CN114406990A - Mechanical arm and inspection robot - Google Patents

Abstract

The invention is suitable for the technical field of robots and discloses a mechanical arm and an inspection robot, wherein the mechanical arm comprises a mechanical arm body, a partial discharge detection device, a first manipulator and a visual positioner; the mechanical arm body comprises a fixed end, a movable end and a driving arm body, the driving arm body is connected between the fixed end and the movable end, and the driving arm body is used for enabling the movable end to move relative to the fixed end; the partial discharge detection device is arranged on the movable end, and the partial discharge detector is used for detecting partial discharge of the power distribution cabinet; the first operator is arranged on the movable end and is used for operating the on-off of a circuit breaker of the power distribution cabinet; the first manipulator is arranged on the movable end, and the visual positioner is respectively used for positioning the partial discharge detector during working and positioning the first manipulator of the handcart during working. The invention improves the function of the mechanical arm in operating the power distribution cabinet by installing the partial discharge detection device, the first operator and the visual positioner at the movable end of the mechanical arm.

Description

Mechanical arm and inspection robot

Technical Field

The invention relates to the technical field of robots, in particular to a mechanical arm and an inspection robot.

Background

The inspection robot provided by the conventional technology is applied to a power distribution cabinet, and comprises an automatic guided vehicle and a mechanical arm arranged on the automatic guided vehicle, wherein the end part of the mechanical arm, which is far away from the automatic guided vehicle, is a movable end, and the movable end is provided with a function execution part which is used for operating or detecting the power distribution cabinet. The inspection robot in the traditional technology has the following defects in specific application, and only one function execution component is provided, so that only a single processing function can be performed on the power distribution cabinet, such as an operation function of performing a single action on the power distribution cabinet or a single detection function on the power distribution cabinet. Under the relatively complicated occasions such as a power distribution room, the universal characteristic is not achieved, and multiple robots are required to be jointly deployed under various operating environments.

Disclosure of Invention

The invention aims to provide a mechanical arm, which aims to solve the technical problem that the execution function of a movable end of the mechanical arm is single.

In order to achieve the purpose, the invention provides the following scheme: a robotic arm, comprising: the mechanical arm comprises a mechanical arm body, a partial discharge detection device, a first manipulator and a visual positioner, wherein the mechanical arm body comprises a fixed end, a movable end and a driving arm body, the driving arm body is connected between the fixed end and the movable end, and the driving arm body is used for enabling the movable end to move relative to the fixed end; the partial discharge detection device is arranged on the movable end, and the partial discharge detector is used for detecting partial discharge of the power distribution cabinet; the first operator is arranged on the movable end and is used for operating the on-off of a circuit breaker of the power distribution cabinet; the visual positioner is arranged on the movable end and is respectively used for positioning the partial discharge detector during working and positioning the first manipulator during working.

Optionally, the partial discharge detection device includes a partial discharge detection module and an elastic component, and the partial discharge detection module is elastically connected to the movable end through the elastic component.

Optionally, the movable end is provided with a slide rail, the partial discharge detection module comprises a slide rail matched with the slide rail and a partial discharge detection assembly arranged on the slide rail, the slide rail is fixedly connected with the movable end, the slide rail is connected with the slide rail in a sliding manner, and the elastic assembly is elastically connected between the slide rail and the movable end.

Optionally, the elastic component includes mounting, guide bar, spring and connecting piece, the mounting with the expansion end is connected, the one end of guide bar with connecting piece fixed connection, other end orientation the mounting extends, the spring housing is located outside the guide bar just the both ends of spring are connected respectively the mounting with the connecting piece, the connecting piece with the slider is connected.

Optionally, the partial discharge detection assembly includes a sleeve and a sensor, the sleeve includes a first end portion, a second end portion disposed opposite to the first end portion at a distance, and a side wall extending from the first end portion to the second end portion, the first end portion and a part of the side wall are connected to the slider, the second end portion is suspended outside the slider, and the sensor is disposed at the second end portion.

Optionally, the arm still includes the mount, the mount includes first grillage, second grillage, third grillage, fourth grillage, first grillage with the arm body the expansion end is connected, the second grillage with first grillage interval sets up relatively, the third grillage with fourth grillage interval sets up relatively and connect in first grillage with the both ends of second grillage, the office put detection device with the third grillage is connected, first manipulator with the fourth grillage is connected, the visual locator with the expansion end is connected.

Optionally, the first manipulator includes spanner, elastic coupling, elastic connection module, first driving source with the fourth grillage is connected, the one end of elastic connection module receives the drive of first driving source, the other end of elastic connection module with elastic coupling connects, the spanner is connected elastic coupling is last, the spanner is kept away from elastic coupling's one end is used for with the circuit breaker phase-match.

Optionally, the mechanical arm further comprises a second operator, the second operator is connected with the second plate frame, and the second operator is used for operating a knob switch of the power distribution cabinet.

Optionally, the second manipulator includes clamping jaw and second driving source, the clamping jaw includes first clamping part and second clamping part, first clamping part with the second clamping part sets up relatively, the second driving source with the second grillage is connected and with first clamping part the second clamping part is connected, just the second driving source is used for the drive first clamping part with the second clamping part moves or drives in opposite directions first clamping part with second clamping part back of the body motion.

Optionally, the arm still includes switch elasticity module, switch elasticity module includes switch connecting piece and elastic switch, the switch connecting piece with first grillage is connected, elastic switch with the switch connecting piece is connected, elastic switch is used for operating the air switch of switch board.

Optionally, the arm still includes button electrical module, button electrical module includes button pressure head and third driving source, the third driving source with the second grillage is connected, the third driving source is used for the drive stretch into or stretch out of button pressure head, button pressure head is arranged in operating the button in the switch board.

Optionally, the mechanical arm further comprises a voiceprint detector, the voiceprint detector is connected with the fourth plate frame, and the voiceprint detector is used for detecting whether the power distribution cabinet instrument makes abnormal sound.

A second object of the present invention is to provide an inspection robot, including: the fixed end is arranged on the automatic guided vehicle.

According to the mechanical arm and the inspection robot, the partial discharge detector and the manipulator are integrated at the movable end of the mechanical arm, and the visual positioner is used for positioning the partial discharge detector during partial discharge detection and positioning the manipulator during breaker operation, so that one inspection robot can perform breaker switching operation on a power distribution cabinet and can perform partial discharge detection on the power distribution cabinet, the requirements of different functions of a power distribution room are met, and the number of the inspection robots can be effectively reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a front view of an inspection robot according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a plan view of an inspection robot according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at B;

fig. 5 is a perspective view of an inspection robot according to an embodiment of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5 at C;

fig. 7 is a perspective view of another perspective view of the inspection robot provided by the embodiment of the invention;

FIG. 8 is an enlarged view of a portion of FIG. 7 at D;

fig. 9 is a schematic structural diagram of a sleeve provided in an embodiment of the present invention.

The reference numbers illustrate: 1. a patrol robot; 10. a mechanical arm; 11. a mechanical arm body; 111. a fixed end; 112. a movable end; 113. a drive arm body; 114. a slide rail; 12. a partial discharge detection device; 121. a partial discharge detection module; 1211. a slider; 1212. a partial discharge detection component; 12121. a sleeve; 12101. a first end portion; 12102. a second end portion; 12103. a side wall; 12122. a sensor; 122. an elastic component; 1221. a fixing member; 1222. a guide bar; 1223. a spring; 1224. a connecting member; 13. a first operator; 131. a wrench; 132. an elastic coupling; 133. an elastic connection module; 134. a first drive source; 14. a visual locator; 15. a fixed mount; 151. a first plate frame; 152. a second plate rack; 153. a third plate frame; 154. a fourth plate frame; 16. a second operator; 161. a clamping jaw; 1611. a first clamping portion; 1612. a second clamping portion; 162. a second drive source; 17. a switch elastic module; 171. a switch connector; 172. an elastic switch; 18. a push button power module; 181. a button press head; 182. a third drive source; 19. a voiceprint detector; 20. an automatic guided vehicle.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture, and if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1 to 3, a robot arm 10 according to an embodiment of the present invention includes a robot arm body 11, a partial discharge detection device 12, a first manipulator 13 and a visual locator 14, wherein the robot arm body 11 includes a fixed end 111, a movable end 112 and a driving arm body 113, the driving arm body 113 is connected between the fixed end 111 and the movable end 112, and the driving arm body 113 is used for moving the movable end 112 relative to the fixed end 111; the partial discharge detection device 12 is installed on the movable end 112, and the partial discharge detector is used for detecting the partial discharge of the power distribution cabinet; partial discharge means that in the operation process of electrical equipment, due to various reasons, the insulation fault of the electrical equipment can be caused by the influence of dust, rain, dew and the like in the air, so that partial discharge is caused; the first operator 13 is installed on the movable end 112, and the first operator 13 is used for operating the closing or opening of the circuit breaker of the power distribution cabinet; a visual locator 14 is mounted on the movable end 112, and the visual locator 14 is used for positioning the partial discharge detector in operation and the first operator 13 in operation, respectively. In specific application, a partial discharge detector, a first operator 13 and a visual positioner 14 are integrated at a movable end 112 of a mechanical arm body 11, when a power distribution cabinet needs to be subjected to partial discharge detection, the pose of a tail end is changed by driving an arm body of a mechanical arm 10, so that the visual positioner 14 finishes the positioning of the power distribution cabinet, and then the partial discharge detection is performed on the power distribution cabinet by switching the arm body of the mechanical arm 10 into a partial discharge detection device 12; when the circuit breaker operation of switch board is closed or the disconnection when needs, can directly switch into first operation ware 13 through the arm body that drives arm 10 and operate the circuit breaker of switch board after the detection is put in the office, also can be, fix a position the back through the circuit breaker of visual locator 14 to switch board department earlier, the closing or the disconnection of rethread first operation ware 13 operation circuit breaker.

Referring to fig. 1 to 4, as an embodiment, the partial discharge detection apparatus 12 includes a partial discharge detection module 121 and an elastic component 122, where the partial discharge detection module 121 is elastically connected to the movable end 112 through the elastic component 122. In the concrete application, detecting module 121 is being put in the office to the switch board and is being examined time measuring, because the arm body of arm 10 is putting detecting module 121 in the drive office and is being close to the office of switch board and put the detection site in-process, it dies in the switch board because the error leads to the card of detecting module 121 to put in the office easily, lead to putting the unable normal clear of detection, consequently, put detecting module 121 in the office and pass through elastic component 122 and active end 112 elastic connection, be favorable to avoiding this kind of card phenomenon of dying, the reinforcing office puts detecting device 12's feasibility.

Referring to fig. 4, as an embodiment, the movable end 112 is provided with a sliding rail 114, the partial discharge detection module 121 includes a sliding block 1211 engaged with the sliding rail 114 and a partial discharge detection assembly 1212 installed on the sliding block 1211, the sliding rail 114 is fixedly connected with the movable end 112, the sliding block 1211 is slidably connected with the sliding rail 114, and the elastic assembly 122 is elastically connected between the sliding block 1211 and the movable end 112. In a specific application, the partial discharge detection assembly 1212 is mounted on the slider 1211 slidably connected to the slide rail 114, and slides under the elastic action.

Referring to fig. 4, as an embodiment, the elastic assembly 122 includes a fixed member 1221, a guide rod 1222, a spring 1223 and a connecting member 1224, the fixed member 1221 is connected to the movable end 112, one end of the guide rod 1222 is fixedly connected to the connecting member 1224, the other end extends toward the fixed member 1221, the spring 1223 is sleeved outside the guide rod 1222, two ends of the spring 1223 are respectively connected to the fixed member 1221 and the connecting member 1224, and the connecting member 1224 is connected to the sliding block 1211. In a specific application, the guiding rod 1222 of the elastic component 122 is a bolt-like component, the head of the guiding rod 1222 is clamped on the fixing element 1221, the part of the guiding rod 1222 for being sleeved with the spring 1223 is a polished rod, and the tail end of the polished rod is provided with threads to be connected with the connecting element 1224.

Referring to fig. 4 and 9, as an embodiment, the partial discharge detection assembly 1212 includes a sleeve 12121 and a sensor 12122, the sleeve 12121 includes a first end 12101, a second end 12102 spaced apart from and opposite the first end 12101, and a sidewall 12103 extending from the first end 12101 to the second end 12102, the first end 12101 and a portion of the sidewall 12103 are coupled to a slider 1211, the second end 12102 is suspended from the slider 1211, and the sensor 12122 is disposed at the second end 12102. In a specific application, the first end portion 12101 and a part of the side wall 12103 are preferably connected to the slider 1211, which is favorable for the connection strength between the sleeve 12121 and the slider 1211, but in practical applications, only the first end portion 12101 may be connected to the slider 1211; the second end portion 12102 of the second end portion 12102 is suspended outside the slider 1211, and the sensor 12122 is disposed at the second end portion 12102, so that the sensor 12122 for detecting the partial discharge can be better close to the power distribution cabinet for the partial discharge detection.

Referring to fig. 1, 2 and 6, as an embodiment, the mechanical arm 10 further includes a fixing frame 15, the fixing frame 15 includes a first plate frame 151, a second plate frame 152, a third plate frame 153 and a fourth plate frame 154, the first plate frame 151 is connected to the movable end 112 of the arm body, the second plate frame 152 is spaced from and disposed opposite to the first plate frame 151, the third plate frame 153 is spaced from and disposed opposite to the fourth plate frame 154 and connected to two ends of the first plate frame 151 and the second plate frame 152, the partial discharge detection device 12 is connected to the third plate frame 153, the first manipulator 13 is connected to the fourth plate frame 154, and the visual locator 14 is connected to the movable end 112. In the specific application, the fixed frame 15 is disposed on the movable end 112, which is beneficial to better installing the partial discharge detection device 12, the first operator 13 and the visual locator 14, wherein the connection relationship between the boards can be beneficial to driving the arm switching end of the mechanical arm 10 to be a required working posture, in addition, when the partial discharge detection device 12 detects that the power distribution cabinet has partial discharge, the partial discharge detection device 12 is installed on the third board frame 153 and is installed opposite to the fourth board frame 154 with the first operator 13, at this time, because the movable end 112 is installed with a motor (not shown) driving the first board frame 151 to rotate, the partial discharge detection device 12 can be converted into the first operator 13 through the motor, thereby omitting the process of matching operation of the motors driving the joints of the arm 113.

Referring to fig. 2, 4 and 6, as an embodiment, the first operator 13 includes a wrench 131, an elastic coupling 132, an elastic connection module 133 and a first driving source 134, the first driving source 134 is connected to the fourth plate frame 154, one end of the elastic connection module 133 is driven by the first driving source 134, the other end of the elastic connection module 133 is connected to the elastic coupling 132, the wrench 131 is connected to the elastic coupling 132, and one end of the wrench 131 away from the elastic coupling 132 is used for matching with a circuit breaker. In specific application, the wrench 131 is used for matching with a circuit breaker in a power distribution cabinet, the wrench 131 is driven by the first driving source 134 to rotate the circuit breaker to achieve opening or closing work, wherein the elastic coupling 132 is connected between the wrench 131 and the elastic connection module 133, and after the wrench 131 is matched with the circuit breaker, if the output shafts of the wrench 131 and the first driving source 134 are not coaxial due to position errors, the elastic coupling 132 can guarantee normal operation of the wrench 131 on the circuit breaker; the elastic connection module 133 is connected between the elastic coupling 132 and the first driving source 134, and when there is an error during the pose change of the arm body of the robot arm 10, the elastic connection module 133 can retract the wrench 131, so as to prevent the pose change of the arm body of the robot arm 10 from being performed normally, thereby enhancing the feasibility during the pose change of the robot arm 10.

Referring to fig. 1 and 6, as an embodiment, the mechanical arm 10 further includes a second manipulator 16, the second manipulator 16 is connected to the second plate rack 152, the second manipulator 16 is configured to operate a rotary switch of a power distribution cabinet, the second manipulator 16 includes a clamping jaw 161 and a second driving source 162, the clamping jaw 161 includes a first clamping portion 1611 and a second clamping portion 1612, the first clamping portion 1611 and the second clamping portion 1612 are disposed opposite to each other, the second driving source 162 is connected to the second plate rack 152 and connected to the first clamping portion 1611 and the second clamping portion 1612, and the second driving source 162 is configured to drive the first clamping portion 1611 and the second clamping portion 1612 to move towards each other or drive the first clamping portion 1611 and the second clamping portion 1612 to move away from each other. In the specific application, the mechanical arm 10 converts the second operator 16 into a power distribution cabinet through pose transformation to operate a knob switch, wherein the first clamping portion 1611 and the second clamping portion 1612 move oppositely to clamp a knob in the power distribution cabinet, then the second driving source 162 drives the knob to rotate to a required position, and after the work is completed, the first clamping portion 1611 and the second clamping portion 1612 are driven to move oppositely to loosen the knob.

Referring to fig. 1, 4 and 6, as an embodiment, the robot arm 10 further includes a switch elastic module 17, the switch elastic module 17 includes a switch connector 171 and an elastic switch 172, the switch connector 171 is connected to the first plate frame 151, the elastic switch 172 is connected to the switch connector 171, and the elastic switch 172 is used to operate an air switch of the power distribution cabinet. In specific application, the mechanical arm 10 operates the air switch in the power distribution cabinet through the pose change switch elastic module 17, wherein the elastic switch 172 has elasticity when operating the air switch, so that the air switch is prevented from being crushed.

Referring to fig. 1, 6 and 8, as an embodiment, the robot arm 10 further includes a button power module 18, the button power module 18 includes a button ram 181 and a third driving source 182, the third driving source 182 is connected to the second plate frame 152, the third driving source 182 is used for driving the button ram 181 to extend in or out, and the button ram 181 is used for operating a button in a power distribution cabinet. In the specific application, the mechanical arm 10 switches the button electric module 18 to operate the keys in the power distribution cabinet through pose transformation, wherein the button pressure head 181 is retracted into the mechanical arm 10 in a normal state, and when the mechanical arm needs to be used, the button pressure head 181 is driven by the third driving source 182 to extend out of the mechanical arm 10 to perform key operation.

Referring to fig. 1, 6 and 8, as an embodiment, the robot arm 10 further includes a voiceprint detector 19, the voiceprint detector 19 is connected to the fourth plate frame 154, and the voiceprint detector 19 is used for detecting whether the power distribution cabinet instrument makes an abnormal sound. In specific application, the mechanical arm 10 switches the voiceprint detector 19 to monitor abnormal sounds emitted by equipment instruments of the power distribution cabinet through pose transformation.

As shown in fig. 1 and 3, an inspection robot according to an embodiment of the present invention further includes a robot 20 and the robot arm 10, and the fixed end 111 is mounted on the robot 20. In the concrete application, install arm 10 on automated guided vehicle 20, this arm 10 can detect and operate different switch boards through the mode of patrolling and examining.

In actual operation, the mechanical arm 10 can be switched to the partial discharge detection device 12 to detect the partial discharge of the power distribution cabinet through the pose change free end, switched to the operation of closing or opening the breaker of the power distribution cabinet by the first operator 13, switched to the vision positioner 14 to visually position the corresponding position of the power distribution cabinet, switched to the second operator 16 to operate the knob switch of the power distribution cabinet, switched to the switch elastic module 17 to operate the air switch of the power distribution cabinet, switched to the button electric module 18 to operate the key of the power distribution cabinet and switched to the voiceprint detector 19 to detect whether the instrument in the power distribution cabinet makes abnormal sound.

Install arm 10 on automated guided vehicle 20, automated guided vehicle 20 patrols and examines in different switch boards to arm 10 can operate and detect different switch board operational aspect.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (13)

1. A robot arm, comprising:

the mechanical arm comprises a mechanical arm body and a driving arm body, wherein the mechanical arm body comprises a fixed end, a movable end and a driving arm body, the driving arm body is connected between the fixed end and the movable end, and the driving arm body is used for enabling the movable end to move relative to the fixed end;

the partial discharge detection device is arranged on the movable end, and the partial discharge detector is used for detecting partial discharge of the power distribution cabinet;

the first operator is arranged on the movable end and is used for operating the on-off of a circuit breaker of the power distribution cabinet;

the visual positioner is arranged on the movable end and is respectively used for positioning the partial discharge detector during working and positioning the first manipulator during working.

2. The mechanical arm according to claim 1, wherein the partial discharge detection device comprises a partial discharge detection module and an elastic component, and the partial discharge detection module is elastically connected with the movable end through the elastic component.

3. The mechanical arm according to claim 2, wherein the movable end is provided with a slide rail, the partial discharge detection module comprises a slide block matched with the slide rail and a partial discharge detection assembly installed on the slide block, the slide rail is fixedly connected with the movable end, the slide block is slidably connected with the slide rail, and the elastic assembly is elastically connected between the slide block and the movable end.

4. The mechanical arm of claim 3, wherein the elastic assembly comprises a fixed member, a guide rod, a spring and a connecting member, the fixed member is connected to the movable end, one end of the guide rod is fixedly connected to the connecting member, the other end of the guide rod extends toward the fixed member, the spring is sleeved outside the guide rod, two ends of the spring are respectively connected to the fixed member and the connecting member, and the connecting member is connected to the sliding block.

5. The robotic arm of claim 3, wherein said partial discharge detection assembly includes a sleeve and a sensor, said sleeve including a first end, a second end disposed in spaced relation opposite said first end, and a sidewall extending from said first end to said second end, said first end and a portion of said sidewall being coupled to said slider, said second end overhanging said slider, said sensor being disposed at said second end.

6. The mechanical arm according to any one of claims 1 to 5, further comprising a fixing frame, wherein the fixing frame comprises a first plate frame, a second plate frame, a third plate frame and a fourth plate frame, the first plate frame is connected with the movable end of the arm body, the second plate frame is arranged opposite to the first plate frame at an interval, the third plate frame is arranged opposite to the fourth plate frame at an interval and is connected to two ends of the first plate frame and the second plate frame, the partial discharge detection device is connected with the third plate frame, the first manipulator is connected with the fourth plate frame, and the visual positioner is connected with the movable end.

7. A mechanical arm as claimed in claim 6, wherein the first operator comprises a wrench, an elastic coupling, an elastic connection module and a first driving source, the first driving source is connected with the fourth plate frame, one end of the elastic connection module is driven by the first driving source, the other end of the elastic connection module is connected with the elastic coupling, the wrench is connected on the elastic coupling, and one end of the wrench, which is far away from the elastic coupling, is used for matching with a circuit breaker.

8. The robotic arm of claim 6, further comprising a second operator connected to the second rack mount, the second operator for operating a rotary switch of a power distribution cabinet.

9. The mechanical arm according to claim 8, wherein the second manipulator comprises a clamping jaw and a second driving source, the clamping jaw comprises a first clamping portion and a second clamping portion, the first clamping portion is arranged opposite to the second clamping portion, the second driving source is connected with the second plate frame and connected with the first clamping portion and the second clamping portion, and the second driving source is used for driving the first clamping portion and the second clamping portion to move towards each other or driving the first clamping portion and the second clamping portion to move away from each other.

10. The robotic arm of claim 6, further comprising a switch spring module comprising a switch connector and a spring switch, the switch connector being connected to the first ledge, the spring switch being connected to the switch connector, the spring switch being configured to operate an air switch of a power distribution cabinet.

11. The robotic arm of claim 6, further comprising a button power module including a button ram and a third drive source, the third drive source being coupled to the second ledge, the third drive source being configured to drive extension or retraction of the button ram, the button ram being configured to operate a key in a power distribution cabinet.

12. The robotic arm of claim 6, further comprising a voiceprint detector coupled to said fourth plate support, said voiceprint detector for detecting an abnormal sound emanating from a switch board instrument.

13. An inspection robot, comprising: a robotic arm as claimed in any one of claims 1 to 12 and a automated guided vehicle, the fixed end being mounted on the automated guided vehicle.

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