A robot end effector and switchgear operating robot

Abstract

The utility model provides a kind of robot end effector and switch cabinet operating robot, belong to switchgear field.The robot end effector includes mounting seat and be set on the disconnecting and closing mechanism and handcart rocking mechanism of mounting seat, handcart rocking mechanism includes transmission rod, the adapter head of being set in transmission rod one end, the connecting seat in the one side of mounting seat, mounting seat is provided with the rotation seat driving device of drive connecting seat relative mounting seat rotation, connecting seat is provided with the rotation rod driving device for driving transmission rod rotation, the rotation axis of transmission rod and the rotation axis of connecting seat are perpendicular;Disconnecting and closing mechanism includes wrenching structure, the rotation axis of connecting seat and the rotation axis of wrenching structure are perpendicular.The switch cabinet operating robot includes mechanical arm and robot end effector.The utility model can reduce the flexibility requirement of mechanical arm, reduce the mechanical structure design difficulty and automation design difficulty of mechanical arm.

Description

Technical Field

[0001] This utility model belongs to the field of switchgear, and in particular relates to a robot end effector and a switchgear operating robot. Background Technology

[0002] Switchgear is a crucial piece of equipment in power systems, and the accuracy and efficiency of its operation are paramount. Traditional manual operation suffers from low efficiency, heavy maintenance burden, and high risk of operational errors, and is therefore gradually being replaced by robotic operation.

[0003] Chinese invention patent application CN120749575A discloses a substation inspection robot. The robot's robotic arm is equipped with a multi-functional emergency response device for substations. The device includes a mounting base and a handcart-type circuit breaker release mechanism, a disconnector mechanism, a rotary switch rotation mechanism, and a force sensing component mounted on the mounting base. The mounting base has three mounting positions, which are spaced around the axis of the mounting base and tilted away from the axis of the mounting base. The handcart-type circuit breaker release mechanism, the disconnector mechanism, and the rotary switch rotation mechanism are respectively connected to the three mounting positions.

[0004] When performing different operations, a robotic arm is needed to move different mechanisms and align them with the corresponding operated structures on the switch cabinet. Since the three mechanisms are facing different directions, the robotic arm needs to have high flexibility to ensure that it can perform complex movements to achieve different operations. This makes the mechanical structure design and automation design of the robotic arm more difficult and is not conducive to its widespread promotion. Utility Model Content

[0005] The purpose of this utility model is to provide a robot end effector, which can solve the technical problems of complex robot structure and high automation difficulty in the prior art when applied to switch cabinet operation robots. The purpose of this invention is to provide a switch cabinet operation robot to solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the technical solution of the robot end effector provided by this utility model is as follows: A robot end effector includes a mounting base and a brake opening / closing mechanism and a handcart cranking mechanism mounted on the mounting base. The handcart cranking mechanism includes a transmission rod, an adapter head at one end of the transmission rod, and a connecting seat located on one side of the mounting base. The mounting base is provided with a rotary seat drive device for driving the connecting seat to rotate relative to the mounting base, and the connecting seat is provided with a rotary rod drive device for driving the transmission rod to rotate. The rotation axis of the transmission rod is perpendicular to the rotation axis of the connecting seat. The brake opening / closing mechanism includes a levering structure that can rotate to turn a brake opening / closing knob. The rotation axis of the connecting seat is perpendicular to the rotation axis of the levering structure, so that the rotation axis of the transmission rod and the rotation axis of the levering structure are perpendicular to each other during brake opening / closing operations and parallel to each other during handcart cranking in / out operations.

[0007] As a further improvement, the mounting base is a rotary joint for connection with the end effector of the robotic arm, and the rotary joint can drive the lever mechanism to rotate when it rotates.

[0008] As a further improvement, the transmission rod includes nested guide rods and guide sleeves, which are capable of relative axial movement and circumferential transmission. One of the guide rods and guide sleeves is connected to the rotating rod drive device, and the other is connected to the adapter head. A pressure spring is sleeved on the guide rod, with one end of the pressure spring abutting against the end face of the guide sleeve and the other end fixed relative to the guide rod.

[0009] As a further improvement, the guide sleeve is provided with an axially extending guide hole, and the guide rod is provided with a pin, which is located in the guide hole and guides and cooperates with the guide hole.

[0010] As a further improvement, an automatic reset universal joint is provided between the adapter head and the transmission rod, so that the adapter head can adapt to positional deviations and be inserted into the socket during the process of inserting the adapter head into the socket on the switch cabinet.

[0011] As a further improvement, a support base is fixedly installed on the mounting base, and a levering structure is set at the end of the support base away from the mounting base. The support base is provided with clearance space, and the rotating drive device passes through the clearance space of the support base.

[0012] As a further improvement, the support base includes a mounting part and support arms located on both sides of the mounting part. The ends of the support arms are provided with protruding connecting ears, making the support base as a whole shaped like a "Z". The connecting ears are fixedly connected to the base plate by fasteners. The internal space of the support base constitutes the aforementioned clearance space. The wrench structure is connected to the mounting part.

[0013] As a further improvement, the wrench structure includes a wrench member having two grooved wrench lips, and the wrench structure also includes an adjustable pad detachably disposed inside the wrench lips.

[0014] As a further improvement, an angle converter is also provided between the mounting base and the connecting base. The input end of the angle converter is connected to the output end of the rotary table drive device, and the output end of the angle converter is connected to the connecting base.

[0015] The beneficial effects are as follows: The robot end effector provided by this utility model is an improvement on the existing technology. This robot end effector can exhibit two different states when performing brake opening / closing operations and handcart cranking operations. During brake opening / closing operations, the rotation axis of the transmission rod is perpendicular to the rotation axis of the lever structure, thus placing the lever structure at the very front of the entire robot end effector. During handcart cranking operations, the rotation axis of the transmission rod is perpendicular to the rotation axis of the lever structure, thus placing the adapter head at the very front of the entire robot end effector. In this way, the brake opening / closing mechanism and the handcart cranking mechanism do not interfere with each other during the two operations, while also ensuring that the robotic arm maintains a single posture during operation. This reduces the flexibility requirements of the robotic arm, lowers the difficulty of mechanical structure design and automation design, and facilitates widespread adoption.

[0016] To achieve the above objectives, the technical solution of the switchgear operating robot provided by this utility model is as follows: A switchgear operating robot includes a robotic arm with an end effector mounted at its end. The end effector includes a mounting base and a closing / opening mechanism and a trolley cranking mechanism mounted on the mounting base. The trolley cranking mechanism includes a transmission rod, an adapter head at one end of the transmission rod, and a connecting seat located on one side of the mounting base. A rotary seat drive device is provided on the mounting base to drive the connecting seat to rotate relative to the mounting base. A rotary rod drive device is provided on the connecting seat to drive the transmission rod to rotate. The rotation axis of the transmission rod is perpendicular to the rotation axis of the connecting seat. The closing / opening mechanism includes a levering structure that can rotate to turn a closing / opening knob. The rotation axis of the connecting seat is perpendicular to the rotation axis of the levering structure, so that the rotation axis of the transmission rod and the rotation axis of the levering structure are perpendicular to each other during closing / opening operations and parallel to each other during trolley cranking in and out operations.

[0017] As a further improvement, the mounting base is a rotary joint for connection with the end effector of the robotic arm, and the rotary joint can drive the lever mechanism to rotate when it rotates.

[0018] As a further improvement, the transmission rod includes nested guide rods and guide sleeves, which are capable of relative axial movement and circumferential transmission. One of the guide rods and guide sleeves is connected to the rotating rod drive device, and the other is connected to the adapter head. A pressure spring is sleeved on the guide rod, with one end of the pressure spring abutting against the end face of the guide sleeve and the other end fixed relative to the guide rod.

[0019] As a further improvement, the guide sleeve is provided with an axially extending guide hole, and the guide rod is provided with a pin, which is located in the guide hole and guides and cooperates with the guide hole.

[0020] As a further improvement, an automatic reset universal joint is provided between the adapter head and the transmission rod, so that the adapter head can adapt to positional deviations and be inserted into the socket during the process of inserting the adapter head into the socket on the switch cabinet.

[0021] As a further improvement, a support base is fixedly installed on the mounting base, and a levering structure is set at the end of the support base away from the mounting base. The support base is provided with clearance space, and the rotating drive device passes through the clearance space of the support base.

[0022] As a further improvement, the support base includes a mounting part and support arms located on both sides of the mounting part. The ends of the support arms are provided with protruding connecting ears, making the support base as a whole shaped like a "Z". The connecting ears are fixedly connected to the base plate by fasteners. The internal space of the support base constitutes the aforementioned clearance space. The wrench structure is connected to the mounting part.

[0023] As a further improvement, the wrench structure includes a wrench member having two grooved wrench lips, and the wrench structure also includes an adjustable pad detachably disposed inside the wrench lips.

[0024] As a further improvement, an angle converter is also provided between the mounting base and the connecting base. The input end of the angle converter is connected to the output end of the rotary table drive device, and the output end of the angle converter is connected to the connecting base.

[0025] The beneficial effects are as follows: The switchgear operating robot provided by this utility model is an improvement on the existing technology. In this switchgear operating robot, the robot's end effector can exhibit two different states when performing opening and closing operations and handcart cranking operations. During the opening and closing operation, the rotation axis of the transmission rod is perpendicular to the rotation axis of the lever structure, thereby placing the lever structure at the foremost point of the entire robot end effector. During the handcart cranking operation, the rotation axis of the transmission rod is perpendicular to the rotation axis of the lever structure, thereby placing the adapter head at the foremost point of the entire robot end effector. In this way, the opening and closing mechanism and the handcart cranking mechanism will not interfere with each other during the two operations, while also ensuring that the robotic arm has a single posture movement during the operation, reducing the flexibility requirements of the robotic arm, reducing the difficulty of mechanical structure design and automation design of the robotic arm, and facilitating widespread promotion. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the robot end effector in this utility model; Figure 2This is a schematic diagram of the mounting base in Embodiment 1 of the robot end effector of this utility model; Figure 3 This is a schematic diagram of the mounting base and connecting flange in Embodiment 1 of the robot end effector of this utility model; Figure 4 This is a schematic diagram of the opening and closing mechanism in Embodiment 1 of the robot end effector of this utility model; Figure 5 This is a schematic diagram of the handcart rocking mechanism in Embodiment 1 of the robot end effector of this utility model; Figure 6 This is a schematic diagram of the connecting seat in Embodiment 1 of the robot end effector of this utility model; Figure 7 This is a schematic diagram of the mounting base and rotary table drive device in Embodiment 1 of the robot end effector of this utility model; Figure 8 This is a schematic diagram of the connection structure between the mounting base and the connecting base in Embodiment 1 of the robot end effector of this utility model; Figure 9 This is a state diagram of the end effector during the opening and closing operation in Embodiment 1 of the robot end effector of this utility model; Figure 10 This is a schematic diagram of the switchgear tripping process in Embodiment 1 of the robot end effector of this utility model; Figure 11 This is a schematic diagram of the switchgear closing process in Embodiment 1 of the robot end effector of this utility model; Figure 12 This is a schematic diagram of the opening on the switch cabinet shell in Embodiment 1 of the robot end effector of this utility model.

[0027] Explanation of reference numerals in the attached figures: 1. Connecting flange; 2. Mounting base; 21. Base plate; 22. Side plate; 3. Support base; 31. Mounting part; 32. Support arm; 33. Connecting ear; 4. Tightening component; 5. Adjustable pad; 6. Transmission rod; 61. Guide rod; 62. Guide sleeve; 63. Pressure spring; 64. Guide elongated hole; 65. Pin; 7. Adapter head; 8. Connecting base; 9. Rotary drive device; 10. Angle converter; 11. Rotary rod drive device; 12. Automatic reset universal joint; 13. Opening. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the embodiments.

[0029] Specific Embodiment 1 of the robot end effector provided by this utility model: This robotic end effector is part of the switchgear operating robot, located at the end of the robot's robotic arm. It is used to perform opening and closing operations on the switchgear and to move the trolley in and out. During use, the two mechanisms for opening and closing the switchgear and moving the trolley in and out do not interfere with each other. Moreover, when performing these two operations, the robotic arm only changes position without changing its angle or posture. This reduces the flexibility requirements of the robotic arm and simplifies automation, making it easier for widespread application.

[0030] See appendix Figure 1 The robot end effector includes a mounting base 2 and a circuit breaker mechanism and a handcart rocking mechanism mounted on the mounting base 2. The circuit breaker mechanism is used to clamp the knob on the switch cabinet that can open and close the circuit and rotate the knob to realize the circuit breaker operation. The handcart rocking mechanism is used to insert into the switch cabinet and realize the handcart rocking in and out by rotating the corresponding structure inside the switch cabinet.

[0031] The mounting base 2 is provided with a connecting flange 1. The mounting base 2 is connected to the rotary joint at the end of the robotic arm via the connecting flange 1, and can rotate under the drive of the rotary joint. Therefore, the mounting base 2 in this embodiment constitutes a rotary base. See Appendix Figure 2 and appendix Figure 3 The mounting base 2 includes a base plate 21 and a side plate 22 arranged perpendicularly to each other in an L-shape. The connecting flange 1 is located on the side of the base plate 21 away from the side plate 22. The opening and closing mechanism and the handcart rocking mechanism are respectively arranged on the base plate 21 and the side plate 22.

[0032] The opening and closing mechanism includes a support base 3 and a levering structure mounted on the support base 3. See appendix. Figure 4 The support base 3 includes a mounting portion 31 and support arms 32 located on both sides of the mounting portion 31. The ends of the support arms 32 are provided with protruding connecting ears 33, making the support base 3 as a whole zigzag shape. The connecting ears 33 are fixedly connected to the substrate 21 by bolts. The support base 3 is located at the center of the substrate 21, so that the rotation axis of the support base 3 coincides with the center line of its shape.

[0033] The lever structure includes a lever component 4, which is U-shaped and has two lever lips. The two lever lips form a groove structure. When in use, the switchgear is positioned between the two lever lips, and then the lever structure is rotated to drive the switchgear to rotate, thereby completing the switchgear operation.

[0034] The wrench lip of the wrench 4 faces away from the support base 3, and the wrench 4 is fixed to the mounting part 31 of the support base 3 by bolt fasteners. Adjustable shims 5 are provided on the inner sides of the two wrench lips of the wrench 4. The adjustable shims 5 are detachably connected to the wrench lips by bolt fasteners. In use, the distance between the two adjustable shims 5 can be adjusted by replacing the adjustable shims 5 with different thicknesses, thereby accommodating the knobs of different thicknesses.

[0035] See appendix Figure 1 and in conjunction with the appendix Figure 5 and attached Figure 6 The handcart rocking mechanism includes a transmission rod 6, an adapter head 7 located at one end of the transmission rod 6, and a connecting seat 8 located on one side of the mounting base 2 and capable of rotating relative to the mounting base 2. The mounting base 2 is provided with a rotating seat drive device 9 that drives the connecting seat 8 to rotate. The rotating seat drive device 9 is specifically a stepper motor. The rotation axis of the connecting seat 8 is perpendicular to the rotation axis of the mounting base 2.

[0036] See appendix Figure 7 The rotary drive device 9 is fixed to the side plate 22 near the base plate 21, and the main body of the rotary drive device 9 is located inside the support base 3. The internal space of the support base 3 forms a clearance space to accommodate the rotary drive device 9. This arrangement makes the overall structure more compact. See Appendix Figure 8 An angle converter 10 is disposed between the side plate 22 away from the base plate 21 and the connecting seat 8. The input end of the angle converter 10 is connected to the output end of the rotary seat drive device 9, and the output end of the angle converter 10 is connected to the connecting seat 8. The principle and function of the angle converter 10 are similar to those of a speed reducer. By using the angle converter 10, the rotational speed can be reduced and the torque increased during transmission, thereby improving the accuracy of operation and reducing the power requirements of the rotary seat drive device 9.

[0037] In other embodiments, the angle converter 10 can be replaced with a reducer. If the control accuracy of the rotary drive device 9 is sufficient and the output power is sufficient, the angle converter 10 can be omitted, and the output end of the rotary drive device 9 can be directly connected to the connecting base 8.

[0038] See appendix Figure 5 The connecting seat 8 is provided with a rotary rod drive device 11 for driving the transmission rod 6 to rotate. The rotary rod drive device 11 is specifically a servo motor. The output end of the rotary rod drive device 11 can be directly connected to the transmission rod 6, or it can be connected to the transmission rod through the angle converter 10 or the reducer.

[0039] The transmission rod 6 includes a nested guide rod 61 and a guide sleeve 62, which are capable of axial movement and circumferential transmission. In this embodiment, the end of the guide rod 61 furthest from the guide sleeve 62 is connected to the output end of the rotary rod drive device 11, while the adapter head 7 is connected to the end of the guide sleeve 62 furthest from the guide rod 61. In other embodiments, the positions of the guide rod 61 and the guide sleeve 62 can be interchanged.

[0040] A pressure spring 63 is fitted onto the guide rod 61. One end of the pressure spring 63 is pressed against the end face of the guide sleeve 62, and the other end is fixed relative to the guide rod 61. In this embodiment, the end of the pressure spring 63 away from the guide sleeve 62 is pressed against the output end of the rotating rod drive device 11. In other embodiments, a stop protrusion can be welded onto the guide rod 61, and then the end of the pressure spring 63 away from the guide sleeve 62 is pressed against the stop protrusion, or the end of the pressure spring 63 away from the guide sleeve 62 can be directly welded and fixed to the guide rod 61.

[0041] The adapter 7 has an external hexagonal structure, while the input end of the corresponding operated structure in the switchgear has an internal hexagonal recess. During operation, the external hexagonal structure on the adapter 7 needs to be inserted into the internal hexagonal recess in the switchgear. In different switchgears, the input end structure of the operated mechanism is different, so the adapter 7 can also have other transmission adapter shapes, such as a square prism structure, an internal hexagonal structure, or an internal square hole structure, which will not be elaborated further.

[0042] Since the structure being operated is located inside the switch cabinet, the switch cabinet operating robot cannot accurately determine whether the adapter head 7 has been fully inserted. If it is not fully inserted, the adapter head 7 may detach from the structure being operated during rotation. If it is over-inserted, the structure being operated may be subjected to excessive force and damaged. However, by setting the transmission rod 6 as described above, the adapter head 7 can be over-inserted into the internal hexagonal recess each time, ensuring that the adapter head 7 is fully inserted. At the same time, the excess insertion amount is absorbed by the relative movement of the guide rod 61 and the guide sleeve 62, preventing damage to the structure being operated.

[0043] In this embodiment, both the guide rod 61 and the guide sleeve 62 have circular cross-sectional shapes. A guide elongated hole 64 extending axially is provided on the side wall of the guide sleeve 62. A radially extending pin 65 is provided on the guide rod 61, located in the guide elongated hole 64 and guidingly engaging with it, thereby achieving axial guidance and circumferential transmission of the guide rod 61 and the guide sleeve 62. In other embodiments, the guide rod 61 and the guide sleeve 62 can also be configured with non-circular cross-sections, such as square or regular hexagonal cross-sections, which can also achieve the effect of axial guidance and circumferential transmission.

[0044] An automatic reset universal joint 12 is provided between the adapter head 7 and the end of the guide sleeve 62 away from the guide rod 61. Under no external force, the adapter head 7 and the guide sleeve 62 are coaxial. However, under any radial external force, the adapter head 7 can wobble relative to the guide sleeve 62. After the radial external force is removed, the adapter head 7 automatically resets to a coaxial state with the guide sleeve 62. The automatic reset universal joint 12 is prior art, for example, the same structure disclosed in Chinese Utility Model Patent No. CN219472596U, and the flexible coupling disclosed in Chinese Invention Patent Application No. CN120749575A.

[0045] The operated structure used to control the trolley's movement in and out of the switchgear is located inside the switchgear's outer shell. The switchgear shell has openings corresponding to the internal hexagonal slots of these operated structures. During operation, the adapter 7 must first pass through these openings into the switchgear shell before being inserted into the internal hexagonal slots of the operated structure. Due to manufacturing and assembly errors, the internal hexagonal slots and the openings on the switchgear shell are often difficult to align precisely. In manual operation, the operator can adjust the insertion angle of the operating lever by feel to smoothly complete the trolley's movement. However, when the switchgear is operated by a robot, visual sensors such as vision cameras cannot capture images of the inside of the switchgear, thus making inaccurate judgments.

[0046] However, by setting an automatic reset universal joint 12, when there is a slight positional deviation between the adapter head 7 and the internal hexagonal groove on the operated structure, after the adapter head 7 touches the operated structure, the operated structure will exert a reaction force on the adapter head 7, thereby forcing the adapter head 7 to undergo adaptive yaw, and finally allowing the adapter head 7 to smoothly enter the internal hexagonal groove, thus solving the jamming problem during robot operation.

[0047] When opening or closing the circuit breaker is required, the rotary seat drive device 9 drives the connecting seat 8 to rotate, so that the rotation axis of the transmission rod 6 is perpendicular to the rotation axis of the lever structure, presenting a... Figure 9 In the state shown, the lever mechanism is located at the very front of the robot's end effector. Then, by rotating and moving the lever mechanism, it is aligned with the brake control knob. Next, the lever mechanism is moved forward, allowing the brake control knob to enter between the two lever lips. Finally, by rotating the lever mechanism, the brake control knob is turned, thus achieving the brake opening and closing operation. Figure 10 As shown, turning the opening / closing knob counterclockwise on the lever mechanism can open the circuit breaker; as... Figure 11 As shown, turning the switch knob clockwise on the lever structure will close the circuit.

[0048] When the handcart needs to be cranked in and out, the rotating seat drive device 9 is first used to drive the connecting seat 8 to rotate, so that the rotation axis of the transmission rod 6 is parallel to the rotation axis of the lever-tightening structure, forming a... Figure 1 In the state shown, the adapter head 7 is located at the very front of the entire robot end effector. Then, by moving the robot end effector, the adapter head 7 is aligned with the opening on the switch cabinet housing shown in the figure. Afterward, the robot end effector moves forward, inserting the adapter head 7 into the opening. Figure 12 Continue inserting the adapter 7 into the opening 13 on the switch cabinet housing, until it is finally inserted into the internal hexagonal slot of the input end of the operated structure. Finally, rotate the adapter 7 to realize the rocking-in and rocking-out operation of the handcart.

[0049] Whether performing opening and closing operations or rocking the handcart in and out, the robot's end effector must ultimately move forward in the same posture. The robotic arm does not need to undergo complex angle and posture changes, thus requiring lower flexibility and reducing the difficulty of mechanical structure design and automation design.

[0050] Specific Embodiment 2 of the robot end effector provided by this utility model: This embodiment is based on Embodiment 1, but differs in that a rotary joint is provided between the lever and the support base in this embodiment, and the rotation axis of the rotary joint is perpendicular to the rotation axis of the connecting base. When opening or closing the circuit breaker is required, the rotary joint between the lever and the support base can be used to drive the lever to rotate. In this way, the handcart cranking mechanism does not need to rotate during the opening or closing operation, and there is no need to specially set a rotary joint at the end of the robotic arm.

[0051] Specific embodiment 3 of the robot end effector provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the wrench structure in this embodiment is an electric clamp. The two sides of the jaws of the electric clamp form the wrench lips. The electric clamp can adaptively adjust the spacing of the wrench lips to adapt to the opening and closing knobs of different thicknesses, thereby improving the ease of operation.

[0052] Specific embodiment 4 of the robot end effector provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the transmission rod in this embodiment is a single rod of fixed length. In order to ensure that the adapter can be inserted to the bottom, a pressure sensor is provided at the end of the adapter in this embodiment. When the adapter is inserted to the bottom, the pressure value detected by the pressure sensor will rise sharply.

[0053] Specific embodiment 5 of the robot end effector provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the adapter head and the guide sleeve are coaxially fixedly connected. In order to accommodate some manufacturing or assembly errors, the cross-sectional size of the adapter head can be appropriately reduced, and the gap between the adapter head and the internal hexagonal groove on the operated structure can be increased without affecting the transmission of the adapter head.

[0054] Specific embodiment 6 of the robot end effector provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the support base is not set at the center of the substrate, but at the edge of the substrate and is offset from the rotating base drive device. This avoids the problem of cross-interference between the support base and the rotating base drive device.

[0055] However, since the support base is not located at the center of the substrate, the twisting structure cannot be rotated by rotating the mounting base in this embodiment. In this embodiment, a rotary joint can be set between the twisting structure and the support base or between the support base and the mounting base, so as to drive the twisting structure to rotate independently or drive the twisting structure and the support base to rotate together.

[0056] Specific embodiment 7 of the robot end effector provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the support base in this embodiment is a rectangular frame structure. The central space of the rectangular frame constitutes a clearance space. The two opposite sides of the rectangular frame are connected to the base plate and the wrench component respectively by bolt fasteners.

[0057] Specific implementation method of the switch cabinet operation robot provided by this utility model: The switchgear operating robot includes a robotic arm and an end effector installed at the end of the robotic arm. The end effector is the robot end effector in the specific embodiment of the robot end effector described above, and will not be described again.

[0058] Finally, it should be noted that the above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robot end effector, comprising a mounting base and a brake opening / closing mechanism and a handcart cranking mechanism disposed on the mounting base, characterized in that, The handcart cranking mechanism includes a transmission rod, an adapter head at one end of the transmission rod, and a connecting seat located on one side of the mounting base. The mounting base is equipped with a rotary seat drive device that drives the connecting seat to rotate relative to the mounting base. The connecting seat is equipped with a rotary rod drive device that drives the transmission rod to rotate. The rotation axis of the transmission rod is perpendicular to the rotation axis of the connecting seat. The opening and closing mechanism includes a levering structure that can rotate to turn the opening and closing knob. The rotation axis of the connecting seat is perpendicular to the rotation axis of the levering structure, so that the rotation axis of the transmission rod and the rotation axis of the levering structure are perpendicular to each other during the opening and closing operation and parallel to each other during the handcart cranking in and out operation.

2. The robot end effector according to claim 1, characterized in that, The mounting base is a rotary joint for connecting to the end of the robotic arm. The rotary base can drive the lever mechanism to rotate when it rotates.

3. The robot end effector according to claim 1 or 2, characterized in that, The transmission rod includes nested guide rods and guide sleeves. The guide rods and guide sleeves can move axially relative to each other and are circumferentially driven. One of the guide rods and guide sleeves is connected to the rotating rod drive device, and the other is connected to the adapter head. A pressure spring is sleeved on the guide rod. One end of the pressure spring abuts against the end face of the guide sleeve, and the other end is fixed relative to the guide rod.

4. The robot end effector according to claim 3, characterized in that, The guide sleeve is provided with an axially extending guide hole, and the guide rod is provided with a pin, which is located in the guide hole and guides and cooperates with the guide hole.

5. The robot end effector according to claim 1 or 2, characterized in that, An automatic reset universal joint is installed between the adapter head and the transmission rod so that the adapter head can adapt to positional deviations and be inserted into the socket during the process of inserting the adapter head into the socket on the switch cabinet.

6. The robot end effector according to claim 1 or 2, characterized in that, A support base is fixedly installed on the mounting base. The levering structure is located at the end of the support base away from the mounting base. The support base has clearance space, and the rotating drive device passes through the clearance space of the support base.

7. The robot end effector according to claim 6, characterized in that, The support base includes a mounting part and support arms located on both sides of the mounting part. The ends of the support arms are provided with protruding connecting ears, making the support base as a whole shaped like a "Z". The connecting ears are fixedly connected to the base plate by fasteners. The internal space of the support base constitutes the aforementioned clearance space. The levering structure is connected to the mounting part.

8. The robot end effector according to claim 1 or 2, characterized in that, The wrench structure includes a wrench member having two grooved wrench lips, and the wrench structure also includes an adjustable pad detachably disposed inside the wrench lips.

9. The robot end effector according to claim 1 or 2, characterized in that, An angle converter is also provided between the mounting base and the connecting base. The input end of the angle converter is connected to the output end of the rotary table drive device, and the output end of the angle converter is connected to the connecting base.

10. A switchgear operating robot, comprising a robotic arm, characterized in that, The robotic arm is equipped with a robot end effector as described in any one of claims 1-9.

Images