Integrated mechanical arm execution device and robot

Abstract

The invention provides an integrated mechanical arm execution device and a robot, and relates to the technical field of mechanical arm devices.The integrated mechanical arm execution device comprises a mounting bracket and a plurality of execution elements; the mounting bracket is at least connected with an execution end of the mechanical arm; the mounting bracket comprises a plurality of mounting parts, and the orientations of the plurality of mounting parts are different; the multiple execution elements are arranged corresponding to the multiple installation parts, and the execution elements are installed on the corresponding installation parts so that the multiple execution elements can be integrated on the installation support. According to the integrated mechanical arm execution device and the robot, the mechanical arm can meet the operation and maintenance requirements in complex scenes, and the operation and maintenance work efficiency and safety performance of a transformer substation are improved.

Description

Technical Field

[0001] This application relates to the field of robotic arm devices, and in particular to an integrated robotic arm execution device and robot. Background Technology

[0002] As the core hub of the power system, the substation undertakes the key functions of voltage transformation, power distribution and power dispatch; while the operation and maintenance of the substation is the core work to ensure the efficient operation of the substation, which covers multiple dimensions such as equipment management, daily inspection, fault handling and safety control, and is the key to the safe and stable operation of the substation.

[0003] The existing substation operation and maintenance model mainly relies on robot inspection, where robots patrol and inspect various parts of the substation, and use the detection module at the end of the robot's robotic arm to detect any abnormalities during the substation's operation.

[0004] However, the robotic arm of the aforementioned robot has a limited function and is difficult to perform other tasks besides inspection in complex scenarios. It requires manual troubleshooting of abnormalities, which leads to low efficiency in substation operation and maintenance and is prone to safety accidents. Summary of the Invention

[0005] In view of this, this application provides an integrated robotic arm execution device and robot, which enables the robotic arm to meet the operation and maintenance needs in complex scenarios and improves the operation efficiency and safety performance of substation operation and maintenance.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] One embodiment of this application provides an integrated robotic arm execution device, including a mounting bracket and multiple execution elements;

[0008] The mounting bracket is used at least for connection to the actuator end of the robotic arm; the mounting bracket includes multiple mounting portions, and the multiple mounting portions are oriented differently;

[0009] The plurality of actuators are correspondingly disposed with the plurality of mounting portions, and the actuators are mounted on the corresponding mounting portions so that the plurality of actuators are integrated into the mounting bracket.

[0010] In one possible implementation, the mounting bracket is configured as a square mounting bracket;

[0011] The square mounting bracket includes a connecting part, which is connected to the execution end of the robotic arm via the connecting part, and the connecting part is connected to multiple mounting parts.

[0012] In one possible implementation, the square mounting bracket extends along a first direction;

[0013] The plurality of mounting portions include a first mounting portion and several second mounting portions; the first mounting portion and the connecting portion are disposed opposite to each other along the first direction, and the second mounting portions are located between the first mounting portion and the connecting portion.

[0014] In one possible implementation, the plurality of the actuating elements include a disk-shaped vision module disposed on the first mounting portion.

[0015] In one possible implementation, at least one of the actuating elements is detachably connected to the mounting portion.

[0016] In one possible implementation, the plurality of said actuating elements include a ground knife operation module;

[0017] The ground knife operation module includes a mounting base, a first drive mechanism, and a second drive mechanism; the mounting base is disposed on the mounting part, the first drive mechanism is disposed on the mounting base, the first drive mechanism is used to fix the door body, and the second drive mechanism is used to rotate the ground knife.

[0018] In one possible implementation, the first drive mechanism includes a drive push rod and a drive head;

[0019] The drive push rod is disposed on the mounting base, and the output end of the drive push rod is connected to the drive head. The drive push rod is used to fix the door body through the drive head.

[0020] In one possible implementation, the drive head is provided with a receiving groove opposite to the mounting bracket, the receiving groove being at least for accommodating the door body.

[0021] In one possible implementation, the second drive mechanism includes a drive motor and a rotating head;

[0022] The drive motor is mounted on the mounting base, and the output end of the drive motor is connected to the rotating head. The drive motor drives the ground blade to rotate through the rotating head.

[0023] Another aspect of this application provides a robot, including the integrated robotic arm actuator as described above.

[0024] An integrated robotic arm execution device provided in this application includes a mounting bracket and multiple execution elements. The mounting bracket includes multiple mounting parts with different orientations, and the multiple execution elements are arranged corresponding to the multiple mounting parts.

[0025] The mounting bracket is used to connect to the actuator of the robotic arm, which can drive the mounting bracket to rotate. Multiple actuators include maintenance operation modules such as a partial discharge detection module, a grounding knife operation module, a temperature detection module, a handcart operation module, and a vision module. Each maintenance operation module is installed in different positions on the mounting bracket via the mounting unit. Depending on the specific maintenance scenario, the appropriate maintenance operation module can be selected by rotating the mounting bracket to complete the maintenance operation.

[0026] Compared to robots in existing technologies, the integrated robotic arm execution device and robot provided in this application enable the robotic arm to meet the operation and maintenance needs in complex scenarios, thereby improving the operational efficiency and safety performance of substation operation and maintenance. Attached Figure Description

[0027] The specific implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only for illustration and explanation of the embodiments of this application, and the embodiments of this application are not limited to the specific implementation described below.

[0028] Figure 1 A front view of the integrated robotic arm actuator provided in the embodiments of this application;

[0029] Figure 2 This is an internal structural diagram of the integrated robotic arm actuator provided in an embodiment of this application;

[0030] Figure 3 for Figure 1 A schematic diagram of the explosion structure.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100 - Mounting bracket;

[0033] 110 - Connecting part;

[0034] 200-First Installation Department;

[0035] 300-Vision Module;

[0036] 400-Ground knife operation module;

[0037] 410 - Mounting base;

[0038] 420 - First drive mechanism;

[0039] 421 - Drive push rod; 422 - Drive head;

[0040] 430 - Second drive mechanism;

[0041] 431 - Drive motor; 432 - Rotating head.

[0042] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the embodiments of this application in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application and how the technical solutions of the embodiments of this application solve the above-mentioned technical problems will be clearly and completely described below with reference to specific embodiments and the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0045] In the description of the embodiments of this application, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0046] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0047] In this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0048] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0049] As the core hub of the power system, the substation undertakes the key functions of voltage transformation, power distribution and power dispatch; while the operation and maintenance of the substation is the core work to ensure the efficient operation of the substation, which covers multiple dimensions such as equipment management, daily inspection, fault handling and safety control, and is the key to the safe and stable operation of the substation.

[0050] The existing substation operation and maintenance model mainly relies on robot inspection, where robots patrol and inspect various parts of the substation, and use the detection module at the end of the robot's robotic arm to detect any abnormalities during the substation's operation.

[0051] However, the robotic arm of the aforementioned robot has a limited function and is difficult to perform other tasks besides inspection in complex scenarios. It requires manual troubleshooting of abnormalities, which leads to low efficiency in substation operation and maintenance and is prone to safety accidents.

[0052] Based on this, the present application provides an integrated robotic arm execution device, including a mounting bracket and multiple execution elements, wherein the mounting bracket includes multiple mounting parts with different orientations, and the multiple execution elements are correspondingly arranged with the multiple mounting parts.

[0053] The mounting bracket is used to connect to the actuator of the robotic arm, which can drive the mounting bracket to rotate. Multiple actuators include maintenance operation modules such as a partial discharge detection module, a grounding knife operation module, a temperature detection module, a handcart operation module, and a vision module. Each maintenance operation module is installed in different positions on the mounting bracket via the mounting unit. Depending on the specific maintenance scenario, the appropriate maintenance operation module can be selected by rotating the mounting bracket to complete the maintenance operation.

[0054] Compared to robots in existing technologies, the integrated robotic arm execution device and robot provided in this application enable the robotic arm to meet the operation and maintenance needs in complex scenarios, thereby improving the operational efficiency and safety performance of substation operation and maintenance.

[0055] The technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific examples. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0056] Reference Figures 1 to 3 As shown, this application provides an integrated robotic arm execution device, including a mounting bracket 100 and a plurality of execution elements; the mounting bracket 100 is at least used to connect to the execution end of the robotic arm; the mounting bracket 100 includes a plurality of mounting portions with different orientations; the plurality of execution elements are correspondingly arranged with the plurality of mounting portions, and the execution elements are mounted on the corresponding mounting portions so that the plurality of execution elements are integrated into the mounting bracket 100.

[0057] In the specific implementation, the number of actuators is set to five. The five actuators are respectively configured as a partial discharge detection module, a grounding knife operation module, a temperature detection module, a handcart operation module, and a vision module. The vision module is installed on the top of the mounting bracket 100, and the other modules are installed in the front, back, left, and right directions of the mounting bracket 100. Of course, the staff can reselect the number of actuators according to the specific operation and maintenance scenario. That is, the number of actuators can be set to four, six, or other numbers, which will not be elaborated here.

[0058] The mounting bracket 100 is used to connect to the actuator of the robotic arm, which can drive the mounting bracket 100 to rotate. Multiple actuators include maintenance operation modules such as a partial discharge detection module, a grounding knife operation module, a temperature detection module, a handcart operation module, and a vision module. Each maintenance operation module is installed in a different position on the mounting bracket 100 through the mounting part. According to the specific maintenance scenario, the appropriate maintenance operation module can be selected by rotating the mounting bracket 100 to complete the maintenance operation.

[0059] Compared to robots in existing technologies, the integrated robotic arm execution device and robot provided in this application enable the robotic arm to meet the operation and maintenance needs in complex scenarios, thereby improving the operational efficiency and safety performance of substation operation and maintenance.

[0060] Reference Figure 2 and Figure 3 As shown, in some embodiments, the mounting bracket 100 is configured as a square mounting bracket.

[0061] In practice, the mounting bracket 100 is made of aluminum. The shape of the mounting bracket 100 can be selected according to the number of actuators installed on the side wall of the mounting bracket 100. For example, a regular hexagonal prism mounting bracket is selected for six actuators, and so on. This will not be elaborated here.

[0062] The square mounting bracket includes a connecting part 110, which is connected to the execution end of the robotic arm. The connecting part 110 is also connected to multiple mounting parts.

[0063] Specifically, the connecting part 110 includes connecting bolts. The bottom of the square mounting bracket is connected to the flange of the robotic arm through the connecting bolts. The robotic arm can drive the square mounting bracket to rotate, so that according to the specific operation and maintenance scenario, the appropriate operation and maintenance module can be selected through the rotation of the square mounting bracket to complete the operation and maintenance operation.

[0064] Furthermore, refer to Figures 1 to 3 As shown, in some embodiments, the square mounting bracket extends along a first direction; the plurality of mounting portions include a first mounting portion 200 and a plurality of second mounting portions; the first mounting portion 200 and the connecting portion 110 are disposed opposite to each other along the first direction, and the second mounting portions are located between the first mounting portion 200 and the connecting portion 110.

[0065] Furthermore, in some embodiments, the plurality of actuating elements include a disc-shaped vision module 300 disposed on the first mounting portion 200.

[0066] In a specific implementation, the vision module 300 is configured as a lidar camera, which is mounted on the first mounting portion 200. The first mounting portion 200 and the connecting portion 110 are aligned along a first direction (refer to...). Figure 2 (As shown in the X direction) The camera is positioned relative to the top of the square mounting bracket; with the help of lidar depth information and high-resolution imaging, the camera can undertake the target recognition, precise positioning and real-time operation guidance tasks required by all operation and maintenance modules.

[0067] Meanwhile, the single vision module 300 avoids the redundancy of repeatedly configuring dedicated vision equipment for each maintenance module. This not only reduces the complexity and hardware cost of the integrated robotic arm actuator but also improves its overall reliability and maintainability. Of course, the vision module 300 can be either disc-shaped or square; details will not be elaborated here.

[0068] Reference Figure 2 and Figure 3 As shown, in some embodiments, at least one actuator is detachably connected to the mounting portion.

[0069] In practical implementation, at least one actuator is detachably connected to the mounting unit. When a single actuator fails, it is not necessary to replace the entire integrated robotic arm actuator; only the corresponding actuator needs to be replaced, thus reducing the maintenance cost of the integrated robotic arm actuator.

[0070] Specifically, at least one actuator is detachably connected to the mounting part by bolts. By setting bolts, not only is the assembly between the actuator and the mounting part convenient, but a reliable connection is also formed between the actuator and the mounting part.

[0071] Reference Figure 2 and Figure 3 As shown, in some embodiments, multiple actuators include a ground knife operation module 400; the ground knife operation module 400 includes a mounting base 410, a first drive mechanism 420, and a second drive mechanism 430; the mounting base 410 is disposed on the mounting part, the first drive mechanism 420 is disposed on the mounting base 410, the first drive mechanism 420 is used to fix the door body, and the second drive mechanism 430 is used to rotate the ground knife.

[0072] In a specific implementation, the first drive mechanism 420 can pull down the baffle at the switch cabinet ground switch, and the second drive mechanism 430, after pulling down the baffle, is connected to the ground switch and drives the ground switch to rotate until the ground switch and the ground switch gate come into contact and cooperate.

[0073] Reference Figure 2 and Figure 3 As shown, further, in some embodiments, the first drive mechanism 420 includes a drive push rod 421 and a drive head 422; the drive push rod 421 is disposed on the mounting base 410, the output end of the drive push rod 421 is connected to the drive head 422, and the drive push rod 421 is used to fix the door body through the drive head 422.

[0074] In its specific implementation, the drive push rod 421 consists of an elastic element, a guide rod, and a linear bearing mounted on the mounting base 410. The elastic element is configured as a spring. The spring is located inside the linear bearing and sleeved on the guide rod, which is inserted into the linear bearing. The guide rod can move relative to the linear bearing to extend or retract from the linear bearing. A drive head 422 is provided at the end of the guide rail, and the guide rail pulls down the baffle at the switch cabinet floor switch via the drive head 422. Of course, the spring can also be replaced by other types of elastic elements, which will not be elaborated here.

[0075] Reference Figure 2 and Figure 3 As shown, in some embodiments, the drive head 422 is provided with a receiving groove that is away from the mounting bracket 100, and the receiving groove is at least used to accommodate the door body.

[0076] In practical implementation, the receiving groove has a receiving space, and the baffle at the switch cabinet floor knife can be placed in the receiving space and abut against the inner wall of the receiving groove; the receiving groove can limit the baffle and improve the connection strength between the drive head 422 and the baffle.

[0077] Reference Figure 2 and Figure 3 As shown, in some embodiments, the second drive mechanism 430 includes a drive motor 431 and a rotating head 432; the drive motor 431 is disposed on the mounting base 410, and the output end of the drive motor 431 is connected to the rotating head 432. The drive motor 431 drives the ground blade to rotate through the rotating head 432.

[0078] In a specific implementation, the drive motor 431 is set as a geared motor, and the rotating head 432 is set as an internal hexagonal socket. After the baffle at the switch cabinet grounding switch is pulled down, the rotating head 432 can be fitted onto the bolt at the end of the grounding switch. While the drive motor 431 drives the rotating head 432 to rotate, it also drives the bolt and the grounding switch to rotate until the grounding switch and the grounding switch gate abut against each other. Of course, the rotating head 432 can be selected according to the type of bolt, for example, it can be selected as an internal octagonal socket, which will not be elaborated here.

[0079] Specifically, the grounding knife operation module also includes a motor drive board, which is detachably connected to the mounting bracket 100 and is used to control the switching and speed of the drive motor.

[0080] Reference Figure 1 and Figure 3 As shown, in some embodiments, the mounting bracket 100 and the multiple actuators are all enclosed in a housing, which can prevent moisture, dust and other impurities in the external environment from affecting the operation of the actuators.

[0081] In practice, the housing is divided into four parts, which are detachably connected to each other to facilitate the assembly of the housing.

[0082] Reference Figures 1 to 3 As shown, in some embodiments, the plurality of actuators further include a partial discharge detection module, which is disposed in one of the plurality of second mounting portions.

[0083] The partial discharge detection module includes a mounting cylinder, an ultraviolet light sensor, and a top cover. The ultraviolet light sensor is encapsulated inside the mounting cylinder by the top cover.

[0084] Ultraviolet light sensors are used to accurately detect partial discharge phenomena in transformers within substations, ensuring the safety and reliability of transformer operation.

[0085] Reference Figures 1 to 3As shown, in some embodiments, the multiple actuators also include a temperature detection module, which is also disposed in one of the several second mounting parts.

[0086] The temperature detection module includes an infrared sensor and a sensor bracket. The infrared sensor is inserted into the sensor bracket, and the sensor bracket is detachably connected to the mounting bracket 100.

[0087] Infrared sensors can measure the surface temperature of switchgear in a non-contact manner, and detect potential overheating hazards in a timely manner.

[0088] Reference Figures 1 to 3 As shown, in some embodiments, the multiple actuators also include a handcart operation module, which is also disposed in one of the several second mounting parts.

[0089] The hand-cranked trolley operation module includes a drive unit, a drive board, and an adapter. The drive unit is configured as a servo motor, which is a position (angle) servo drive that can achieve precise angle control. It is suitable for control systems that require continuous angle changes and maintenance, and can also convert rotary motion into linear motion, controlling the extension distance and position of the adapter. The adapter is installed on the drive end of the servo motor and is configured as an inner square sleeve. The drive board is used to control the servo motor's on / off state and speed.

[0090] The handcart operation module simplifies the operation process of the handcart and improves work efficiency.

[0091] This application also provides a robot, including an integrated robotic arm actuator.

[0092] The integrated robotic arm execution device in this application embodiment has the same structure as the integrated robotic arm execution device provided in any of the above embodiments, and can bring the same or similar technical effects. It will not be described in detail here, but can be referred to the description of the above embodiments.

[0093] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the embodiments of this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in the embodiments of this application can be achieved, and this document does not impose any restrictions.

[0094] The specific embodiments described above do not constitute a limitation on the scope of protection of the embodiments of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the principles of the embodiments of this application should be included within the scope of protection of the embodiments of this application.

Claims

1. An integrated robotic arm execution device, characterized in that, Includes a mounting bracket (100) and multiple actuators; The mounting bracket (100) is at least used for connection to the actuator end of the robotic arm; the mounting bracket (100) includes a plurality of mounting portions, the plurality of mounting portions having different orientations; The plurality of said actuators are correspondingly provided with the plurality of said mounting portions, and the actuators are mounted on the corresponding mounting portions so that the plurality of said actuators are integrated into the mounting bracket (100).

2. The integrated robotic arm execution device according to claim 1, characterized in that, The mounting bracket (100) is configured as a square mounting bracket; The square mounting bracket includes a connecting part (110), which is connected to the execution end of the robotic arm through the connecting part (110), and the connecting part (110) is connected to a plurality of mounting parts.

3. The integrated robotic arm execution device according to claim 2, characterized in that, The square mounting bracket extends along the first direction; The plurality of mounting portions include a first mounting portion (200) and a plurality of second mounting portions; the first mounting portion (200) and the connecting portion (110) are disposed opposite to each other along the first direction, and the second mounting portions are located between the first mounting portion (200) and the connecting portion (110).

4. The integrated robotic arm execution device according to claim 3, characterized in that, The plurality of said actuating elements include a disc-shaped vision module (300) disposed on the first mounting portion (200).

5. The integrated robotic arm execution device according to claim 1, characterized in that, At least one of the actuators is detachably connected to the mounting portion.

6. The integrated robotic arm actuator according to any one of claims 1-5, characterized in that, The plurality of said actuators include a ground knife operation module (400); The ground knife operation module (400) includes a mounting base (410), a first drive mechanism (420), and a second drive mechanism (430); the mounting base (410) is disposed on the mounting part, the first drive mechanism (420) is disposed on the mounting base (410), the first drive mechanism (420) is used to fix the door body, and the second drive mechanism (430) is used to rotate the ground knife.

7. The integrated robotic arm execution device according to claim 6, characterized in that, The first drive mechanism (420) includes a drive push rod (421) and a drive head (422). The drive push rod (421) is disposed on the mounting base (410), and the output end of the drive push rod (421) is connected to the drive head (422). The drive push rod (421) is used to fix the door body through the drive head (422).

8. The integrated robotic arm execution device according to claim 7, characterized in that, The drive head (422) is provided with a receiving groove, which is opposite to the mounting bracket (100), and the receiving groove is at least used to accommodate the door body.

9. The integrated robotic arm execution device according to claim 6, characterized in that, The second drive mechanism (430) includes a drive motor (431) and a rotating head (432). The drive motor (431) is mounted on the mounting base (410). The output end of the drive motor (431) is connected to the rotating head (432). The drive motor (431) drives the ground blade to rotate through the rotating head (432).

10. A robot, characterized in that, Includes the integrated robotic arm actuator as described in any one of claims 1-9.

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