (6-8), a slide rail assembly (6-9), a pusher claw (6-10), a clamping claw (6-11), a vertical hole (6-12), a second follower (6-13), a horizontal hole (6-14), a third follower (6-15), a circular Arc groove (6-16), short groove (6-17), trapezoidal hole (6-18), short rail (6-19), drive motor (6-20), left shift lever (601), large pin hole (602), right shift lever (603); the fourth quick-change mother plate (6-1) is connected to the first front connection block (6-2), and then connected to the upper surface of the bottom plate (6-4) through the transition plate (6-3); the overall structure is supported and fixed by the bottom plate (6-4) and the main mounting plate (6-5); the main mounting plate The mounting plate (6-5) is mounted on the upper surface of the bottom plate (6-4), and irregular openings are arranged on the surface, including: an arc groove (6-16) with an arc opening facing forward, a vertical hole (6-12) at the front, a horizontal hole (6-14) at the right, and a special-shaped hole arranged to reduce weight; the slide rail assembly (6-9) is fixed on the upper surface of the bottom plate (6-4) and is arranged in front of the main mounting plate (6-5) along the left and right directions, the first follower (6-8) is mounted on the top rear portion of the slide rail assembly (6-9), and the front end is mounted A pusher claw (6-10) is provided, and the pusher claw (6-10) is in an "X"-shaped structure; a swing arm (6-6) is in a sickle shape, and a guide groove (6-7) is provided on the sickle handle; the swing arm (6-6) is arranged on the upper surface of the main mounting plate (6-5); a first follower (6-8) is arranged in the guide groove (6-7) and maintains a sliding connection, and the first follower (6-8) passes through the guide groove (6-7) that cooperates with it, so that the lower part is arranged in the arc groove (6-16) and maintains a sliding connection; A clamping lever is provided between the swing arm (6-6) and the main mounting plate (6-5), the clamping lever comprising: a left lever (601), a large pin hole (602), and a right lever (603). The clamping lever is a rod-type structure, a cylindrical pin is provided at the top of the left lever (601), a pin hole is provided at the top of the right lever (603), a large pin hole (602) is provided at the middle connection of the left lever (601) and the right lever (603), and the large pin hole (602) is connected to the drive motor (6-20). The output ends are coaxial and can slide relative to each other; the left lever (601) contacts the lower surface of the sickle handle portion of the swing arm (6-6) via a cylindrical pin; a second follower (6-13) and a third follower (6-15) are respectively provided on the right front side of the main mounting plate (6-5); the second follower (6-13) is connected to the pin hole at the top end of the right lever (603) and is cooperatively provided in the vertical hole (6-12); and the third follower (6-15) is provided in the horizontal hole (6-14); A trapezoidal hole (6-18) is provided on the left side of the base plate (6-4), and a short slot (6-17) is provided in front of the trapezoidal hole (6-18); a driving motor (6-20) is fixed obliquely at the center position of the upper surface of the base plate (6-4), and the output end of the driving motor (6-20) passes through the base plate (6-4), the main mounting plate (6-5) and the large pin hole (602), and finally drives the swing arm (6-6); a cylindrical protrusion is provided in the middle of the clamping jaw (6-11), which can slide left and right in the short slot (6-17), and the rear end of the clamping jaw (6-11) is installed in conjunction with the third follower (6-15); the third follower (6-15) is then connected together with the second follower (6-13) at the lower right end at the two ends of the short rail (6-19), and the three are placed obliquely in the trapezoidal hole (6-18).

6. The power distribution room operation and maintenance robot according to claim 1, characterized in that: The screwing operation tool (7) comprises: a support block (7-1), a screwing clamp (7-2), a second sleeve (7-3), a guide rail (7-4), a fixing ring (7-5), a spring (7-6), a guide rail terminal (7-7), a transmission flange (7-8), a fixing plate (7-9), a mounting sleeve (7-10), a second connecting block (7-11), and a fifth quick-change mother disk (7-12); the support block (7-1) is an inverted V-shaped frame structure, with a sharp corner facing upward and a screwing clamp (7-2) provided at the top; the screwing clamp (7-2) is a hollow tubular structure, with two symmetrical protruding ends provided on the left and right sides of the front; a guide rail (7-4) is provided on the left and right sides of the lower part of the support block (7-1); the fixing ring (7-5) is clamped at a rear position in the middle of the guide rail (7-4); and two springs (7-6) respectively pass through the guide rail (7-4) and are located at the fixing ring (7- 5), the rear of the guide rail (7-4) passes through the fixing plate (7-9) and is then fixed by the guide rail terminal (7-7) with an internal thread at the rear end; the fixing plate (7-9) is annular and fixed in front of the mounting sleeve (7-10), and convex circular hole platforms are provided on the left and right sides below for the guide rail (7-4) to pass through and fix; the mounting sleeve (7-10) is a hollow cylindrical structure, in which the drive motor is placed, with the output end facing forward, and the output end is connected to the transmission flange (7-8), and the transmission flange (7-8) then outputs power to the second sleeve (7-3) through the coupling at the front, and the screw clamp (7-2) is fixedly sleeved on the front end head of the second sleeve (7-3); the rear surface of the mounting sleeve (7-10) is connected to the front end of the second connecting block (7-11), and the fifth quick-change mother disc (7-12) is mounted on the rear surface of the second connecting block (7-11).

7. The power distribution room operation and maintenance robot according to claim 1, characterized in that: The box (8) comprises: a shell (8-1), an upper cover (8-2), and a tool holder (8-3); the shell (8-1) is an L-shaped hollow structure, with the front being a low end and the rear being a high end, capable of supporting the entire mechanism; a mounting hole for the robotic arm (4) is provided on the left side of the upper surface of the rear high end of the shell (8-1), and the right side is an upward opening, with two tool holders (8-3) placed in the front and one placed in the rear inside the opening; the T-shaped upper cover (8-2) is fitted on the upper surface of the shell (8-1), and a mounting hole is provided in the middle of the upper surface to facilitate the installation of the identification module (3).

8. A distribution room operation and maintenance robot according to claim 2 or claim (5), characterized in that: The first sleeve (2-4) and the second sleeve (7-3) are designed as a dual-purpose sleeve clamping structure, and the sleeve clamping structure includes: a ground knife sleeve (9-1) and a circuit breaker sleeve (9-2); the ground knife sleeve (9-1) is in the shape of a hexagon with an inscribed circle diameter of 17 mm, and performs grounding knife switch operation, and then forms a circuit breaker sleeve (9-2) by forming two quadrilaterals with sides of 14 mm symmetrically along the central axis at an angle of 30 degrees with the ground knife sleeve (9-1), thereby performing circuit breaker rotation operation.

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