Flexible load switching mechanical hand for distribution box

Abstract

The utility model belongs to the field of distribution box automation operation equipment, concretely relates to a flexible load switching mechanical hand for distribution box. The utility model discloses the base fixedly arranged in distribution box and at least one mechanical arm of setting on the base, mechanical arm includes fixedly arranged on the base support chain mounting bracket, parallel branch chain of rotary mounting on support chain mounting bracket, the end dynamic platform of installation in parallel branch chain output end and the flexible clamping assembly of installation on the end dynamic platform through the joint assembly. Through the synchronous telescopic cooperation angle adjusting assembly of control left pneumatic artificial muscle and right pneumatic artificial muscle, the end dynamic platform is lifted and moved in vertical direction, through the differential telescopic of control left pneumatic artificial muscle and right pneumatic artificial muscle, the end dynamic platform is deflected in the horizontal plane and is fine tuned, thereby realizes the accurate removal and replacement action of distribution box inner spare part, and the operation flexibility is far more than traditional motor drive mechanical arm, and the adaptability is stronger.

Description

Technical Field

[0001] This utility model belongs to the technical field of automated operation equipment for distribution boxes, specifically relating to a flexible load switching robot for distribution boxes. Background Technology

[0002] With the intelligent upgrading of power systems, distribution boxes, as the core unit of power distribution and control, have increasingly higher requirements for the safety and automation of their internal load switching operations (such as fuse replacement and switch on / off). Traditional distribution box operations mainly rely on manual labor or rigid robotic arms: manual operation requires power outages, which not only affects the continuity of power supply but also poses a risk of electric shock in high-voltage scenarios; while rigid robotic arms can achieve automation, they are limited by their drive methods and structural designs, making them difficult to adapt to the narrow, flammable, and explosive special environments of distribution boxes.

[0003] Among existing related technologies, the most representative is the "purely motor-driven distribution box operating robot." This technology uses multiple servo motors to drive a multi-joint tandem robotic arm, transmitting power through a gear reduction mechanism. The gripping end is a carbide clamp, aiming to automate the operation of fuses and switches. However, this technology has significant drawbacks: 1) The servo motors and gear mechanism are heavy, resulting in poor mobility in the confined environment of the distribution box and susceptibility to interference with internal components. 2) The joints are rigidly driven, lacking compliant adjustment capabilities. If the positioning is off, rigid collisions with switches and fuses can easily occur, leading to component damage (such as fuse breakage or switch contact deformation). 3) The lack of force feedback and real-time fine-tuning mechanisms makes it difficult to adapt to the differences in insertion and removal resistance of different fuse specifications, resulting in low operational accuracy.

[0004] In addition, existing technologies generally suffer from low human-machine collaboration efficiency: the robotic arm's movements rely on preset programs, and when the position of components inside the distribution box shifts, the program needs to be repeatedly adjusted, which cannot be corrected by the operator in real time, resulting in low operating efficiency. Furthermore, the clamping end is mostly a fixed structure, which cannot be compatible with different types of fuses and switches, resulting in poor versatility. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies, such as poor safety in flammable and explosive environments, easily damaged rigid components, and insufficient flexibility in confined spaces. It provides a flexible load-switching robot for distribution boxes that is based on pneumatic artificial muscle drive, has compliant force control, high flexibility, high versatility, and easy replacement of damaged components.

[0006] The technical solution adopted by this utility model to solve its technical problem is: a flexible load switching robot for a distribution box, comprising: a base fixedly disposed in the distribution box and at least one robotic arm disposed on the base;

[0007] The robotic arm includes a branch mounting frame fixedly mounted on a base, a parallel branch mounted rotatably on the branch mounting frame, an end effector mounted on the output end of the parallel branch, and a flexible clamping assembly mounted on the end effector via a snap-fit ​​assembly.

[0008] The parallel branch includes a first pneumatic artificial muscle group rotatably mounted on the branch mounting frame via a first angle adjustment component, and a second pneumatic artificial muscle group rotatably connected to the first pneumatic artificial muscle group via a second angle adjustment component.

[0009] Specifically, the vertical lifting and lowering motion of the end effector platform is achieved by controlling the synchronous extension and contraction of the left and right pneumatic artificial muscles; and the horizontal deflection fine adjustment of the end effector platform is achieved by controlling the differential extension and contraction of the left and right pneumatic artificial muscles.

[0010] Furthermore, the first angle adjustment assembly includes a first angle adjustment motor mounted on the support bracket and a first rotating shaft coaxially arranged with the output shaft of the first angle adjustment motor; the head end of the first pneumatic artificial muscle is fixedly arranged with the first rotating shaft;

[0011] The second angle adjustment assembly includes a second angle adjustment motor installed at the end of the first pneumatic artificial muscle and a second rotating shaft coaxially arranged with the output shaft of the second angle adjustment motor; the head end of the second pneumatic artificial muscle is fixedly arranged with the second rotating shaft.

[0012] Furthermore, the pneumatic artificial muscle is a woven pneumatic artificial muscle.

[0013] Furthermore, a human-computer interaction control mechanism is also provided; the human-computer interaction control mechanism includes:

[0014] Controller, with built-in control motherboard;

[0015] A touchscreen, connected to the controller, is used for parameter setting and status display;

[0016] Control buttons are located on the controller and are connected to the control motherboard via signals.

[0017] A wireless handle, connected to the controller, is used for remote control of the parallel mechanism and the flexible clamping assembly;

[0018] A torque sensor, located at the second rotating hinge, is used to detect the output torque of the parallel branch in real time and feed it back to the controller.

[0019] Furthermore, it also includes a gas supply and control system; the gas supply and control system includes:

[0020] Gas storage tanks are installed inside or outside the distribution box and are connected to external gas supply pipelines.

[0021] A pneumatic control valve assembly, connected to the controller via a signal, is used to control the airflow to each pneumatic artificial muscle.

[0022] Furthermore, the pneumatic control valve assembly includes at least:

[0023] The main air source on / off valve is installed on the output air path of the external air source;

[0024] A pressure regulating valve is installed in the air line between the air storage tank and the external air source, and is signal-connected to the human-machine interface control mechanism to set and maintain the system working pressure.

[0025] Multiple independent solenoid valves are respectively connected to the left and right pneumatic artificial muscles; used to control the movement of the first artificial muscle group and the second pneumatic artificial muscle group.

[0026] Furthermore, the base includes a base plate, a plurality of fixing holes formed on the base plate, a mounting plate mounted on the base plate, and an adjustment elongated hole arranged radially along the mounting plate;

[0027] The branch mounting bracket is secured by fasteners that pass through the adjustment elongated hole.

[0028] Furthermore, the flexible clamping assembly includes a clamping seat that mates with the snap-fit ​​assembly and flexible grippers mounted on the clamping seat;

[0029] The flexible gripper has a three-jaw structure, and the gripping surface of the flexible gripper is a micro-suction cup array.

[0030] Furthermore, the snap-fit ​​assembly includes a mounting hole formed at the center of the end moving platform and a snap-fit ​​groove disposed on the clamping seat to engage with the mounting hole.

[0031] Furthermore, the human-machine interaction control mechanism also includes an alarm module. When the torque value detected by the torque sensor exceeds a preset safety threshold, the controller triggers the alarm module to issue an audible and visual alarm and controls the pneumatic system to stop supplying air.

[0032] The beneficial effects of this utility model of a flexible load switching robot for a distribution box are:

[0033] This invention employs a parallel chain consisting of pneumatic artificial muscles and motors to replace the traditional pure motor drive, reducing the number of motors used and minimizing the risk of electrical sparks during motor operation, thus meeting the safety regulations for power scenarios. By controlling the synchronous extension and retraction of the left and right pneumatic artificial muscles and the coordination of the angle adjustment components, the end effector platform can move vertically. By controlling the differential extension and retraction of the left and right pneumatic artificial muscles, the end effector platform can be finely adjusted in the horizontal plane, enabling precise removal and replacement of components within the distribution box. Furthermore, the pneumatic artificial muscles, combined with a thin and lightweight fixed base and a smaller end effector platform, significantly reduce the overall weight of the robotic arm. This eliminates any interference risk when moving within the narrow interior space of the distribution box, providing far greater operational flexibility than traditional motor-driven robotic arms and offering stronger adaptability.

[0034] The pneumatic artificial muscle of this invention eliminates easily worn transmission components such as gears and bearings, significantly reducing the failure rate of the device, extending its service life, and minimizing downtime. Furthermore, the parallel chain adopts a modular design, allowing for individual disassembly and replacement of any faulty component when a branch or pneumatic artificial muscle malfunctions, without disassembling the entire device. This simplifies the maintenance process, reduces time and economic costs, and improves the cost-effectiveness of the device.

[0035] This invention integrates a torque sensor in the parallel branch, which can provide real-time and accurate feedback on the force value during operation. When the detected force value exceeds the preset safety range, the main control board will immediately send a command to the pneumatic control module to adjust the air pressure of the pneumatic artificial muscle, thereby reducing the operating force and effectively avoiding problems such as fuse breakage or switch contact deformation caused by excessive force. Attached Figure Description

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0037] Figure 1 This is a schematic diagram of the structure of the robotic arm in an embodiment of this utility model.

[0038] Figure 2 This is a partial structural schematic diagram of the robotic arm in an embodiment of this utility model.

[0039] Figure 3 yes Figure 2 Another perspective view.

[0040] Figure 4 This is a detailed view of the second pneumatic artificial muscle assembly in an embodiment of this utility model.

[0041] Figure 5 This is a schematic diagram of the flexible clamping component in an embodiment of this utility model.

[0042] Figure 6 This is a structural block diagram of the human-computer interaction control mechanism in an embodiment of this utility model.

[0043] Figure 7 This is a control block diagram of the gas supply and control system in an embodiment of this utility model.

[0044] In the diagram: 1. Base; 11. Base plate; 12. Fixing hole; 13. Mounting plate; 14. Adjustment elongated hole; 2. Robotic arm; 21. Branch mounting frame; 22. Parallel branch; 221. First pneumatic artificial muscle assembly; 222. Second pneumatic artificial muscle assembly; 2211. Left pneumatic artificial muscle; 2212. Right pneumatic artificial muscle; 223. First angle adjustment component; 224. Second angle adjustment component; 23. End-effector platform; 25. Flexible clamping assembly, 251, clamping base, 252, flexible gripper, 2521, miniature suction cup array, 26, snap-fit ​​assembly, 3, human-machine interaction control mechanism, 31, controller, 32, touch screen, 33, control button, 34, wireless handle, 35, torque sensor, 4, air supply and control system, 41, air tank, 42, pneumatic control valve assembly, 421, main air supply on / off valve, 422, air pressure regulating valve, 423, solenoid valve. Detailed Implementation

[0045] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0046] like Figures 1-7 The present invention provides a specific embodiment of a flexible load switching robot for a distribution box, comprising a base 1 fixedly disposed within the distribution box and at least one robotic arm 2 disposed on the base 1. This embodiment uses two robotic arms 2 as an example.

[0047] To further explain, such as Figure 3 and Figure 4As shown, in this embodiment, the robotic arm 2 includes a branch mounting frame 21 fixedly mounted on the base 1, a parallel branch 22 rotatably mounted on the branch mounting frame 21, an end effector platform 23 mounted on the output end of the parallel branch 22, and a flexible clamping assembly 25 mounted on the end effector platform 23 via a snap-fit ​​assembly (6). The parallel branch 22 includes a first pneumatic artificial muscle assembly 221 rotatably mounted on the branch mounting frame 21 via a first angle adjustment assembly 223, and a second pneumatic artificial muscle assembly 221 rotatably connected to the first pneumatic artificial muscle assembly 221 via a second angle adjustment assembly 224. 22. Both the first pneumatic artificial muscle group 221 and the second pneumatic artificial muscle group 222 include a left pneumatic artificial muscle 2211 and a right pneumatic artificial muscle 2212, which are arranged in parallel and controlled independently. During use, the vertical lifting and lowering movement of the end effector platform 23 is achieved by controlling the synchronous extension and contraction of the left pneumatic artificial muscle 2211 and the right pneumatic artificial muscle 2212; the horizontal deflection fine adjustment of the end effector platform 23 is achieved by controlling the differential extension and contraction of the left pneumatic artificial muscle 2211 and the right pneumatic artificial muscle 2212. In this embodiment, the pneumatic artificial muscle is a woven type.

[0048] In this embodiment, the first angle adjustment component 223 includes a first angle adjustment motor mounted on the support bracket 21 and a first rotating shaft coaxially arranged with the output shaft of the first angle adjustment motor; the proximal end of the first pneumatic artificial muscle is fixedly arranged with the first rotating shaft. The second angle adjustment component 224 includes a second angle adjustment motor mounted on the end of the first pneumatic artificial muscle 221 and a second rotating shaft coaxially arranged with the output shaft of the second angle adjustment motor; the proximal end of the second pneumatic artificial muscle is fixedly arranged with the second rotating shaft.

[0049] In this embodiment, a parallel chain consisting of pneumatic artificial muscles and motors is used instead of the traditional pure motor drive, reducing the number of motors used and minimizing the risk of electrical sparks during motor operation, thus meeting the safety requirements of power scenarios. Furthermore, the pneumatic artificial muscles, combined with the thin and light-designed fixed base 1 and the smaller end effector platform 23, significantly reduce the overall weight of the robotic arm. This allows for movement within the confined space of the distribution box without any interference risk, providing far greater operational flexibility than traditional motor-driven robotic arms and offering stronger adaptability.

[0050] like Figure 3As shown, this embodiment includes a base plate 11, several fixing holes 12 formed on the base plate 11, a mounting plate 13 mounted on the base plate 11, and adjusting elongated holes 14 arranged radially along the mounting plate 13; the branch mounting bracket 21 is fixed by fasteners passing through the adjusting elongated holes 14. In this embodiment, the base plate 11 is made of a thin and strong metal material. As a preferred embodiment, the specific assembly process is as follows: Four fixing holes 12 are pre-formed at the four corners of the base plate 11. The diameter of these fixing holes 12 matches the bolt specifications of the pre-set mounting positions on the inner wall of the distribution box. Four sets of matching bolts are selected, and the bolts are passed through the fixing holes 12 of the base plate 11, aligned with the mounting holes on the inner wall of the distribution box, and tightened to ensure that the base plate 11 is tightly fitted to the inner wall of the distribution box. During installation, special attention should be paid to ensure that the branch mounting brackets 21 on both sides of the upper surface of the base 1 face the direction to be operated, laying the foundation for the subsequent installation of the parallel branch 22 and power transmission.

[0051] Before installing the robotic arm 2, the matching of the robotic arm 2 with the internal space of the distribution box is first determined. If the width of the internal space of the distribution box does not match the initial spacing of the two sets of parallel branches 22, it is adjusted through the adjustment elongated hole 14 on the mounting plate 13: first, use a wrench to loosen the fixing bolt in the adjustment elongated hole 14, hold the branch mounting frame 21 with both hands, and slowly move it along the length direction of the adjustment elongated hole 14 until the spacing of the two sets of branch mounting frames 21 is such that the parallel branches 22 do not interfere with the inner wall of the distribution box when they move. Then, use a wrench to tighten the fixing bolt again to complete the installation and spacing calibration of the branch mounting frame 21 and the base 1.

[0052] In a preferred embodiment, the first pneumatic artificial muscle group 221 is angled via the first angle adjustment component 223 and the branch mounting frame 21; the first pneumatic artificial muscle group 221 and the second pneumatic artificial muscle group 222 are angled via the second angle adjustment component 224. Simultaneously, in conjunction with the extension and retraction of the first pneumatic artificial muscle group 221 and the second pneumatic artificial muscle group 222, the extension and retraction motion of the artificial muscle is converted into the vertical upward motion of the end effector platform 23 and the left and right fine adjustment on the horizontal plane.

[0053] It should be understood that, see Figure 6As shown, the robotic arm in this embodiment is also equipped with a human-machine interaction control mechanism 3. The human-machine interaction control mechanism 3 includes: a controller 31, a touch screen 32, control buttons 33, a wireless handle 34, and a torque sensor 35. The controller 31 has a built-in control motherboard, and the touch screen 32 is connected to the controller 31 for parameter setting and status display. The control buttons 33 are located on the controller 31 and are connected to the control motherboard. The wireless handle 34 is connected to the controller 31 and is used for remote control of the parallel mechanism and the flexible clamping assembly 25. The torque sensor 35 is located at the second rotating hinge 224 and is used to detect the output torque of the parallel branch 22 in real time and feed it back to the controller 31. The human-machine interaction control mechanism 3 of this application supports dual-mode operation of the touch screen and the wireless handle 34, allowing operators to choose the appropriate control method according to their actual work scenario and operating habits. In particular, the design of the wireless handle 34 enables real-time fine-tuning of the platform's movements. When the position of components inside the distribution box is found to be off, the deviation can be quickly corrected by the handle without repeatedly debugging the preset program. This greatly improves the efficiency of human-machine collaboration, shortens the overall time of a single operation, and reduces the complexity of operation, allowing even non-professionals to get started quickly.

[0054] See Figure 7 In this embodiment, the robotic arm is also equipped with an air supply and control system 4, including an air tank 41 and a pneumatic control valve group 42. The air tank 41 is located inside or outside the distribution box and is connected to the external air supply pipeline. The pneumatic control valve group 42 is signal-connected to the controller 31 and is used to control the airflow to each pneumatic artificial muscle. Specifically, the pneumatic control valve group 42 includes at least: a main air supply on / off valve 421, a pressure regulating valve 422, and multiple independent solenoid valves 423. The main air supply on / off valve 421 is located on the output air path of the external air source. The pressure regulating valve 422 is located on the air path between the air tank 41 and the external air source and is signal-connected to the human-machine interaction control mechanism 3 to set and maintain the system working pressure. The multiple independent solenoid valves 423 are respectively connected to the left pneumatic artificial muscle 2211 and the right pneumatic artificial muscle 2212 to control the movement of the first artificial muscle group and the second pneumatic artificial muscle group 222. A solenoid valve 423 controls the airflow of the corresponding left pneumatic artificial muscle 2211 and right pneumatic artificial muscle 2212 in a group of artificial muscles.

[0055] The flexible clamping assembly 25 includes a clamping base 251 that mates with the snap-fit ​​assembly 26 and flexible grippers 252 mounted on the clamping base 251. The flexible grippers 252 have a three-jaw structure, and their clamping surface is a miniature suction cup array 2521. The flexible grippers 252 include a multi-segment adaptive gripper body and a miniature suction cup array 2521 disposed on the three-jaw clamping surface. The three-jaw structure is adaptable to load components of different shapes, such as round and square, and the miniature suction cup array 2521 enhances the clamping stability on smooth or rough surfaces. It can adapt to most common models of fuses and switches on the market, eliminating the need to customize special clamps for each specification, greatly improving the versatility of the device, significantly reducing the preparation time before operation, and improving overall work efficiency.

[0056] The flexible clamping assembly also includes a micro pneumatic tendon, a temperature sensing module, and a micro pressure sensor; the snap-fit ​​base is adapted to the mounting hole in the snap-fit ​​assembly 26 of the end moving platform 3, and the outer side of the base has a slot corresponding to the elastic snap-fit ​​protrusion, with a micro air channel reserved inside, which is connected to the air passage interface; the multi-segment adaptive gripper body is made of shape memory polymer and carbon fiber composite, and is symmetrically distributed in three segments. The inner side of the gripper integrates a bionic micro suction cup array, and the micro pneumatic tendon is embedded inside the gripper body, with its two ends connected to the snap-fit ​​base and the end of the gripper segments, respectively; the temperature sensing module is attached to the outer wall of the gripper body, and the micro pressure sensor is embedded between the bionic micro suction cups, all of which are connected to the signal interface through wires.

[0057] like Figure 5 As shown, the flexible gripping assembly in this embodiment integrates micro pneumatic tendons, a temperature sensing module, and a micro pressure sensor, achieving a comprehensive improvement in the safety, adaptability, and state awareness of gripping operations. The micro pneumatic tendons provide gentle and precise driving power to the grippers, combined with a multi-segment adaptive gripper body made of shape memory polymer and carbon fiber composite material and an inner biomimetic micro-suction cup array, enabling it to stably grip parts with different shapes and surfaces, from smooth to rough, and from round to square, making it highly versatile. At the same time, the temperature sensing module can monitor abnormal temperature rises in the operating environment in real time to prevent overheating risks, while the micro pressure sensor can accurately sense the gripping force and contact state. Through closed-loop feedback with the control system, it effectively avoids slippage caused by insufficient gripping force or damage to parts caused by excessive force, thereby achieving safe, reliable, and precise gripping operations in complex and ever-changing electrical distribution box environments.

[0058] Furthermore, as a preferred embodiment, the edge of the end-effector 23 in this embodiment is also provided with a flexible buffer component. Combined with the flexible gripper 252, this further enhances the flexibility during operation, completely avoiding damage to components from rigid collisions. It also better adapts to the differences in operating resistance of components of different specifications, improving operational compatibility. The flexible buffer component can be a ring-shaped polyurethane foam or a metal spring-rubber composite structure. The metal spring-rubber composite structure includes a stainless steel spring and a rubber sleeve encasing the spring. Both ends of the spring are fixedly connected to the end-effector 23 and the rubber sleeve, respectively, to balance buffering effect and structural strength.

[0059] In a preferred embodiment, the human-machine interaction control mechanism 3 further includes an alarm module. When the torque value detected by the torque sensor 35 exceeds a preset safety threshold, the controller 31 triggers the alarm module to issue an audible and visual alarm and controls the pneumatic system to stop supplying air.

[0060] The following describes the process of removing and inserting a fuse, taking the replacement of a fuse in a distribution cabinet as an example. Specifically:

[0061] Open the main air supply on / off valve 421 located on the external air source, slowly rotate the adjustment knob of the air pressure regulating valve 422, and observe the change of the pressure gauge pointer on the air storage tank 41 to adjust the air pressure to the preset working range of the device. After adjustment, keep the air source open and observe whether there is any air leakage at each air pipe joint. If air bubbles or pressure drop are found, the air pipe joints need to be tightened again. Turn on the power switch of the controller 31 in the human-machine interaction control mechanism 3. The touch screen lights up and enters the "standby" interface. At this time, the torque sensor 35 integrated between the pneumatic artificial muscle and the second rotating hinge 224 in the parallel branch 22 will automatically perform zero-point calibration. After calibration, the value of the torque sensor 35 displayed on the touch screen returns to 0, indicating that the pneumatic drive and control links are in normal condition.

[0062] The operator clicks the "Start" icon on the touchscreen, and the controller 31 sends an initial control signal to the solenoid valve 423 in the air supply and control system 4: if the end-effector 23 needs to rise vertically, the controller 31 controls the solenoid valve 423 to switch the airflow, causing the first pneumatic artificial muscle assembly 221 to be supplied with compressed air and begin to extend, while the second pneumatic artificial muscle assembly 222 expels internal air and gradually contracts. During this process, the first angle adjustment component 223 and the second angle adjustment component 224 serve to adapt the angle. Those skilled in the art should be able to adjust the angle according to this application and existing technology; therefore, the specific adjustment process of the first angle adjustment component 223 and the second angle adjustment component 224 will not be described in detail here.

[0063] When the end-effector platform 23 rises to a height close to the fuse, the operator can make fine adjustments using the directional keys on the wireless handle 34. If the gripper is observed to deviate from the center of the fuse, press the "left" or "right" directional key on the wireless handle 34. The controller 31 adjusts the airflow of the solenoid valve 423 according to the key signal. For example, when the "left" key is pressed, the corresponding solenoid valve 423 on the right controls the airflow of the right pneumatic artificial muscle 2212 to decrease and the extension speed of the right pneumatic artificial muscle 2212 to slow down. The corresponding solenoid valve 423 on the left controls the extension speed of the left pneumatic artificial muscle 2211 to increase. Through the coordinated rotation of the first rotating hinge 223 and the second rotating hinge 224, the end-effector platform 23 is rotated to the left at a small angle until the inner side of the gripper is completely aligned with the center of the fuse, and the positioning operation is completed.

[0064] After accurate positioning, the operator clicks the "clamp" button on the touch screen, and the controller 31 immediately sends synchronous control signals to the multiple solenoid valves 423 corresponding to the parallel branch 22, so that the two sets of pneumatic artificial muscle groups simultaneously pass a small amount of compressed air and slightly extend, driving the gripper to contract inward until the inner side of the gripper is tightly attached to the outer wall of the fuse.

[0065] During this process, the torque sensor 35 detects the clamping force of the gripper on the fuse in real time and transmits the force value data to the controller 31 via a data cable. The controller 31 then processes the data and displays it in the "real-time force value" area of ​​the touch screen. If the force value displayed on the touch screen is too small, it indicates that the gripper is not clamping the fuse tightly. The controller 31 will automatically increase the air supply of the solenoid valve 423, causing the pneumatic artificial muscle group to extend further and the clamping force of the gripper to increase. If the force value is close to the preset safety threshold, a green "normal force value" prompt box will pop up on the touch screen, and the controller 31 will then stop increasing the air supply and maintain the current clamping force.

[0066] After clamping is complete, the operator clicks the "Pull Out" button on the touchscreen. The controller 31 controls the solenoid valve 423 to switch the airflow direction, causing the left and right pneumatic artificial muscles 2212 to simultaneously expel internal air and slowly contract. Through the power transmission between the first rotating hinge 223 and the second rotating hinge 224, the end-effector platform 23 is driven to slowly descend vertically. The grippers clamp the fuse and move down with the end-effector platform 23 until the fuse is completely detached from the mounting base inside the distribution box. During the pull-out process, if the edge of the end-effector platform 23 accidentally approaches the inner wall of the distribution box, the flexible buffer component installed on the outer edge of the platform will contact the inner wall first, absorbing the impact force generated by the collision through its own elastic deformation, thus preventing damage to the end-effector platform 23 or internal components of the distribution box due to rigid collision.

[0067] Place the new fuse into the center of the three segments of the multi-segment adaptive gripper body, ensuring that the fuse axis is aligned with the center of the gripper. Then repeat the above positioning steps: control multiple solenoid valves 423 through controller 31 to drive the pneumatic artificial muscle to extend and retract, thereby raising the end moving platform 23 and finely adjusting the angle so that the lower end of the new fuse is aligned with the mounting socket in the distribution box.

[0068] After positioning is complete, click the "Insert" button on the touchscreen. The controller 31 controls the left and right pneumatic artificial muscles 2212 to simultaneously supply compressed air and slowly extend, driving the end-effector platform 23 to rise, and the new fuse is gradually inserted into the mounting socket. During this process, the torque sensor 35 will detect the resistance encountered by the fuse during insertion in real time, and the micro suction cup array 2521 will start to operate and adsorb. When the fuse is fully inserted into the mounting socket and the resistance suddenly increases, the torque sensor 35 will quickly transmit this abnormal signal to the controller 31. The controller 31 will immediately control the solenoid valve 423 to stop the air supply, and the left and right pneumatic artificial muscles will stop extending to avoid over-insertion and damage to the fuse or mounting socket.

[0069] Subsequently, the controller 31 controls the branch solenoid valve 423 to release air, the multi-stage adaptive gripper body releases the new fuse, and then controls the left and right pneumatic artificial muscles to further contract, driving the end moving platform 23 to descend to the initial position, and the installation of the new fuse is completed. It should be understood that during this process, the first angle adjustment component 223 and the second angle adjustment component 224 cooperate to adjust the angle.

[0070] Finally, let's explain the handling procedure for abnormal situations to address unexpected problems during operation. The first abnormal situation is "force exceeding the threshold": If, during clamping or insertion / removal, the fuse experiences increased resistance due to rust, jamming, or other reasons, and the force detected by the torque sensor 35 exceeds the preset safety threshold, it will immediately send an over-threshold signal to the controller 31. Upon receiving the signal, the controller 31 will simultaneously perform two operations: First, it will control the touchscreen to issue an audible and visual alarm, displaying a red "force exceeding the limit" message to alert the operator; second, it will control the corresponding solenoid valve 423 to switch the airflow direction, causing the pneumatic artificial muscle on the side generating excessive resistance to deflate and contract, reducing the clamping or insertion / removal force until the force detected by the torque sensor 35 returns to the safe range, at which point the alarm will automatically deactivate.

[0071] The second abnormal situation is "gripper detachment": If the slot of the flexible gripping component 25 detaches from the end-effector 23 due to vibration, collision or other reasons during operation, and the end-effector 23 loses its fixation on the gripper, the controller 31 will detect the signal "gripper component not in place" through the signal interface, and then control the pneumatic control valve group 42 to cut off the air supply. All pneumatic artificial muscles will stop moving, and the touch screen will display the prompt "gripper detached, please reassemble". The operator needs to reinstall the flexible gripping component 25 according to the previous assembly steps. Only after confirming that the assembly is in place can the device be restarted to continue operation.

[0072] It should be understood that the specific embodiments described above are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A flexible load switching robot for a distribution box, characterized in that, include: A base (1) fixedly installed inside the distribution box and at least one robotic arm (2) installed on the base (1); The robotic arm (2) includes a branch mounting frame (21) fixedly mounted on the base (1), a parallel branch (22) rotatably mounted on the branch mounting frame (21), an end effector (23) mounted on the output end of the parallel branch (22), and a flexible clamping assembly (25) mounted on the end effector (23) via a snap-fit ​​assembly (26). The parallel branch (22) includes a first pneumatic artificial muscle group (221) rotatably mounted on the branch mounting frame (21) via a first angle adjustment component (223), and a second pneumatic artificial muscle group (222) rotatably connected to the first pneumatic artificial muscle group (221) via a second angle adjustment component (224). The first pneumatic artificial muscle group (221) and the second pneumatic artificial muscle group (222) each include a left pneumatic artificial muscle (2211) and a right pneumatic artificial muscle (2212) that are set in parallel and controlled independently; the left pneumatic artificial muscle (2211) and the right pneumatic artificial muscle (2212) are controlled to extend and retract synchronously to perform the vertical lifting and lowering movement of the end-effector (23); the left pneumatic artificial muscle (2211) and the right pneumatic artificial muscle (2212) are controlled to extend and retract differentially to perform the deflection fine adjustment of the end-effector (23) in the horizontal plane.

2. The flexible load switching robot for a distribution box according to claim 1, characterized in that: The first angle adjustment assembly (223) includes a first angle adjustment motor mounted on the branch mounting bracket (21) and a first rotating shaft coaxially arranged with the output shaft of the first angle adjustment motor; the head end of the first pneumatic artificial muscle is fixedly arranged with the first rotating shaft; The second angle adjustment component (224) includes a second angle adjustment motor installed at the end of the first pneumatic artificial muscle (221) and a second rotating shaft coaxially arranged with the output shaft of the second angle adjustment motor; the head end of the second pneumatic artificial muscle is fixedly arranged with the second rotating shaft.

3. The flexible load switching robot for a distribution box according to claim 1, characterized in that: The pneumatic artificial muscle is a woven pneumatic artificial muscle.

4. A flexible load switching robot for a distribution box according to claim 2, characterized in that, A human-computer interaction control mechanism (3) is also provided; the human-computer interaction control mechanism (3) includes: Controller (31), with built-in control motherboard; A touch screen (32) is connected to the controller (31) and is used for parameter setting and status display; A control button (33) is located on the controller (31) and is connected to the control motherboard via signals; A wireless handle (34), connected to the controller (31), is used to remotely control the parallel mechanism and the flexible clamping assembly (25); A torque sensor (35) is provided at the second rotating hinge (224) to detect the output torque of the parallel branch (22) in real time and feed it back to the controller (31).

5. A flexible load switching robot for a distribution box according to claim 1, characterized in that: It also includes a gas supply and control system (4); the gas supply and control system (4) includes: The gas storage tank (41) is installed inside or outside the distribution box and is connected to the external gas source pipeline; The pneumatic control valve assembly (42) is signal-connected to the controller (31) and is used to control the airflow to each pneumatic artificial muscle.

6. A flexible load switching robot for a distribution box according to claim 5, characterized in that, The pneumatic control valve assembly (42) includes at least: The main air source on / off valve (421) is installed on the output air path of the external air source; A pressure regulating valve (422) is installed on the gas line between the gas storage tank (41) and the external gas source, and is signal-connected to the human-machine interaction control mechanism (3) to set and maintain the system working pressure; Multiple independent solenoid valves (423) are respectively connected to the left pneumatic artificial muscle (2211) and the right pneumatic artificial muscle (2212); used to control the movement of the first artificial muscle group and the second pneumatic artificial muscle group (222).

7. A flexible load switching robot for a distribution box according to claim 1, characterized in that: The base (1) includes a base plate (11), a plurality of fixing holes (12) formed on the base plate (11), a mounting plate (13) mounted on the base plate (11), and an adjustment elongated hole (14) arranged radially along the mounting plate (13). The branch mounting bracket (21) is secured by fasteners passing through the adjustment elongated hole (14).

8. A flexible load switching robot for a distribution box according to claim 1, characterized in that: The flexible clamping assembly (25) includes a clamping seat (251) that mates with the snap-fit ​​assembly (26) and flexible grippers (252) mounted on the clamping seat (251). The flexible gripper (252) has a three-jaw structure, and the gripping surface of the flexible gripper (252) is a micro suction cup array (2521).

9. A flexible load switching robot for a distribution box according to claim 8, characterized in that: The snap-fit ​​assembly (26) includes a mounting hole formed at the center of the end moving platform (23) and a snap-fit ​​groove provided on the clamping seat (251) that engages with the mounting hole.

10. A flexible load switching robot for a distribution box according to claim 4, characterized in that: The human-machine interaction control mechanism (3) also includes an alarm module. When the torque value detected by the torque sensor (35) exceeds the preset safety threshold, the controller (31) triggers the alarm module to perform an audible and visual alarm and controls the pneumatic system to stop supplying air.

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