Multifunctional end effector based on inspection robot

Abstract

The utility model relates to the field of intelligent operation and maintenance of energy storage equipment, and discloses a multifunctional end effector based on an inspection robot, which comprises a base shell, a rotary clamping jaw module, a suction cup module, a pressing rod module and a switching mechanism, the base shell is provided with a first functional surface and a second functional surface which are vertically connected; the switching mechanism is arranged on the second functional face of the base shell, one of the rotary clamping jaw module, the suction cup module and the pressing rod module is arranged on the first functional face of the base shell and is configured to be a first module, and the other two modules are oppositely arranged at the output end of the switching mechanism and are configured to be second modules. The switching mechanism drives the two second modules to turn over in the normal direction of the second functional face, and when one second module turns over to be parallel to the first module, the distance between the output end of the second module and the first functional face is larger than the distance between the output end of the first module and the first functional face. The terminal executive device can solve the problems that an existing terminal executive device is single in function and difficult to execute inspection tasks needing to be operated.

Description

Technical Field

[0001] This utility model relates to the field of intelligent operation and maintenance of energy storage equipment, specifically to a multi-functional end effector based on an inspection robot. Background Technology

[0002] Against the backdrop of an accelerated global energy structure transformation, new energy technologies have been developing rapidly, achieving remarkable progress. However, the inherent intermittent and fluctuating nature of new energy power generation poses a significant challenge to the stable operation of the power grid. To effectively address these issues, large-scale chemical energy storage systems have emerged and are rapidly being widely applied in key scenarios such as grid peak and frequency regulation, backup power, and power quality improvement. As a core component of large-scale chemical energy storage systems, the safe and stable operation of energy storage devices directly affects the performance and reliability of the entire energy storage system, thereby impacting the safety and stability of the power grid. Therefore, ensuring the safe operation of energy storage devices has become a crucial issue that urgently needs to be addressed in the energy sector.

[0003] Currently, intelligent inspection robots are widely used in the field of energy storage equipment inspection due to their advantages of high efficiency, accuracy, and repeatability. These inspection robots use image acquisition devices and infrared thermometers mounted on end effectors to monitor the appearance, indicator light status, and temperature distribution of energy storage equipment in real time, helping staff to promptly detect potential faults such as surface damage or overheating. However, in actual inspection operations, in addition to monitoring equipment status, it is often necessary to perform operations such as opening and closing cabinet doors, operating buttons, and unlocking knobs and latches to complete complex inspection tasks such as equipment maintenance and parameter adjustment. Existing end effectors, due to their relatively simple design functions, mostly focus only on information collection and lack operational functions such as pressing, adsorption, and grasping. This often requires human intervention when inspection robots face operational tasks, which not only affects the continuity of the closed-loop inspection operation and reduces inspection efficiency but also limits the degree of automation in the inspection operation, failing to fully utilize the advantages of intelligent inspection robots.

[0004] Therefore, it is necessary to develop a multi-functional end effector based on inspection robots, which integrates multiple functions such as pressing, adsorption, and grasping, so that inspection robots can better adapt to different operational tasks. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] This invention provides a multi-functional end effector based on an inspection robot, which can at least solve the technical problem that existing end effectors have limited functionality and are difficult to perform inspection tasks that require operation.

[0007] (II) Technical Solution

[0008] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a multi-functional end effector based on an inspection robot, comprising:

[0009] The base shell has a first functional surface and a second functional surface that are perpendicularly connected to each other.

[0010] The rotating gripper module, suction cup module, pressure bar module, and conversion mechanism are provided. The conversion mechanism is located on the second functional surface of the base shell. One of the rotating gripper module, suction cup module, and pressure bar module is located on the first functional surface of the base shell and is configured as the first module. The other two are located opposite each other on the output end of the conversion mechanism and are configured as the second modules. The conversion mechanism is used to drive the two second modules to rotate around the normal of the second functional surface.

[0011] Both the first module and the second module have output ends for clamping or contacting the component to be operated. When the second module is flipped to be arranged side by side with the first module, the distance between the output end of the second module and the first functional surface is greater than the distance between the output end of the first module and the first functional surface.

[0012] Furthermore, at least one second functional surface is provided, and the number of conversion mechanisms is the same as that of the second functional surfaces and they are set one-to-one. Each conversion mechanism is used to drive the corresponding second module to rotate around the normal of the corresponding second functional surface.

[0013] Furthermore, the multi-functional end effector based on the inspection robot also includes a visual positioning camera, which is located on the first functional surface of the base shell and is used to collect the position information of the component to be operated.

[0014] In a further configuration, the aforementioned pressure bar module includes a pressure bar and a pressure sensor. The pressure sensor is located on the free end of the pressure bar and is used to sense the pressure value applied by the pressure bar to the component to be operated.

[0015] Further configuration: the aforementioned suction cup module includes a vacuum suction cup and an elastic telescopic rod. The vacuum suction cup is located on the free end of the elastic telescopic rod and is used to adsorb or release the component to be operated.

[0016] In a further configuration, the aforementioned rotary gripper module includes a rotary drive mechanism and a clamping mechanism. The output end of the rotary drive mechanism is connected to the clamping mechanism. The rotary drive mechanism is used to drive the clamping mechanism to rotate. The clamping mechanism includes at least two clamping arms that can open and close relative to each other and are used to clamp or release the component to be operated.

[0017] Furthermore, the aforementioned base shell is also provided with a flange connection for detachable connection with the end effector of the inspection robot.

[0018] (III) Beneficial Effects

[0019] Compared with the prior art, the multifunctional end effector based on the inspection robot provided by this utility model has the following advantages:

[0020] This utility model provides a multi-functional end effector based on an inspection robot. Through the rational arrangement of a rotating gripper module, a suction cup module, a pressure rod module, and a conversion mechanism, it integrates three functions: gripping and rotating, suction, and pressing. The conversion mechanism allows for flexible switching between different functions, enabling automatic execution of any operation such as unlocking or locking knobs and latches, opening and closing cabinet doors, and pressing operation buttons. This facilitates complex inspection tasks requiring operation, such as equipment maintenance and parameter adjustment. It effectively solves the problem of existing end effectors having limited functionality and difficulty in performing necessary inspection tasks. The process requires no manual intervention, greatly improving the comprehensiveness and flexibility of inspection operations and enhancing automation. Furthermore, this utility model can adapt to different types of energy storage equipment. Attached Figure Description

[0021] Figure 1 This is a first-view perspective perspective of the multi-functional end effector based on the inspection robot in the embodiment.

[0022] Figure 2 This is a second-view perspective perspective of the multi-functional end effector based on the inspection robot in the embodiment.

[0023] Figure 3 This is a top view of the multi-functional end effector based on the inspection robot in the embodiment.

[0024] Icon labels:

[0025] 1. Base shell; 11. First functional surface; 12. Second functional surface; 13. Flange connection;

[0026] 2. Rotary gripper module; 21. Rotary drive mechanism; 22. Clamping mechanism; 221. Grip arm;

[0027] 3. Suction cup module; 31. Vacuum suction cup; 32. Elastic telescopic rod; 321. Spring; 322. Telescopic rod component;

[0028] 4. Compression rod module; 41. Compression rod;

[0029] 5. Conversion mechanism; 6. Visual positioning camera. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] This invention provides a multi-functional end effector based on an inspection robot, which solves the problem that existing end effectors have limited functionality and are difficult to perform inspection tasks that require operation.

[0032] See Figure 1 and Figure 3 As shown, Figure 1 This is a first-person perspective perspective view of the multi-functional end effector based on the inspection robot in the embodiment. Figure 3 The image shows a top view of a multi-functional end effector based on an inspection robot in the embodiment. The multi-functional end effector based on the inspection robot includes a base shell 1, a rotating gripper module 2, a suction cup module 3, a pressure bar module 4, and a conversion mechanism 5.

[0033] The base shell 1 has a first functional surface 11 and a second functional surface 12 that are perpendicularly connected to each other.

[0034] The conversion mechanism 5 is mounted on the second functional surface 12 of the base shell 1. One of the rotating gripper module 2, suction cup module 3, and pressure bar module 4 is mounted on the first functional surface 11 of the base shell 1 and configured as the first module. The other two are mounted opposite each other on the output end of the conversion mechanism 5 and configured as the second modules. The conversion mechanism 5 is used to drive the two second modules to rotate around the normal direction of the second functional surface 12.

[0035] Both the first and second modules have output ends for gripping or contacting the component to be operated. When one of the second modules is flipped to be arranged side-by-side with the first module, the distance between the output end of the second module and the first functional surface 11 is greater than the distance between the output end of the first module and the first functional surface 11. Thus, when the conversion mechanism 5 drives one of the second modules to be flipped to be arranged side-by-side with the first module, if the inspection robot drives the end effector to move towards the component to be operated via the connecting part, the output end of the second module will contact the component first, effectively preventing the first module from interfering with the second module's ability to perform its function.

[0036] When using the multi-functional end effector based on the inspection robot described above, it is assumed that the rotating gripper module 2 is the first module, and the suction cup module 3 and the pressure rod module 4 are the second modules. If it is necessary to unlock or lock the knob lock of the energy storage battery cabinet, the inspection robot drives the end effector to move towards the knob lock through the connecting part, so that the rotating gripper module 2 is aligned with the knob lock. At the same time, the conversion mechanism 5 drives the suction cup module 3 and the pressure rod module 4 to flip together, so that neither the suction cup module 3 nor the pressure rod module 4 is aligned with the knob lock. Then, the rotating gripper module 2 clamps and twists the knob lock, thereby unlocking or locking the knob lock.

[0037] If it is necessary to open or close cabinet doors or other components, the inspection robot drives the end effector to move toward the cabinet door through the connecting part. At the same time, the conversion mechanism 5 drives the suction cup module 3 and the pressure rod module 4 to rotate together, so that the suction cup module 3 is positioned opposite the cabinet door, thereby making the suction cup module 3 contact the cabinet door and adsorb the cabinet door. Then, the inspection robot drives the suction cup module 3 to move again, which can pull the cabinet door to move accordingly, thereby realizing the opening and closing of the cabinet door.

[0038] If the button needs to be operated, the inspection robot drives the end effector to move toward the button through the connecting part. At the same time, the conversion mechanism 5 drives the suction cup module 3 and the pressure rod module 4 to flip together, so that the pressure rod module 4 is aligned with the button and presses the corresponding button.

[0039] As can be seen from the above usage process, this utility model integrates three functions—gripping rotation, suction, and pressing—through the rational layout of the rotating gripper module 2, suction cup module 3, pressure rod module 4, and conversion mechanism 5. It features a compact structure, strong adaptability, and the conversion mechanism 5 allows for flexible switching between different functions. This enables automatic execution of any operation, such as unlocking or locking knobs and latches, opening and closing cabinet doors, and using operating buttons. This facilitates complex inspection tasks requiring operation, such as equipment maintenance and parameter adjustment, effectively solving the problem of existing end-effectors having limited functionality and difficulty in performing necessary inspection tasks. The process requires no manual intervention, greatly improving the comprehensiveness and flexibility of inspection operations and enhancing automation. Furthermore, this utility model can adapt to different types of energy storage equipment.

[0040] The aforementioned conversion mechanism 5 can use existing rotary motors or other rotary drive components. Its output end can be welded or screwed with a rod, the two ends of which are respectively fixed to the two second modules by screwing or welding. In this way, the conversion mechanism 5 can drive the two second modules to synchronously flip and switch positions.

[0041] Based on the above embodiments, at least one second functional surface 12 is provided, and the number of conversion mechanisms 5 is the same as that of the second functional surfaces 12, and they are arranged in a one-to-one correspondence. Each conversion mechanism 5 is used to drive the corresponding second module to rotate around the normal of the corresponding second functional surface 12. In this way, for each additional conversion mechanism 5, the end effector can add two second modules, that is, add two functions, thereby significantly improving the multifunctionality and scalability of the end effector. The added second modules can be the aforementioned rotary gripper module 2, suction cup module 3, or pressure bar module 4, or other functional modules, depending on actual production needs.

[0042] See Figure 1 As shown, based on the above embodiments, the multi-functional end effector of the inspection robot also includes a visual positioning camera 6. The visual positioning camera 6 is mounted on the first functional surface 11 of the base shell 1 and is used to collect the position information of the component to be operated. Thus, the visual positioning camera 6 in this embodiment, employing a multi-scale image recognition algorithm, enables the inspection robot to more accurately locate the component to be operated, guiding the collaborative operation of various modules, improving the accuracy and efficiency of the operation, reducing operational errors caused by inaccurate positioning, and providing reliable position information support for automated inspection.

[0043] See Figure 1 and Figure 3 As shown, in one embodiment of the lever module 4, the lever module 4 includes a lever 41 and a pressure sensor. The pressure sensor (not shown) is mounted on the free end of the lever 41 and is used to sense the pressure value applied by the lever 41 to the component to be operated. Thus, the pressure sensor can sense the pressure value applied by the lever 41 to the button or other component to be operated in real time, allowing the lever module 4 to accurately control the pressing force of the lever 41 on the button, avoiding damage to the button due to excessive pressure or failure to trigger the button due to insufficient pressure. This improves the reliability and stability of the operation, and the lever module 4 is suitable for the operation needs of different types of buttons.

[0044] See Figure 1 As shown, in one embodiment of the suction cup module 3, the suction cup module 3 includes a vacuum suction cup 31 and an elastic telescopic rod 32. The vacuum suction cup 31 is mounted on the free end of the elastic telescopic rod 32, and is used to adsorb or release the component to be operated. Thus, the elastic telescopic rod 32 provides cushioning when the vacuum suction cup 31 adsorbs the component to be operated, reducing the impact force during the adsorption process, thereby achieving flexible traction for the opening and closing operation of the cabinet door and protecting the component. This suction cup module 3 is suitable for the operation needs of different types of cabinet doors.

[0045] The aforementioned vacuum suction cup 31 can be connected to an existing vacuum negative pressure device to provide suction force for the vacuum suction cup 31.

[0046] See Figure 2 and Figure 3 As shown, Figure 2 The above-mentioned elastic telescopic rod 32 can be composed of a telescopic rod 322 and a spring 321 sleeved on the outside of the telescopic rod 322. The spring 321 can drive the telescopic rod 322 to extend. In this way, when the vacuum suction cup 31 is subjected to external force, the spring 321 can buffer the external force and protect the vacuum suction cup 31 and the operated parts it adsorbs.

[0047] See Figure 1 As shown, in one embodiment of the suction cup module 3, the rotary gripper module 2 includes a rotary drive mechanism 21 and a clamping mechanism 22. The output end of the rotary drive mechanism 21 is connected to the clamping mechanism 22 via a reducer. The rotary drive mechanism 21 drives the clamping mechanism 22 to rotate. The clamping mechanism 22 includes at least two relatively openable and closable gripping arms 221, used to grip or release the component to be operated. Thus, the rotary drive mechanism 21 and the clamping mechanism 22 work together to achieve gripping and twisting of the knob lock component to be operated, and this rotary gripper module 2 is suitable for the operation needs of different types of knob locks.

[0048] The aforementioned clamping mechanism 22 can use existing clamping cylinders. The aforementioned rotary drive mechanism 21 can use existing high-precision servo motors to unlock or lock the knob latches of different energy storage battery cabinets.

[0049] See Figure 2 and Figure 3 As shown, based on any of the above embodiments, the base shell 1 is further provided with a flange connection portion 13 for detachable connection with the end effector of the inspection robot by means of screwing or welding. In this way, the end effector can be quickly attached and detached from the end flange of the inspection robot through the flange connection portion 13, thereby facilitating the installation, disassembly and maintenance of the end effector and improving the maintainability and efficiency of the inspection robot.

[0050] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-functional end effector based on an inspection robot, characterized in that, include: A base shell, wherein the base shell is provided with a first functional surface and a second functional surface that are perpendicularly connected to each other; The system includes a rotating gripper module, a suction cup module, a pressure bar module, and a conversion mechanism. The conversion mechanism is located on the second functional surface of the base shell. One of the rotating gripper module, suction cup module, and pressure bar module is located on the first functional surface of the base shell and is configured as a first module. The other two modules are located opposite each other on the output end of the conversion mechanism and are configured as second modules. The conversion mechanism is used to drive the two second modules to rotate around the normal of the second functional surface. Both the first module and the second module have an output end for clamping or contacting the component to be operated. When the second module is flipped to be arranged side by side with the first module, the distance between the output end of the second module and the first functional surface is greater than the distance between the output end of the first module and the first functional surface.

2. The multi-functional end effector based on an inspection robot according to claim 1, characterized in that, At least one second functional surface is provided, and the number of conversion mechanisms is the same as that of the second functional surfaces and they are arranged in a one-to-one correspondence. Each conversion mechanism is used to drive the corresponding second module to rotate around the normal of the corresponding second functional surface.

3. The multi-functional end effector based on an inspection robot according to claim 1, characterized in that, The multi-functional end effector based on the inspection robot also includes a visual positioning camera, which is located on the first functional surface of the base shell and is used to collect the position information of the component to be operated.

4. The multi-functional end effector based on an inspection robot according to any one of claims 1-3, characterized in that, The pressure bar module includes a pressure bar and a pressure sensor. The pressure sensor is located on the free end of the pressure bar and is used to sense the pressure value applied by the pressure bar to the component to be operated.

5. The multi-functional end effector based on an inspection robot according to any one of claims 1-3, characterized in that, The suction cup module includes a vacuum suction cup and an elastic telescopic rod. The vacuum suction cup is located on the free end of the elastic telescopic rod and is used to adsorb or release the component to be operated.

6. The multi-functional end effector based on an inspection robot according to any one of claims 1-3, characterized in that, The rotary gripper module includes a rotary drive mechanism and a clamping mechanism. The output end of the rotary drive mechanism is connected to the clamping mechanism. The rotary drive mechanism is used to drive the clamping mechanism to rotate. The clamping mechanism includes at least two clamping arms that can open and close relative to each other and are used to clamp or release the component to be operated.

7. The multifunctional end effector based on an inspection robot according to any one of claims 1-3, characterized in that, The base shell is also provided with a flange connection for detachable connection with the end of the inspection robot.

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