End effector of an operation and maintenance robot

Abstract

The utility model discloses a kind of end execution mechanism of operation robot, including the installation platform of installation in mechanical arm end, the four sides of installation platform are fixedly installed with guide rail, four groups of guide rails are all provided with driving element, four groups of guide rails are all slidably provided with base through driving element respectively, four groups of base are respectively installed with rotating gripper mechanism, frame type switch remote in swing out mechanism, pressing mechanism and circuit breaker swing in swing out mechanism by quick release element, wherein rotating gripper mechanism and pressing mechanism are symmetrically arranged, frame type switch remote in swing out mechanism and circuit breaker swing in swing out mechanism are symmetrically arranged.The utility model is equipped with independent feed, angle adjustment and quick release structure by four sides integration multiple execution mechanism, collocation force sensing, double feedback positioning component, realize multifunctional integrated complex operation, reduce end weight, improve alignment accuracy and operation safety, reduce equipment maintenance difficulty.

Description

Technical Field

[0001] This utility model relates to the field of intelligent operation and maintenance equipment technology, and more specifically, to an end effector of an operation and maintenance robot. Background Technology

[0002] In industrial settings such as power switchgear, data center cabinets, and valve assemblies in chemical plants, daily maintenance work involves numerous delicate operations such as pressing buttons, turning switches, and plugging and unplugging connectors. Traditional manual maintenance methods suffer from high-risk working environments, high manual inspection costs, and operational accuracy greatly affected by personnel condition, making it difficult to meet the demands for high-reliability, high-frequency maintenance. With the rapid development of robotics technology, maintenance robots equipped with robotic arms are gradually replacing manual labor in completing daily inspections and operations at sites. As the core component where the robot directly acts on the object being maintained, the end effector's structure and functional integration directly determine the robot's operational capabilities and adaptability.

[0003] Currently, mainstream maintenance robot end-effectors generally adopt a single-function, independent configuration design. For different operation types such as pressing, clamping, and twisting, corresponding independent operation components are developed. Each component is dispersed and assembled at the end of the robotic arm via an independent bracket. Some solutions use a quick-change structure at the end to switch between different execution components. Together with the end vision acquisition component, the identification and alignment of the work object are completed, thereby meeting the basic single-step maintenance operation requirements.

[0004] In actual operation, existing end-effector devices still have certain problems: On the one hand, the dispersed structure of multiple independent operating components results in low overall integration, bulky structure, and heavy weight of the robot end-effector. This increases the load requirements on the robotic arm and makes the switching process between different operations cumbersome and time-consuming. It also cannot complete the combined operation of pressing and clamping. When dealing with complex maintenance objects such as multi-level buttons, plug-in connectors, and small lever switches, the adaptability to the scene is insufficient, making it difficult to efficiently complete multi-step collaborative operations. On the other hand, the operation process lacks a refined contact force detection and positioning feedback mechanism. Pressing and twisting operations mostly rely on preset stroke to control the working depth, and cannot adjust the working force in real time according to the contact state. This can easily lead to problems such as excessive force damaging equipment components or insufficient force causing operation failure. At the same time, end-effector positioning mostly relies on a single vision acquisition method. In complex lighting environments such as dim lighting inside the cabinet or strong reflection of the panel, the alignment accuracy is significantly reduced, making it difficult to guarantee the overall operational reliability and work efficiency, which restricts the field application effect of maintenance robots. Therefore, we urgently need an end-effector actuator for maintenance robots to solve the above problems. Utility Model Content

[0005] One objective of this invention is to provide a new technical solution for the end effector of a maintenance robot. By integrating multiple types of actuators on four sides and equipping them with independent feed, angle adjustment and quick-release structures, combined with force sensing and dual feedback positioning components, it can achieve multi-functional integrated composite operation, reduce end effector weight, improve alignment accuracy and operational safety, and reduce equipment maintenance difficulty.

[0006] According to a first aspect of this utility model, an end effector for a maintenance robot is provided, including a mounting platform installed at the end of a robotic arm. Guide rails are fixedly mounted on all four sides of the mounting platform. Each of the four sets of guide rails is provided with a driving component. A base is slidably mounted on each of the four sets of guide rails via the driving component. A rotary gripper mechanism, a frame-type remote-in / out mechanism for switches, a pressing mechanism, and a circuit breaker remote-in / out mechanism are respectively installed within the four sets of bases via quick-release components. The rotary gripper mechanism and the pressing mechanism are symmetrically arranged, as are the frame-type remote-in / out mechanism for switches and the circuit breaker remote-in / out mechanism. An information acquisition component connected to an external control unit is fixedly mounted on the mounting platform.

[0007] The driving component includes a lead screw disposed in a guide rail. The two ends of the lead screw are rotatably connected to the inner wall of the guide rail via bearings. A movable block is slidably disposed on the guide rail. The connecting part of the movable block is threadedly connected to the lead screw. A first motor is fixedly connected to the guide rail. The output end of the first motor is connected to the lead screw. When the first motor drives the lead screw to work, the movable block moves along the guide path of the guide rail to form a moving area.

[0008] The quick-release component includes a sliding groove formed on the base, in which a bidirectional lead screw is installed. The end of the bidirectional lead screw is rotatably connected to the base via a bearing. Both ends of the bidirectional lead screw are integrally formed with end heads adapted to external tools. Sliding blocks are slidably installed in the sliding groove. The connecting parts of the two sets of sliding blocks are respectively threaded to the two threaded sections of the bidirectional lead screw. Each sliding block is fixedly connected with a clamping block. When the two sets of clamping blocks abut against the rotating gripper mechanism, the frame-type switch remote in / out mechanism, the pressing mechanism, and the circuit breaker remote in / out mechanism, an installation area is formed.

[0009] Optionally, a support plate is fixedly installed on the movable block, and a gear plate is rotatably mounted on the support plate via bearings. A second motor is fixedly installed on the support plate, and a gear adapted to the gear plate is fixedly connected to the output end of the second motor. The gear meshes with the gear plate, and a placement plate is fixedly installed on the gear plate. The base is fixedly installed on the placement plate. When the second motor drives the gear to rotate, the gear plate rotates along the upper axis of the support plate to form an angle adjustment zone.

[0010] Optionally, the rotary gripper mechanism includes a gripper mounting base disposed in the mounting area. A rotary electric gripper is fixedly mounted on the outer end of the gripper mounting base. Two sets of grippers are symmetrically arranged at the output end of the rotary electric gripper. Gripper rubber pads are fixedly attached to the inner gripping sides of both sets of grippers. When the rotary electric gripper drives the two sets of grippers to open and close in opposite directions, the clamping position is determined by the preset clamping force and gripper stroke feedback to form a gripping operation area.

[0011] Optionally, the frame-type switch remote in / out mechanism includes a rocker arm mounting base disposed in the installation area. A first servo motor is fixedly mounted on the rocker arm mounting base. The output end of the first servo motor is coaxially connected to the frame-type switch rocker arm. When the first servo motor drives the frame-type switch rocker arm to rotate circumferentially, the operation is judged to be in place by a preset number of rotations or rotation torque to form the switch remote in / out working area.

[0012] Optionally, the pressing mechanism includes a pressing mounting seat disposed in the installation area. A telescopic push rod is fixedly mounted on the pressing mounting seat. The output end of the telescopic push rod is connected to a first pressing seat. A pressure sensor, a pin guide seat, and a second pressing seat are sequentially disposed on the outside of the first pressing seat. The pressure sensor is located between the first pressing seat and the pin guide seat. The second pressing seat is fixed to the outer end of the pin guide seat. When the telescopic push rod drives the first pressing seat to advance axially, the pressing position is determined by the pressure sensor and the push rod stroke feedback to form a pressing operation area.

[0013] Optionally, the circuit breaker rocking-in / rocking-out mechanism includes a circuit breaker mounting base disposed in the installation area. A second servo motor is fixedly mounted on the circuit breaker mounting base. The output end of the second servo motor is coaxially connected to a circuit breaker rocker arm. When the second servo motor drives the circuit breaker rocker arm to rotate circumferentially, the operation is judged to be in place by a preset number of rotations or rotation torque to form the circuit breaker rocking-in / rocking-out working area.

[0014] Optionally, the information acquisition device includes a camera mounting bracket set on the mounting platform. A vision camera and a laser rangefinder are fixed to the working side end face of the camera mounting bracket, respectively. The two collect end-effector images and working distance data, and together assist the robotic arm in aligning with the object to form an end-effector positioning perception area.

[0015] Beneficial effects

[0016] 1. This utility model integrates a rotary gripper mechanism, a frame-type switch remote-in / out mechanism, a pressing mechanism, and a circuit breaker remote-in / out mechanism on the four sides of the same mounting platform. Combined with independent lead screw-driven feed structures and circumferential angle adjustment structures, it replaces the traditionally dispersed multiple independent actuators, effectively reducing the overall size and weight of the end effector, lowering the load capacity requirements of the robotic arm's end effector, and eliminating the cumbersome process of switching between multiple mechanisms. It supports multiple actuators to operate independently or collaboratively, and can complete complex maintenance actions such as pressing followed by gripping and gripping while turning. It is suitable for complex maintenance scenarios such as plugging and unplugging connectors, multi-level button operations, and small switch toggling. With a quick-release clamping installation structure, it allows for rapid disassembly and individual replacement of each functional mechanism. Maintenance and replacement of individual components can be completed without disassembling the entire end effector, significantly improving the device's flexibility and ease of maintenance, and reducing the overall cost of maintenance operations.

[0017] 2. This utility model achieves precise force control and reliable judgment of positioning status for various maintenance operations by setting up a pressure sensor and a stroke dual feedback mechanism in the pressing mechanism, configuring dual positioning logic of rotation number and torque in the two sets of screwing mechanisms, and adopting a compound feedback control of clamping force and stroke in the gripper mechanism. This avoids damage to equipment components due to excessive force and damage to the transmission structure due to excessive screwing, and also effectively prevents operation failures caused by insufficient force or incomplete screwing, significantly improving the safety and success rate of maintenance operations. At the same time, the end-positioning structure that coordinates a vision camera and a laser rangefinder sensor can effectively compensate for positioning deviations in complex lighting environments such as low light inside the cabinet, panel reflection, and dust obstruction through complementary image recognition and distance detection data, improving the alignment accuracy of the operated object under various working conditions, enhancing the environmental adaptability of the end-effector, and ensuring operational stability and accuracy in different working scenarios.

[0018] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present invention and, together with their description, serve to explain the principles of the present invention.

[0020] Figure 1 A schematic diagram of the first overall structure of the end effector of a maintenance robot;

[0021] Figure 2 As an end effector for a maintenance robot Figure 1 Enlarged structural diagram at point A in the middle;

[0022] Figure 3This is a schematic diagram of the second integral structure of the end effector of a maintenance robot;

[0023] Figure 4 As an end effector for a maintenance robot Figure 3 Enlarged structural diagram at point B;

[0024] Figure 5 This is a schematic diagram of the third integral structure of the end effector of a maintenance robot;

[0025] Figure 6 As an end effector for a maintenance robot Figure 5 Enlarged structural diagram at point C;

[0026] Figure 7 This is a schematic diagram of the third integral structure of the end effector of a maintenance robot;

[0027] Figure 8 As an end effector for a maintenance robot Figure 7 Enlarged structural diagram at point D;

[0028] Figure 9 This is a schematic diagram of the first cross-sectional structure of the end effector of a maintenance robot.

[0029] Figure 10 This is a schematic diagram of the second cross-sectional structure of the end effector of a maintenance robot.

[0030] Figure 11 This is a schematic diagram of the third cross-section of the end effector of a maintenance robot.

[0031] The diagram shows the following components: 1. Mounting platform; 2. Guide rail; 3. Base; 4. Lead screw; 5. Moving block; 6. First motor; 7. Support plate; 8. Gear plate; 9. Second motor; 10. Gear; 11. Placement plate; 12. Sliding groove; 13. Bidirectional lead screw; 14. End; 15. Slider; 16. Clamping block; 17. Gripper mounting base; 18. Rotating electric gripper; 19. Gripper; 20. Gripper rubber pad; 21. Rocker mounting base; 22. First servo motor; 23. Frame-type switch rocker; 24. Press mounting base; 25. Telescopic push rod; 26. First press base; 27. Pressure sensor; 28. Ejector pin guide seat; 29. ​​Second press base; 30. Circuit breaker mounting base; 31. Second servo motor; 32. Circuit breaker rocker; 33. Camera mounting bracket; 34. Vision camera; 35. Laser rangefinder sensor. Detailed Implementation

[0032] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0033] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0034] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0035] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0036] like Figure 1-11 As shown, an end effector of a maintenance robot includes a mounting platform 1 installed at the end of the robotic arm.

[0037] Guide rails 2 are fixedly installed on all four sides of the mounting platform 1. Each of the four guide rails 2 is equipped with a driving component. The driving component includes a lead screw 4 installed inside the guide rail 2. The two ends of the lead screw 4 are rotatably connected to the inner wall of the guide rail 2 through bearings. A moving block 5 is slidably installed on the guide rail 2. The connecting part of the moving block 5 is threadedly connected to the lead screw 4. A first motor 6 is fixedly connected to the guide rail 2. The output end of the first motor 6 is connected to the lead screw 4. When the first motor 6 drives the lead screw 4 to work, the moving block 5 moves along the guide path of the guide rail 2 to form a moving area.

[0038] Here, four sets of guide rails 2 are evenly distributed around the circumference of the mounting platform 1. The extension direction of each set of guide rails 2 is set out radially outward along the mounting platform 1. The lead screw 4 is accommodated in the inner cavity of the guide rail 2. The two ends of the lead screw 4 are supported by bearings on the inner walls of the two ends of the guide rail 2, which restricts the axial movement of the lead screw 4. The bottom of the moving block 5 is embedded in the guide groove of the guide rail 2, forming a sliding fit with the guide rail 2. The middle part of the moving block 5 is provided with a threaded hole that matches the thread on the outer wall of the lead screw 4, so that when the lead screw 4 rotates, it can drive the moving block 5 to move smoothly along the length direction of the guide rail 2.

[0039] Furthermore, the first motor 6 is fixed to the outer end of the guide rail 2 via a motor base, and its output shaft passes through the end wall of the guide rail 2 and is coaxially connected to one end of the lead screw 4. This can accurately convert the rotational motion of the motor into the linear reciprocating motion of the moving block 5, thereby realizing the axial feed and retraction adjustment of the working mechanism, ensuring the transmission accuracy and smooth operation of the feed process, and avoiding feed jamming or position deviation.

[0040] Furthermore, the four sets of drive components correspond to four sets of functional actuators. The operating status of each set of drive components is independent of each other. The corresponding drive component can be started individually according to the on-site operation and maintenance needs, driving the target working mechanism to move to the preset working position, while the other mechanisms remain in the retracted state to avoid interference from non-working mechanisms in the operation process. At the same time, the feed stroke can be flexibly adjusted according to the working depth requirements of different operating objects to adapt to different specifications of cabinet switches, buttons and connectors.

[0041] A support plate 7 is fixedly installed on the movable block 5. A gear plate 8 is rotatably mounted on the support plate 7 via bearings. A second motor 9 is fixedly installed on the support plate 7. A gear 10 that matches the gear plate 8 is fixedly connected to the output end of the second motor 9. The gear 10 meshes with the gear plate 8. A placement plate 11 is fixedly installed on the gear plate 8. The base 3 is fixedly installed on the placement plate 11. When the second motor 9 drives the gear 10 to rotate, the gear plate 8 rotates along the upper axis of the support plate 7 to form an angle adjustment zone.

[0042] Here, the support plate 7 adopts a disc-shaped structure, and its bottom surface is flat and fixed to the top surface of the moving block 5 by fasteners. A bearing mounting hole is provided at the center of the support plate 7, and the outer ring of the bearing is interference-fitted with the inner wall of the mounting hole. A rotating shaft is provided at the bottom center of the gear plate 8, and the rotating shaft is interference-fitted with the inner ring of the bearing, so that the gear plate 8 can rotate freely around the central axis of the support plate 7. The bottom surface of the placement plate 11 is flat and fixed to the top surface of the gear plate 8, and can rotate synchronously with the gear plate 8.

[0043] Furthermore, the second motor 9 is fixed to the top edge of the support plate 7 by a bracket, and its output shaft is set along the axial direction of the support plate 7. The gear 10 is fixedly fitted at the end of the output shaft of the second motor 9. The teeth of the gear 10 mesh with the teeth on the outer circumference of the gear plate 8. When the second motor 9 outputs rotational power, the gear 10 can reduce speed and increase torque through meshing with the gear plate 8, driving the placement plate 11 and the base 3 above it and the working mechanism to rotate smoothly, ensuring the torque output and rotation accuracy during the angle adjustment process.

[0044] Furthermore, the angle adjustment area can continuously adjust the circumferential angle of the working mechanism within a preset angle range, which can adapt to different tilt angles and different orientations of operating holes and button surfaces. It can complete the precise calibration of the working angle without the robotic arm making large adjustments to the end position, reducing the range of motion of the robotic arm and shortening the alignment time. At the same time, the angle can be adjusted in real time during the operation to adapt to the operation requirements of complex operation paths.

[0045] Each of the four sets of guide rails 2 has a base 3 that is slidably mounted on it via a drive component. Each of the four sets of bases 3 has a rotating gripper mechanism, a frame-type switch remote entry / exit mechanism, a pressing mechanism, and a circuit breaker remote entry / exit mechanism installed in it via quick-release components.

[0046] Here, the four sets of bases 3 are independently set on the four sides of the mounting platform 1. Each set of bases 3 moves synchronously with the moving block 5, support plate 7 and placement plate 11 below, serving both as a mounting support and a motion transmission device. The mounting cavity size of each set of bases 3 is adapted to the shape of the mounting seat of the corresponding functional actuator, which can initially limit the embedded functional mechanism and ensure the accuracy of the installation position.

[0047] Furthermore, each functional actuator is detachably fixed in the mounting cavity of the corresponding base 3 via quick-release parts, forming a stable assembly with the base 3. It can synchronously complete radial feed motion and circumferential angle adjustment motion with the base 3, ensuring that the motion posture of the functional mechanism is consistent with the preset path during operation, and avoiding relative displacement that affects the operation accuracy.

[0048] Furthermore, the four types of operation and maintenance functions—rotary gripper mechanism, frame-type switch remote input / output mechanism, pressing mechanism, and circuit breaker input / output mechanism—are integrated into the same mounting platform 1. This replaces the traditionally dispersed arrangement of multiple independent actuators, effectively reducing the overall size and weight of the end effector, lowering the load capacity requirements of the robotic arm's end effector, reducing the switching process between different functional mechanisms, supporting multiple mechanisms to collaboratively complete complex operation and maintenance actions, and improving overall work efficiency.

[0049] The quick-release component includes a sliding groove 12 formed on the base 3. A bidirectional lead screw 13 is provided in the sliding groove 12. The end of the bidirectional lead screw 13 is rotatably connected to the base 3 through a bearing. Both ends of the bidirectional lead screw 13 are integrally formed with end heads 14 adapted to external tools. Sliding blocks 15 are slidably arranged in the sliding groove 12. The connecting parts of the two sets of sliding blocks 15 are respectively threaded to the two threaded sections of the bidirectional lead screw 13. Each sliding block 15 is fixedly connected with a clamping block 16. When the two sets of clamping blocks 16 abut against the rotating gripper mechanism, the frame-type switch remote in / out mechanism, the pressing mechanism, and the circuit breaker remote in / out mechanism, an installation area is formed.

[0050] Here, the sliding groove 12 is horizontally opened at the bottom of the mounting cavity of the base 3 along the width direction of the base 3. The bidirectional lead screw 13 is horizontally inserted inside the sliding groove 12. Its two ends are supported by bearings on the inner walls of the two ends of the sliding groove 12. The two threaded sections of the bidirectional lead screw 13 have opposite directions of rotation and the same pitch. The two sets of sliders 15 are respectively embedded in the sliding groove 12. The bottom of each slider is provided with threaded holes that are adapted to the corresponding threaded sections, so that when the bidirectional lead screw 13 rotates, the two sets of sliders 15 can move synchronously in opposite directions or in a straight line along the sliding groove 12.

[0051] Furthermore, the end 14 is located at at least one end of the bidirectional lead screw 13 and exposed on the outer end face of the base 3. The end 14 adopts a shape structure that is compatible with general-purpose hand tools. Operators can use conventional tools to screw the end 14 to drive the bidirectional lead screw 13 to rotate, thereby driving the two sets of sliders 15 to open and close, and driving the clamping block 16 to clamp or release the mounting seat of the functional mechanism. The assembly and disassembly of the functional mechanism can be completed without special disassembly tools.

[0052] Furthermore, the quick-release component adopts a purely mechanical threaded clamping structure, which provides stable clamping force in the clamped state, ensuring that the functional mechanism will not loosen or shift during operation. When disassembling, simply turn the end 14 in the opposite direction to release the clamping force, enabling quick replacement of the functional mechanism. This facilitates independent maintenance, repair, and replacement of a single functional mechanism without disassembling the entire end device, reducing subsequent maintenance costs and replacement time.

[0053] The rotating gripper mechanism and pressing mechanism are arranged symmetrically, as are the frame-type switch remote entry / exit mechanism and the circuit breaker entry / exit mechanism.

[0054] Here, the rotating gripper mechanism and the pressing mechanism are symmetrically distributed along the central axis of the mounting platform 1, and the frame-type switch remote in / out mechanism and the circuit breaker remote in / out mechanism are symmetrically distributed along another central axis of the mounting platform 1. The two sets of symmetrical axes are perpendicular to each other, so that the four sets of functional mechanisms are evenly distributed on the four sides of the mounting platform 1, ensuring that the center of gravity of the mounting platform 1 is in the central position.

[0055] Furthermore, the symmetrical layout ensures that the working spaces of each functional mechanism are independent, and the motion ranges of the feed and angle adjustment of each group of mechanisms do not overlap. When a single group of mechanisms is operating, it will not interfere with the other mechanisms in space, thus ensuring the safety and reliability of the operation of multiple mechanisms operating independently.

[0056] Furthermore, the symmetrical layout facilitates motion logic planning for the control system, enabling rapid switching between different functional mechanisms. It also supports the coordinated operation of adjacent mechanisms to complete complex maintenance actions such as pressing and clamping, clamping and twisting, adapting to complex maintenance scenarios such as plugging and unplugging connectors, pressing multi-layer buttons, and toggling small switches, thus enhancing the scenario adaptability of the end effector.

[0057] The rotary gripper mechanism includes a gripper mounting base 17 located in the mounting area. A rotary electric gripper 18 is fixedly mounted on the outer end of the gripper mounting base 17. Two sets of grippers 19 are symmetrically arranged at the output end of the rotary electric gripper 18. Gripper rubber pads 20 are fixedly attached to the inner gripping sides of the two sets of grippers 19. When the rotary electric gripper 18 drives the two sets of grippers 19 to open and close in opposite directions, the clamping position is determined by the preset clamping force and gripper stroke feedback to form a gripping operation area.

[0058] Here, the gripper mounting base 17 is embedded in the mounting area of ​​the corresponding base 3, and its outer wall is in contact with the inner wall of the mounting area. It is clamped and fixed by the two side clamping blocks 16. The main body of the rotating electric gripper 18 is fixedly installed on the outer end face of the gripper mounting base 17, and its power output end faces the front of the operation. Two sets of grippers 19 are symmetrically arranged at the output end of the rotating electric gripper 18, and can open and close synchronously with the power input at the output end.

[0059] Furthermore, the gripper rubber pad 20 is fixed to the opposing inner surfaces of the two sets of grippers 19 by a bonding method. The surface of the rubber pad can be provided with anti-slip texture to increase the gripping friction. At the same time, it uses its own flexible characteristics to buffer the gripping force, avoiding direct contact between the rigid structure of the gripper 19 and the surface of the object being operated, thus preventing damage such as paint scratches and structural deformation.

[0060] Furthermore, the rotary electric gripper 18 integrates clamping force detection and stroke feedback functions, which can adjust the clamping stroke and clamping force threshold according to the shape, size and material characteristics of the object being operated on. While ensuring clamping stability, it avoids over-clamping and damaging the object being operated on. It can be adapted to various maintenance objects such as buttons, connectors and levers of different sizes, improving the applicability and operational reliability of clamping operations.

[0061] The frame-type remote-in / out mechanism includes a rocker arm mounting base 21 set in the installation area. A first servo motor 22 is fixedly mounted on the rocker arm mounting base 21. The output end of the first servo motor 22 is coaxially connected to a frame-type switch rocker arm 23. When the first servo motor 22 drives the frame-type switch rocker arm 23 to rotate circumferentially, the operation is judged to be in place by a preset number of rotations or rotation torque to form the remote-in / out operation area of ​​the switch.

[0062] Here, the rocker arm mounting base 21 is embedded in the mounting area of ​​the corresponding base 3, and its outer wall is clamped and fixed by the two side clamping blocks 16. The main body of the first servo motor 22 is fixedly installed in the internal cavity of the rocker arm mounting base 21, and its output shaft extends outward along the mechanism axis. The inner end of the frame-type switch rocker arm 23 is coaxially fixedly connected to the output shaft of the first servo motor 22 and can rotate synchronously with the output shaft.

[0063] Furthermore, the outer end of the frame-type switch rocker 23 adopts an interface structure that is compatible with the standard frame-type switch operating port, which can be precisely embedded in the operating hole of the switch and form a stable circumferential limit fit with the switch operating position, ensuring that the rotational power is reliably transmitted to the switch operating end to complete the rocking-in and rocking-out operation of the switch.

[0064] Furthermore, the first servo motor 22 has the functions of counting rotations and detecting torque. It can control the stroke of the switch operation by preset rotation number, and at the same time, it can determine the operation status by detecting the rotation torque in real time. When the torque reaches the preset threshold, it will automatically stop rotating to avoid damage to the internal transmission structure of the switch due to over-rotation, and also to avoid under-rotation which would cause the switch operation to be incomplete, thus improving the accuracy and safety of the frame switch operation.

[0065] The pressing mechanism includes a pressing mounting base 24 located in the installation area. A telescopic push rod 25 is fixedly mounted on the pressing mounting base 24. The output end of the telescopic push rod 25 is connected to a first pressing seat 26. A pressure sensor 27, a pin guide seat 28, and a second pressing seat 29 are sequentially arranged on the outside of the first pressing seat 26. The pressure sensor 27 is located between the first pressing seat 26 and the pin guide seat 28. The second pressing seat 29 is fixed to the outer end of the pin guide seat 28. When the telescopic push rod 25 drives the first pressing seat 26 to advance axially, the pressing position is determined by the pressure sensor 27 and the push rod stroke feedback to form the pressing operation area.

[0066] Here, the pressing mounting base 24 is embedded in the mounting area of ​​the corresponding base 3, and its outer wall is clamped and fixed by the two side clamping blocks 16. The main body of the telescopic push rod 25 is fixedly installed in the internal cavity of the pressing mounting base 24, and its telescopic end is set along the axis of the mechanism towards the front of the operation. The inner end face of the first pressing base 26 is fixedly connected to the telescopic end of the telescopic push rod 25, and can move axially back and forth synchronously with the telescopic push rod 25.

[0067] Furthermore, the ejector pin guide seat 28 is sleeved on the outer periphery of the first pressing seat 26, and its inner wall forms a sliding guide fit with the outer wall of the first pressing seat 26, which can radially limit the axial movement of the first pressing seat 26 and prevent radial wobble during the pressing process. The pressure sensor 27 is clamped between the outer end face of the first pressing seat 26 and the inner end face of the ejector pin guide seat 28, which can collect axial force data during the pressing process in real time. The second pressing seat 29 is fixedly installed at the center of the outer end face of the ejector pin guide seat 28 for direct contact with the surface of the object being operated on.

[0068] Furthermore, during the pressing process, the telescopic push rod 25 outputs axial feed power, and the force is transmitted to the pressure sensor 27 via the first pressing seat 26, and then to the second pressing seat 29 via the ejector pin guide seat 28, acting on the operating object. The real-time force feedback from the pressure sensor 27 combined with the stroke data of the telescopic push rod 25 forms a dual control mechanism, which can realize flexible buffering and precise control of the pressing force, effectively avoiding damage to equipment components due to excessive pressing force, and also preventing pressing operation failure due to insufficient pressing force, thereby improving the stability and success rate of pressing operations.

[0069] The circuit breaker rocking-in / rocking-out mechanism includes a circuit breaker mounting base 30 set in the installation area. A second servo motor 31 is fixedly mounted on the circuit breaker mounting base 30. The output end of the second servo motor 31 is coaxially connected to a circuit breaker rocker arm 32. When the second servo motor 31 drives the circuit breaker rocker arm 32 to rotate circumferentially, the operation is judged to be in place by a preset number of rotations or rotation torque to form the circuit breaker rocking-in / rocking-out operation area.

[0070] Here, the circuit breaker mounting base 30 is embedded in the mounting area of ​​the corresponding base 3, and its outer wall is clamped and fixed by the two side clamping blocks 16. The main body of the second servo motor 31 is fixedly installed in the internal cavity of the circuit breaker mounting base 30, and its output shaft extends outward along the mechanism axis. The inner end of the circuit breaker rocker arm 32 is coaxially fixedly connected to the output shaft of the second servo motor 31 and can rotate synchronously with the output shaft.

[0071] Furthermore, the outer end of the circuit breaker rocker arm 32 adopts an interface structure that is compatible with the standard circuit breaker operating port, which can be precisely embedded in the circuit breaker operating hole and form a stable circumferential limit fit with the circuit breaker operating position, ensuring that the rotational power is reliably transmitted to the circuit breaker operating end to complete the rocking-in and rocking-out operation of the circuit breaker.

[0072] Furthermore, the second servo motor 31 has rotation count statistics and torque detection functions. It can control the circuit breaker operation stroke by preset rotation count, and at the same time, it can determine the operation status by real-time detection of rotation torque. It adapts to the operating resistance characteristics of different circuit breaker models. When the torque reaches the preset threshold, it automatically stops rotating to avoid over-rotation and damage to the internal transmission structure of the circuit breaker. It can also avoid under-rotation and failure of the circuit breaker operation, thus improving the accuracy and reliability of circuit breaker operation and maintenance.

[0073] An information acquisition device connected to an external control unit is fixedly installed on the mounting platform 1. The information acquisition device includes a camera mounting bracket 33 set on the mounting platform 1. A vision camera 34 and a laser rangefinder 35 are fixed on the working side end face of the camera mounting bracket 33, respectively. The two collect end-effector images and working distance data, and together assist the robotic arm in aligning with the object to form an end-effector positioning perception area.

[0074] Here, the camera mounting bracket 33 is fixedly installed on the central working side of the mounting platform 1, in the middle area of ​​the four functional mechanisms. The vision camera 34 and the laser range sensor 35 are fixed side by side on the working side end face of the camera mounting bracket 33. The acquisition direction of both is facing forward of the operation, consistent with the end operation direction, and can synchronously collect on-site information of the working area.

[0075] Furthermore, the vision camera 34 is used to collect image information of the object being operated on and its surrounding environment, complete the identification, positioning and attitude judgment of the object being operated on, and achieve coarse positioning before operation. The laser range sensor 35 is used to collect real-time distance data between the end effector and the surface of the object being operated on, providing a precise basis for adjusting the feed stroke and achieving precise positioning of the working distance. The data of the two complement each other and jointly provide data support for the posture adjustment of the robotic arm.

[0076] Furthermore, the positioning method that combines vision and laser ranging can effectively compensate for visual positioning errors in complex lighting environments such as dim lighting inside the cabinet, strong reflections on the panel, and dust obstruction. This improves alignment accuracy under various working conditions, ensures the positioning accuracy of the operated objects in different operation and maintenance scenarios, enhances the environmental adaptability of the end effector, and reduces the impact of the external environment on operational accuracy.

[0077] In this utility model, the end effector of the maintenance robot is mounted on the end of the robotic arm via the mounting platform 1. During operation, the vision camera 34 on the camera mounting bracket 33 and the laser range sensor 35 synchronously collect images of the operation scene and distance data from the end to the object being operated. After being transmitted to the external control unit, the robot arm is assisted in adjusting its overall posture and accurately aligning with the button or joystick hole to be operated.

[0078] According to the operation type, the first motor 6 in the guide rail 2 on the corresponding side of the mounting platform 1 drives the lead screw 4 to rotate, which drives the moving block 5 to move along the guide rail path through the thread transmission, thereby driving the corresponding working mechanism to complete the axial feed and retraction adjustment. At the same time, the second motor 9 on the support plate 7 on the moving block 5 drives the gear 10 to rotate. Through the meshing transmission of the gear 10 and the gear plate 8, the placement plate 11 and the base 3 rotate circumferentially around the axis of the support plate 7 to complete the working angle calibration of the working mechanism. When performing clamping operations, the rotating electric claw 18 at the outer end of the claw mounting base 17 drives the two sets of claws 19 to open and close in opposite directions. With the help of the claw rubber pad 20 on the inner side of the claw, flexible clamping is achieved. The clamping position is judged by the preset clamping force and the claw stroke feedback.

[0079] When performing remote-in / out operation of a frame-type switch, the first servo motor 22 on the rocker arm mounting base 21 drives the frame-type switch rocker arm 23 to rotate circumferentially, and the operation is judged to be in place by a preset number of rotations or a rotation torque threshold; when performing a pressing operation, the telescopic push rod 25 on the pressing mounting base 24 pushes the first pressing seat 26 axially forward, and the force is transmitted to the second pressing seat 29 through the pressure sensor 27 and the ejector pin guide seat 28 and acts on the operating object. The pressure sensor 27 collects the contact force in real time and combines it with the push rod stroke feedback to achieve flexible buffering and accurate judgment of pressing in place; when performing a circuit breaker rocker arm operation... When the operation is performed, the second servo motor 31 on the circuit breaker mounting base 30 drives the circuit breaker rocker arm 32 to rotate circumferentially. The operation is judged to be in place by the preset number of rotations or rotation torque threshold. The four functional mechanisms can operate independently or in coordination to complete complex operation and maintenance operations such as pressing and clamping. Each operating mechanism adopts a modular quick-release design. By rotating the end 14 of the bidirectional lead screw 13 on the base 3, the two sets of sliders 15 can be moved synchronously along the sliding groove 12. The mounting base of the corresponding mechanism is clamped or released by the clamping block 16, which facilitates on-site disassembly, replacement and maintenance, and fully adapts to the operation and maintenance needs of multiple scenarios.

[0080] Although specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. An end effector for a maintenance robot, comprising a mounting platform (1) installed at the end of a robotic arm, characterized in that: The mounting platform (1) is fixedly mounted with guide rails (2) on all four sides. Each of the four sets of guide rails (2) is equipped with a driving component. Each of the four sets of guide rails (2) is slidably mounted with a base (3) through the driving component. Each of the four sets of bases (3) is equipped with a rotating gripper mechanism, a frame-type switch remote entry and exit mechanism, a pressing mechanism and a circuit breaker remote entry and exit mechanism through quick-release components. The rotating gripper mechanism and the pressing mechanism are symmetrically arranged, as are the frame-type switch remote entry and exit mechanism and the circuit breaker remote entry and exit mechanism. An information acquisition component connected to an external control unit is fixedly mounted on the mounting platform (1). The driving component includes a lead screw (4) disposed in the guide rail (2). The two ends of the lead screw (4) are rotatably connected to the inner wall of the guide rail (2) through bearings. A moving block (5) is slidably disposed on the guide rail (2). The connecting part of the moving block (5) is threadedly connected to the lead screw (4). A first motor (6) is fixedly connected to the guide rail (2). The output end of the first motor (6) is connected to the lead screw (4). When the first motor (6) drives the lead screw (4) to work, the moving block (5) moves along the guide path of the guide rail (2) to form a moving area. The quick-release component includes a sliding groove (12) on the base (3). A bidirectional lead screw (13) is provided in the sliding groove (12). The end of the bidirectional lead screw (13) is rotatably connected to the base (3) through a bearing. Both ends of the bidirectional lead screw (13) are integrally formed with end heads (14) adapted to external tools. A slider (15) is slidably provided in the sliding groove (12). The connecting parts of the two sets of sliders (15) are respectively threaded to the two threaded sections of the bidirectional lead screw (13). A clamping block (16) is fixedly connected to each slider (15). When the two sets of clamping blocks (16) abut against the rotating gripper mechanism, the frame-type switch remote in / out mechanism, the pressing mechanism, and the circuit breaker in / out mechanism, respectively, an installation area is formed.

2. The end effector of a maintenance robot according to claim 1, characterized in that: A support plate (7) is fixedly installed on the moving block (5). A gear plate (8) is rotatably mounted on the support plate (7) via a bearing. A second motor (9) is fixedly installed on the support plate (7). A gear (10) that is compatible with the gear plate (8) is fixedly connected to the output end of the second motor (9). The gear (10) meshes with the gear plate (8). A placement plate (11) is fixedly installed on the gear plate (8). The base (3) is fixedly installed on the placement plate (11). When the second motor (9) drives the gear (10) to rotate, the gear plate (8) rotates along the axis of the support plate (7) to form an angle adjustment zone.

3. The end effector of a maintenance robot according to claim 2, characterized in that: The rotating gripper mechanism includes a gripper mounting base (17) set in the installation area. A rotating electric gripper (18) is fixedly installed on the outer end of the gripper mounting base (17). Two sets of grippers (19) are symmetrically arranged at the output end of the rotating electric gripper (18). Gripper rubber pads (20) are attached and fixed to the inner gripping sides of the two sets of grippers (19). When the rotating electric gripper (18) drives the two sets of grippers (19) to open and close in opposite directions, the clamping position is judged by the preset clamping force and gripper stroke feedback to form a gripping operation area.

4. The end effector of a maintenance robot according to claim 3, characterized in that: The frame-type switch remote in / out mechanism includes a rocker arm mounting base (21) set in the installation area. A first servo motor (22) is fixedly installed on the rocker arm mounting base (21). The output end of the first servo motor (22) is coaxially connected to a frame-type switch rocker arm (23). When the first servo motor (22) drives the frame-type switch rocker arm (23) to rotate circumferentially, the operation is judged to be in place by a preset number of rotations or rotation torque to form the switch remote in / out operation area.

5. The end effector of a maintenance robot according to claim 1, characterized in that: The pressing mechanism includes a pressing mounting seat (24) set in the installation area. A telescopic push rod (25) is fixedly installed on the pressing mounting seat (24). The output end of the telescopic push rod (25) is connected to a first pressing seat (26). A pressure sensor (27), a pin guide seat (28), and a second pressing seat (29) are arranged sequentially on the outside of the first pressing seat (26). The pressure sensor (27) is located between the first pressing seat (26) and the pin guide seat (28). The second pressing seat (29) is fixed to the outer end of the pin guide seat (28). When the telescopic push rod (25) drives the first pressing seat (26) to advance axially, the pressing position is determined by the pressure sensor (27) and the push rod stroke feedback to form a pressing operation area.

6. The end effector of a maintenance robot according to claim 1, characterized in that: The circuit breaker rocking-in and rocking-out mechanism includes a circuit breaker mounting base (30) set in the installation area. A second servo motor (31) is fixedly installed on the circuit breaker mounting base (30). The output end of the second servo motor (31) is coaxially connected to a circuit breaker rocker (32). When the second servo motor (31) drives the circuit breaker rocker (32) to rotate circumferentially, the operation is judged to be in place by a preset number of rotations or rotation torque to form the circuit breaker rocking-in and rocking-out operation area.

7. The end effector of a maintenance robot according to claim 1, characterized in that: The information acquisition device includes a camera mounting bracket (33) set on the mounting platform (1). A vision camera (34) and a laser rangefinder (35) are fixed on the working side end face of the camera mounting bracket (33). The two collect end-operation images and working distance data respectively, and work together to assist the robotic arm in aligning with the operating object to form an end-positioning perception area.

Images