Drainage wire disassembling and assembling robot tool library

Abstract

The invention discloses the technical field of robots, and particularly relates to a drainage wire disassembling and assembling robot tool magazine which comprises a bearing mechanism and a lifting mechanism, the bearing mechanism comprises a containing box, connecting legs and a carrier assembly, an electric appliance control assembly is arranged in the containing box, the bottom end of the containing box is connected with the connecting legs, and the end of the containing box is connected with the carrier assembly; the disassembling and assembling mechanism is arranged on the carrier assembly and comprises an operation assembly, a limiting assembly and a disassembling and assembling tool, the operation assembly is arranged at the end of the carrier assembly, and a magnetic suction cup is arranged at the end of a carrier plate, so that a clamping plate can be easily and conveniently adsorbed to the end of the carrier plate; the clamping plate and the carrier plate are prevented from generating friction due to displacement when the device is bumped or vibrated in the moving process, damage to the clamping plate and the carrier plate is avoided, the service life of the clamping plate and the carrier plate is shortened, and meanwhile the clamping plate can be prevented from falling off from the carrier plate.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a toolkit for assembling and disassembling drainage lines using robots. Background Technology

[0002] With the rapid development of modern industry and the improvement of people's living standards, power users are also constantly increasing their requirements for power supply reliability. In order to reduce power outage time or even ensure uninterrupted power supply, power grid companies are strengthening the implementation and promotion of operations at different points in substations. With the emergence of live-line working robots, the substation installation and dismantling of lead wire robot toolkit has become an indispensable device.

[0003] Currently, the tool library of the substation's installation and dismantling diversion line robot is prone to falling off its storage location due to bumps and vibrations during movement. Workers need to pick up the tools and put them back into the tool library. In addition, during the process of the tools falling off the storage location, there is a risk of collision or injury to the workers. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problem that existing tool libraries are prone to falling off their storage locations due to bumps and vibrations during movement, this invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a tool library for a robot to assemble and disassemble drainage lines.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a carrying mechanism, including a receiving box, a connecting leg, and a carrier assembly, wherein an electrical control component is disposed inside the receiving box, the bottom end of the receiving box is connected to the connecting leg, and the end end of the receiving box is connected to the carrier assembly; a disassembly / assembly mechanism, disposed on the carrier assembly, including an operating component, a limiting component, and a disassembly / assembly tool, wherein the operating component is disposed at the end of the carrier assembly and is connected to the electrical control component via a wire, and the limiting component is disposed on the carrier assembly and is used to limit the position of the disassembly / assembly tool on the carrier assembly.

[0008] As a preferred embodiment of the robot tool library for disassembling and assembling drainage lines described in this invention, the carrier assembly includes a carrier plate and an arc-shaped groove disposed on the carrier plate, and the carrier plate is provided with a connection hole.

[0009] As a preferred embodiment of the robot tool library for disassembling and assembling drainage lines described in this invention, the operating component includes a robotic arm and a male flange. The male flange is connected to the robotic arm via a connector. One end of the wire is connected to the electrical control component, and the other end of the wire passes through the connection hole and is connected to the robotic arm.

[0010] As a preferred embodiment of the robot tool library for disassembling and assembling drainage lines described in this invention, a connecting shaft is fixedly connected to the bottom end of the male flange, and a locking shaft is fixedly connected to the end of the connecting shaft away from the male flange, wherein the cross-sectional diameter of the connecting shaft is smaller than the cross-sectional diameter of the locking shaft.

[0011] As a preferred embodiment of the robot tool library for disassembling and assembling drainage lines described in this invention, the limiting component includes a limiting post, a convex post, and a magnetic chuck. The limiting post is disposed on both sides of the arc-shaped groove, the magnetic chuck is disposed on both sides of the limiting post, the convex post is disposed on the side of the arc-shaped groove, and the distance between the convex post and the limiting post on both sides of the arc-shaped groove is equal.

[0012] As a preferred embodiment of the robot tool library for disassembling and assembling drainage lines described in this invention, wherein: a locking plate is fixedly connected to the end of the disassembly and assembly tool, a female flange is connected to the end of the locking plate, first limiting holes are opened on both sides of the locking plate, and a second limiting hole is also opened on the side wall of the locking plate, the distance between the second limiting hole and the first limiting holes on both sides is equal, the first limiting hole is adapted to the limiting post, the second limiting hole is adapted to the convex post, and the locking plate is made of metal.

[0013] As a preferred embodiment of the robot tool library for disassembling and assembling drainage lines described in this invention, the female flange end is provided with a first rotating hole, the female flange interior is provided with a second rotating hole, and the first rotating hole and the second rotating hole are connected.

[0014] In a preferred embodiment of the robot tool library for disassembling and assembling drainage lines described in this invention, the first rotating hole includes an insertion section and a moving section, wherein the width of the insertion section is greater than the width of the moving section; the second rotating hole is located directly below the first rotating hole, and the width of the second rotating hole is the same as the width of the insertion section of the first rotating hole; the connecting shaft is adapted to the moving section of the first rotating hole, the engaging shaft is adapted to the insertion section of the first rotating hole, and the engaging shaft is adapted to the second rotating hole.

[0015] As a preferred embodiment of the robot tool library for disassembling and assembling drainage lines described in this invention, it further includes a moving mechanism connected to the connecting leg. The moving mechanism includes a lifting component and a moving component. The lifting component is used to control the height of the overall device, and the moving component is used to move the overall device.

[0016] As a preferred embodiment of the robot tool library for disassembling and assembling drainage lines described in this invention, the lifting assembly includes a lifting platform and an electro-hydraulic rod, the electro-hydraulic rod being disposed within the lifting platform; the moving assembly includes a connecting platform and casters, the lifting platform being connected to the end of the connecting platform, and the casters being connected to the bottom end of the connecting platform.

[0017] The beneficial effects of the present invention are as follows: Compared with the existing disassembly and assembly of the guide line robot storage space, the present invention is smaller in size, easier to move and transport, and allows each tool to be placed in the tool storage space at will.

[0018] First, this invention incorporates a magnetic chuck on the carrier plate, which magnetically attracts the locking plate. This effectively solves the problem of tool displacement due to bumps during movement, while also preventing friction between the locking plate and the carrier plate, thus extending their service life. The magnetic chuck acts as the first limiting element, providing initial fixation for the tool. However, considering that the magnetic attraction may weaken due to environmental factors, this invention further incorporates a second limiting element composed of a limiting post and a convex post. Even if the magnetic chuck's attraction decreases, the second limiting element can continue to function, maintaining the tool's stability and significantly reducing the probability of the tool falling off.

[0019] The convex post at the end of the carrier plate also serves to position the female flange. At the same time, the limiting post and the convex post at the end of the carrier plate form a second limiting component, which not only fixes the locking plate to the end of the carrier plate to form a second protection mechanism, but also facilitates the connection and separation of the male flange and the female flange. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0021] Figure 1 This is a schematic diagram of the overall structure of the robot tool library for disassembling and assembling drainage lines according to the present invention.

[0022] Figure 2 This is a partial structural diagram of the robot tool library for disassembling and assembling drainage lines according to the present invention.

[0023] Figure 3 This is a schematic diagram of the male flange structure of the robot tool library for disassembling and assembling drainage lines according to the present invention.

[0024] Figure 4 This is a schematic diagram of the support mechanism of the robot tool library for disassembling and assembling drainage lines according to the present invention.

[0025] Figure 5 This is a top view of the mother flange of the robot tool library for disassembling and assembling the drainage line according to the present invention.

[0026] Figure 6 This is a schematic diagram of the mother flange segmentation of the robot tool library for disassembling and assembling the drainage line according to the present invention.

[0027] Figure 7 This is a schematic diagram of the carrier plate structure of the robot tool library for disassembling and assembling the drainage line according to the present invention.

[0028] Figure 8 This is an enlarged view of the limiting component of the robot tool library for disassembling and assembling drainage lines according to the present invention.

[0029] Figure 9 This is a schematic diagram of the moving mechanism of the robot tool library for disassembling and assembling drainage lines according to the present invention.

[0030] In the diagram: 100, bearing mechanism; 101, receiving box; 102, connecting leg; 103, carrier assembly; 103a, carrier plate; 103b, arc groove; 103c, connecting hole; 200, disassembly / assembly mechanism; 201, operating assembly; 201a, robotic arm; 201b, male flange; 201b-1, connecting shaft; 201b-2, engaging shaft; 202, limiting assembly; 202a, limiting post; 202b, convex post; 202c, magnetic chuck; 202d, abutment. 203. Contact ball; 203. Disassembly and assembly tool; 203a. Clamping plate; 203a-1. First limiting hole; 203a-2. Second limiting hole; 203b. Female flange; 203c. First rotating hole; 203c-1. Insertion section; 203c-2. Moving section; 203d. Second rotating hole; 300. Moving mechanism; 301. Lifting assembly; 301a. Lifting platform; 301b. Electro-hydraulic rod; 302. Moving assembly; 302a. Connecting platform; 302b. Casters. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0034] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0035] Example 1

[0036] Reference Figures 1 to 2 This first embodiment of the invention provides a tool library for a robot to disassemble and assemble a drain line, including a support mechanism 100, comprising a housing 101, a connecting leg 102, and a carrier assembly 103. An electrical control component is disposed within the housing 101. The bottom of the housing 101 is connected to the connecting leg 102, and the end of the housing 101 is connected to the carrier assembly 103. A disassembly and assembly mechanism 200 is disposed on the carrier assembly 103, comprising an operating component 201, a limiting component 202, and a disassembly and assembly tool 203. The operating component 201 is disposed at the end of the carrier assembly 103 and is connected to the electrical control component via a wire. The limiting component 202 is disposed on the carrier assembly 103 and is used to limit the position of the disassembly and assembly tool 203 on the carrier assembly 103.

[0037] It should be noted that the workers use a mobile lifting platform to lift the carrier assembly 103 to a suitable working position, and then operate the disassembly and assembly mechanism 200 to engage the corresponding tools in the carrier assembly 103 to carry out live-line work. Each operation corresponds to a tool. The workers can engage different disassembly and assembly tools 203 in the tool library according to different working conditions to achieve the effect and purpose of live-line work. At the same time, different disassembly and assembly tools 203 can be changed according to different working scenarios. The placement of the disassembly and assembly tools 203 in the carrier assembly 103 can be changed as needed.

[0038] Specifically, the vehicle assembly 103 includes a vehicle plate 103a and an arc-shaped groove 103b disposed on the vehicle plate 103a, and a connection hole 103c is provided on the vehicle plate 103a.

[0039] It should be noted that the carrier assembly 103 is the storage location for the disassembly and assembly tools 203 of the operating assembly 201. The carrier assembly 103 is integrally connected to the operating assembly 201's flat plate. During manufacturing, the carrier assembly 103 must maintain good electrical conductivity with the connecting leg 102 and the receiving box 101. The resistance of the entire device must not exceed 4 ohms, and the carrier assembly 103 must not undergo significant deformation; the deformation must be less than 0.5 mm to facilitate the normal tool loading and unloading requirements of the operating assembly 201. During the manufacturing process of the carrier assembly 103, all storage locations must be on the same plane without deviation. Furthermore, after the entire carrier assembly 103 is manufactured, its end faces are not subjected to special oxidation treatment to ensure conductivity.

[0040] Example 2

[0041] Reference Figures 2 to 8 The difference between this embodiment and the first embodiment is that the operating component 201 includes a robotic arm 201a and a male flange 201b. The male flange 201b is connected to the robotic arm 201a through a connector. One end of the wire is connected to the electrical control component, and the other end of the wire passes through the connection hole 103c and is connected to the robotic arm 201a.

[0042] Specifically, a connecting shaft 201b-1 is fixedly connected to the bottom end of the male flange 201b, and a locking shaft 201b-2 is fixedly connected to the end of the connecting shaft 201b-1 away from the male flange 201b. The cross-sectional diameter of the connecting shaft 201b-1 is smaller than the cross-sectional diameter of the locking shaft 201b-2.

[0043] The limiting component 202 includes limiting posts 202a, convex posts 202b, and magnetic chucks 202c. The limiting posts 202a are located on both sides of the arc-shaped groove 103b, the magnetic chucks 202c are located on both sides of the limiting posts 202a, and the convex posts 202b are located on the side of the arc-shaped groove 103b. The distance between the convex posts 202b and the limiting posts 202a on both sides of the arc-shaped groove 103b is equal. It is worth noting that the magnetic chucks 202c are used to easily and conveniently attach the locking plate 203a to the end of the carrier plate 103a, preventing displacement and friction between the locking plate 203a and the carrier plate 103a when the device is subjected to bumps or vibrations during movement. 103a causes damage and reduces its service life, while preventing the locking plate 203a from falling off the carrier plate 103a. It should also be noted that both the limiting post 202a and the convex post 202b are provided with abutment balls 202d. The function of abutment balls 202d is to increase the squeezing force and friction. When the disassembly tool 203 is vertically inserted into the limiting post 202a and the convex post 202b from top to bottom, the abutment balls 202d can increase the squeezing force and friction between the disassembly tool 203 and the limiting post 202a and the convex post 202b, so that when the magnetic chuck 202c loses its magnetic attraction, the disassembly tool 203 will not fall off the arc groove 103b of the carrier plate 103a due to the bumps and shaking during the movement.

[0044] Furthermore, a locking plate 203a is fixedly connected to the end of the disassembly tool 203, and a female flange 203b is connected to the end of the locking plate 203a. First limiting holes 203a-1 are provided on both sides of the locking plate 203a, and second limiting holes 203a-2 are also provided on the side wall of the locking plate 203a. The distance between the second limiting hole 203a-2 and the first limiting holes 203a-1 on both sides is equal. The first limiting hole 203a-1 is adapted to the limiting post 202a, and the second limiting hole 203a-2 is adapted to the convex post 202b. The locking plate 203a is made of metal. Notably, grooves are provided on the side walls of the first limiting holes 203a-1 and the second limiting holes 203a-2 of the locking plate 203a. These grooves cooperate with the abutment balls 202d on the limiting post 202a and the convex post 202b, so that when the locking plate... When 203a is vertically inserted from top to bottom onto the limiting post 202a and the convex post 202b, the contact ball 202d can be inserted into the groove on the side wall of the first limiting hole 203a-1 and the second limiting hole 203a-2, thereby increasing the squeezing force and friction between the locking plate 203a and the limiting post 202a and the convex post 202b. It should also be noted that the locking plate 203a is made of metal, such as stainless steel or iron, which is beneficial for fixing the position of the locking plate 203a by the magnetic suction cup 202c when the locking plate 203a is placed at the end of the carrier plate 103a. This limits and fixes the position of the disassembly tool 203, so that when the whole device encounters bumps or vibrations, the disassembly tool 203 will not fall off the end of the carrier plate 103a, reducing the problem of the disassembly tool 203 falling off during the movement of the whole device.

[0045] It should be noted that the magnetic chuck 202c is the first limiting member on the carrier plate 103a. When the locking plate 203a is placed at the end of the magnetic chuck 202c, the magnetic chuck 202c fixes the position of the locking plate 203a to the end of the carrier plate 103a through its magnetic force. When the magnetic chuck 202c loses its magnetic force due to working environment, outdoor environment, or working time, the limiting post 202a and the convex post 202b combine to form the second limiting member. Its function is to fix the locking plate 203a to the end of the carrier plate 103a through the second limiting member when the magnetic force of the magnetic chuck 202c weakens or disappears, ensuring that the disassembly tool 203 will not fall off during the movement of the entire device. It should be noted that when only When the limiting post 202a is used to limit the two ends of the locking plate 203a, the whole device encounters large-scale bumps and vibrations during movement. The probability of the first limiting hole 203a-1 on the locking plate 203a disengaging from the limiting post 202a is very high. When a convex post 202b is added between the two sets of limiting posts 202a to fix the locking plate 203a, a stable triangular structure is formed, which reduces the risk of the locking plate 203a disengaging from the end of the carrier plate 103a. At the same time, abutment balls 202d are added to the side walls of the limiting post 202a and the convex post 202b to engage with the grooves on the side walls of the locking plate 203a, further reducing the risk of the locking plate 203a disengaging from the end of the carrier plate 103a.

[0046] It should also be noted that the convex post 202b at the end of the carrier plate 103a, while forming a second limiting element with the limiting post 202a, also serves to help position the female flange 203b, facilitating the engagement and disengagement of the male flange 201b and the female flange 203b. If the convex post 202b is not provided between the two sets of limiting posts 202a, the male flange 201b may not be able to perfectly align with the insertion section 203c-1 of the first limiting hole 203a-1 at the end of the female flange 203b each time it contacts the female flange 203b. In this case, it may... It is necessary to confirm whether the holes of the male flange 201b and the female flange 203b are aligned by setting position sensors, etc. When a convex post 202b is set between the two sets of limiting posts 202a and a second limiting hole 203a-2 is set on the female flange 203b, the female flange 203b is fixed at the end of the carrier plate 103a each time. At this time, the male flange 201b can be accurately aligned with the female flange 203b without the aid of external force, which is beneficial for the robotic arm 201a to easily take out or place the disassembly and assembly tool 203.

[0047] A second limiting element, consisting of a limiting post 202a and a convex post 202b, is provided at the end of the carrier plate 103a to fix the engaging plate 203a to the end of the carrier plate 103a, forming a second layer of protection. This also facilitates the engagement and disengagement of the male flange 201b and the female flange 203b. When the male flange 201b needs to engage with the female flange 203b, firstly, the male flange 201b needs to simultaneously insert the engaging shaft 201b-2 and the connecting shaft 201b-1 into the first rotating hole 203c and the second rotating hole 203d. Then, the male flange 201b is rotated 30° clockwise along the end face of the female flange 203b, so that the male flange 201b and the female flange 203b are engaged. The connection is made, and then the disassembly tool 203 is taken out from the arc groove 103b of the carrier plate 103a by the robotic arm 201a. When the male flange 201b needs to be separated from the female flange 203b, the female flange 203b is placed on the carrier plate 103a, and then rotated counterclockwise by 30° to separate the male flange 201b from the female flange 203b. During the process of joining or separating the male flange 201b and the female flange 203b, the limiting post 202a and the convex post 202b are needed to fix the position of the female flange 203b so that the male flange 201b can rotate smoothly, thereby achieving the purpose of joining or separating the male flange 201b and the female flange 203b.

[0048] Furthermore, the female flange 203b has a first rotating hole 203c at its end and a second rotating hole 203d inside it. The first rotating hole 203c and the second rotating hole 203d are connected. The first rotating hole 203c includes an insertion section 203c-1 and a moving section 203c-2. The width of the insertion section 203c-1 is greater than the width of the moving section 203c-2. The second rotating hole 203d is located directly below the first rotating hole 203c. The width of the second rotating hole 203d is the same as the width of the insertion section 203c-1 of the first rotating hole 203c. The connecting shaft 201b-1 is adapted to the moving section 203c-2 of the first rotating hole 203c, the engaging shaft 201b-2 is adapted to the insertion section 203c-1 of the first rotating hole 203c, and the engaging shaft 201b-2 is adapted to the second rotating hole 203d.

[0049] It is worth noting that the mother flange 203b can be divided into two parts by taking the end of the second rotating hole 203d inside the mother flange 203b as the boundary. The two parts of the mother flange 203b can be reconnected by bolts or welding. The purpose of this setting is to reduce the production precision and difficulty of the mother flange 203b. At the same time, the mother flange 203b can be made into a single piece, with the second rotating hole 203d inside it connected to the first rotating hole 203c.

[0050] The rest of the structure is the same as in Example 1.

[0051] Example 3

[0052] Reference Figures 1 to 9 This embodiment differs from the above embodiments in that it also includes a moving mechanism 300, which is connected to the connecting leg 102. The moving mechanism 300 includes a lifting component 301 and a moving component 302. The lifting component 301 is used to control the height of the overall device, and the moving component 302 is used to move the overall device.

[0053] Specifically, the lifting assembly 301 includes a lifting platform 301a and an electro-hydraulic rod 301b, with the electro-hydraulic rod 301b housed within the lifting platform 301a. The moving assembly 302 includes a connecting platform 302a and casters 302b. The lifting platform 301a is connected to the end of the connecting platform 302a, and the casters 302b are connected to the bottom of the connecting platform 302a. Notably, through the coordinated operation of the lifting assembly 301 and the moving assembly 302, the robot tool library for disassembling and assembling power lines possesses excellent flexibility and adaptability. Whether performing tasks in different areas of the substation or needing to adjust the working height to adapt to a specific working environment, this moving mechanism 300 ensures that the robot tool library completes its tasks smoothly and efficiently, providing strong support for the maintenance and repair of power facilities.

[0054] The rest of the structure is the same as in Example 2.

[0055] Operation process: When it is necessary to disassemble or assemble the substation's lead wires, first move this device to the required working position via the moving component 302, and then move the lifting platform 301a to the required working position via the electric hydraulic rod 301b. At this time, the operator can control the rotation of the robotic arm 201a through the operating system.

[0056] The robotic arm 201a is moved under the control of the operating system until the male flange 201b at the end of the robotic arm 201a enters the second rotating hole 203d through the insertion section 203c-1 of the first rotating hole 203c via the engaging shaft 201b-2. At this time, the connecting shaft 201b-1 is inserted into the insertion section 203c-1 of the first rotating hole 203c, and the end faces of the male flange 201b and the female flange 203b are in contact. Next, the male flange 201b is rotated 30° clockwise. At this time, the connecting shaft 201b-1 enters the moving section 203c-2 along the insertion section 203c-1 of the first rotating hole 203c, and the engaging shaft 201b-2 simultaneously moves along the second rotating hole 203d. During the movement, the male flange 201b is connected to the female flange 203b. When the robotic arm 201a moves the male flange 201b upward, the male flange 201b moves the female flange 203b upward simultaneously. When the female flange 203b moves upward, the second limiting hole 203a-2 of the female flange 203b disengages from the convex post 202b, and the first limiting hole 203a-1 on the locking plate 203a disengages from the limiting post 202a. At this time, the disassembly and assembly tool 203 disengages from the arc groove 103b of the carrier plate 103a under the action of the robotic arm 201a. The robotic arm 201a can then use the disassembly and assembly tool 203 to perform the disassembly and assembly of the drain line through the operation of the operator.

[0057] After the disassembly and assembly work is completed, the operator moves the robotic arm 201a to directly above the limiting post 202a and the convex post 202b, and then moves the disassembly and assembly tool 203 from top to bottom until it is placed back into the arc groove 103b of the carrier plate 103a. At this time, the first limiting hole 203a-1 of the locking plate 203a is engaged in the limiting groove, and the convex post 202b is engaged in the second limiting hole 203a-2 of the female flange 203b. The magnetic chuck 202c attracts the end face of the locking plate 203a to the carrier plate 103a. The end faces of flange 201b are aligned. Next, the robotic arm 201a drives the male flange 201b to rotate counterclockwise by 30°. At this time, the connecting shaft 201b-1 on the male flange 201b moves from the moving section 203c-2 of the first rotating hole 203c to the insertion section 203c-1. Then, the robotic arm 201a moves the male flange 201b upward until the male flange 201b is separated from the female flange 203b. At this time, the device returns to its initial state, and the robotic arm 201a can continue to perform the next step.

[0058] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0059] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0060] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0061] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A tool library for assembling and disassembling drainage lines using robots, characterized in that: include, The carrying mechanism (100) includes a housing (101), a connecting leg (102), and a vehicle assembly (103). An electrical control assembly is provided inside the housing (101). The bottom end of the housing (101) is connected to the connecting leg (102), and the end end of the housing (101) is connected to the vehicle assembly (103). The disassembly and assembly mechanism (200) is disposed on the carrier assembly (103) and includes an operating component (201), a limiting component (202), and a disassembly and assembly tool (203). The operating component (201) is disposed at the end of the carrier assembly (103) and is connected to the electrical control component via a wire. The limiting component (202) is disposed on the carrier assembly (103) and is used to limit the position of the disassembly and assembly tool (203) on the carrier assembly (103).

2. The robot tool library for disassembling and assembling drainage lines as described in claim 1, characterized in that: The vehicle assembly (103) includes a vehicle plate (103a) and an arc-shaped groove (103b) disposed on the vehicle plate (103a), and a connection hole (103c) is provided on the vehicle plate (103a).

3. The robot tool library for disassembling and assembling drainage lines as described in claim 2, characterized in that: The operating component (201) includes a robotic arm (201a) and a male flange (201b). The male flange (201b) is connected to the robotic arm (201a) via a connector. One end of the wire is connected to the electrical control component, and the other end of the wire passes through the connection hole (103c) and is connected to the robotic arm (201a).

4. The robot tool library for disassembling and assembling drainage lines as described in claim 3, characterized in that: The bottom end of the male flange (201b) is fixedly connected to a connecting shaft (201b-1), and the end of the connecting shaft (201b-1) away from the male flange (201b) is fixedly connected to a locking shaft (201b-2). The cross-sectional diameter of the connecting shaft (201b-1) is smaller than the cross-sectional diameter of the locking shaft (201b-2).

5. The robot tool library for disassembling and assembling drainage lines as described in claim 4, characterized in that: The limiting component (202) includes a limiting post (202a), a convex post (202b), and a magnetic chuck (202c). The limiting post (202a) is disposed on both sides of the arc-shaped groove (103b), the magnetic chuck (202c) is disposed on both sides of the limiting post (202a), and the convex post (202b) is disposed on the side of the arc-shaped groove (103b). The distance between the convex post (202b) and the limiting post (202a) on both sides of the arc-shaped groove (103b) is equal.

6. The robot tool library for disassembling and assembling drainage lines as described in claim 5, characterized in that: The disassembly and assembly tool (203) is fixedly connected to a locking plate (203a) at its end. The locking plate (203a) is connected to a female flange (203b) at its end. The locking plate (203a) has first limiting holes (203a-1) on both sides and a second limiting hole (203a-2) on its side wall. The distance between the second limiting hole (203a-2) and the first limiting holes (203a-1) on both sides is equal. The first limiting hole (203a-1) is adapted to the limiting post (202a), and the second limiting hole (203a-2) is adapted to the convex post (202b). The locking plate (203a) is made of metal.

7. The robot tool library for disassembling and assembling drainage lines as described in claim 6, characterized in that: The mother flange (203b) has a first rotating hole (203c) at its end and a second rotating hole (203d) inside the mother flange (203b). The first rotating hole (203c) and the second rotating hole (203d) are connected.

8. The robot tool library for disassembling and assembling drainage lines as described in claim 7, characterized in that: The first rotating hole (203c) includes an insertion section (203c-1) and a moving section (203c-2), wherein the width of the insertion section (203c-1) is greater than the width of the moving section (203c-2); The second rotating hole (203d) is located directly below the first rotating hole (203c), and the width of the second rotating hole (203d) is the same as the width of the insertion section (203c-1) of the first rotating hole (203c). The connecting shaft (201b-1) is adapted to the moving section (203c-2) of the first rotating hole (203c), the engaging shaft (201b-2) is adapted to the insertion section (203c-1) of the first rotating hole (203c), and the engaging shaft (201b-2) is adapted to the second rotating hole (203d).

9. The robot tool library for disassembling and assembling drainage lines as described in claim 8, characterized in that: It also includes a moving mechanism (300) connected to the connecting leg (102). The moving mechanism (300) includes a lifting component (301) and a moving component (302). The lifting component (301) is used to control the height of the overall device, and the moving component (302) is used to move the overall device.

10. The robot tool library for disassembling and assembling drainage lines as described in claim 9, characterized in that: The lifting assembly (301) includes a lifting platform (301a) and an electro-hydraulic rod (301b), the electro-hydraulic rod (301b) being disposed within the lifting platform (301a). The moving assembly (302) includes a connecting platform (302a) and casters (302b), the lifting platform (301a) being connected to the end of the connecting platform (302a), and the casters (302b) being connected to the bottom end of the connecting platform (302a).

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