CN115107017A

CN115107017A - Operation method of walking robot

Info

Publication number: CN115107017A
Application number: CN202111283831.0A
Authority: CN
Inventors: 邹治银; 吴海腾; 毛泽庆; 玉正英; 承永宏
Original assignee: Hangzhou Shenhao Technology Co Ltd
Current assignee: Hangzhou Shenhao Technology Co Ltd
Priority date: 2021-11-01
Filing date: 2021-11-01
Publication date: 2022-09-27

Abstract

The present invention provides an operation method of a walking robot, comprising, step 1: controlling the walking robot to move to reach the front of the switch cabinet; step 2: controlling a depth camera to shoot current image information; and step 3: judging the appearance and the position of a switch of the switch cabinet according to the image information, and determining a terminal tool matched with the switch of the switch cabinet; and 4, step 4: controlling the frame assembly and/or the mechanical arm of the walking robot to move, and driving the end tool to be in butt joint with the switch; and 5: controlling the end tool to operate the switch; step 6: and detecting the operation torque of the terminal tool on the switch of the switch cabinet in real time, and intelligently controlling the driving rotating speed and the torque to complete the switch operation. And 7: analyzing the sound characteristic of the operation process and judging the state of the indicator by a visible light camera; it is determined that the actuator is in place. And 8: and switching the end tool to a zero-torque state to complete the safe connection of the end tool and the switch.

Description

Operation method of walking robot

Technical Field

The present invention relates to an operation method of a walking robot.

Background

Operating the walking robot is applied to open or close a switch of the switchgear. The existing operating robot operates the switch of the switch cabinet through a terminal tool. However, many multi-row walking robots are insensitive in detecting whether the end tool is operating in place.

Disclosure of Invention

In order to solve the above technical problems, the present invention provides an operating method of a walking robot.

The invention adopts the following technical scheme

A method of operating a walking robot, comprising the steps of:

step 1: controlling the frame assembly and/or the mechanical arm of the walking robot to move so as to enable the driving end tool to be in butt joint with the switch;

step 2: controlling the end tool to operate the switch;

and 3, step 3: and judging whether the end tool is operated in place.

Optionally, the method comprises the following steps:

step 1: controlling the walking robot to move to reach the front of the switch cabinet;

step 2: controlling a depth camera to shoot current image information;

and step 3: judging the appearance and the position of a switch of the switch cabinet according to the image information, and determining a terminal tool matched with the switch of the switch cabinet;

and 4, step 4: controlling a rack assembly and/or a mechanical arm of the walking robot to move, and driving a terminal tool to be in butt joint with a switch;

and 5: controlling the end tool to operate the switch;

step 6: and detecting the operation torque of the terminal tool on the switch of the switch cabinet in real time, and intelligently controlling the driving rotating speed and the torque to complete the switch operation.

And 7: analyzing the sound characteristic of the operation process and judging the state of the indicator through a visible light camera; it is determined that the actuator is in place.

And step 8: and switching the end tool to a zero-torque state to complete the safe connection of the end tool and the switch.

Optionally, the walking robot includes drive steering mechanism, ground sword operation structure, arm and control system, be equipped with fixed chassis above the drive steering mechanism, the arm with ground sword operation structure all installs on fixed chassis, ground sword operation structure is equipped with the frame subassembly, control system control the motion of arm and frame subassembly, the arm end is equipped with four terminal instruments, four terminal instrument homogeneous phase is for 45 settings of arm slope, four terminal instrument encircles the terminal circumference evenly distributed of arm, the frame subassembly also is equipped with terminal instrument, the terminal instrument of frame subassembly is actuating mechanism.

Optionally, four of the end tools are perpendicular to each other two by two.

Optionally, the ground knife operating structure includes a fixed base and a movable base, the fixed base is installed on the fixed base, the movable base is connected with the fixed base in a sliding manner through a second sliding rail, the fixed base is provided with a transmission mechanism for driving the movable base to move, the transmission mechanism is electrically connected with the control system, and the rack assembly is arranged on the movable base.

Optionally, the movable base is provided with a rotary lifting mechanism for rotatably lifting the rack assembly, and the rotary lifting mechanism is electrically connected with the control system.

Optionally, the rack assembly is provided with a telescopic mechanism, and the tail end of the telescopic mechanism is provided with an actuating mechanism.

Optionally, the telescopic mechanism comprises a driving mechanism arranged on the rack assembly and a screw pair telescopic mechanism, the driving mechanism drives the screw pair telescopic mechanism to stretch, and the driving mechanism is electrically connected with the control system.

Optionally, the driving mechanism includes a first motor, the screw pair telescoping mechanism includes a screw and a feeding assembly matched with the screw, the screw is connected with the frame assembly in a rotating manner, the first motor drives the screw to rotate, the feeding assembly is connected with the frame assembly in a sliding manner, and the feeding assembly and the frame assembly are circumferentially fixed relatively and axially slide relatively.

Optionally, the frame assembly comprises an outer sleeve assembly, and the outer sleeve assembly is sleeved outside the feeding assembly and is in key connection with the feeding assembly.

Optionally, a rotary drive is arranged in the rack assembly and drives the outer sleeve assembly to rotate so as to drive the feeding assembly to rotate, and the executing mechanism is arranged at the tail end of the feeding assembly.

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

the invention provides an operation method of a walking robot, which judges whether a tail end tool is operated in place or not by judging the operation torque of the tail end tool on a switch, and the judgment method enables the detection to be sensitive.

Drawings

FIG. 1 is an overall assembly view of the operating robot of the present invention;

FIG. 2 is a schematic view of an operating structure of the ground engaging knife of the present invention;

FIG. 3 is a second schematic view of the ground engaging knife operating structure of the present invention;

FIG. 4 is one of the cross-sectional views of the ground engaging knife operating structure of the present invention;

FIG. 5 is one of the cross-sectional views of the telescoping mechanism of the present invention;

FIG. 6 is an exploded view of one of the row actuators of the present invention;

FIG. 7 is one of the cross-sectional views of the actuator of the present invention;

FIG. 8 is a schematic view of the row gland assembly of the present invention;

FIG. 9 is a longitudinal cross-sectional view of the row gland assembly of the present invention;

FIG. 10 is a schematic view of an alignment member of the present invention;

FIG. 11 is a cross-sectional view of an alignment member of the present invention;

FIG. 12 is a third schematic view of the operation structure of the floor tool of the present invention;

FIG. 13 is a schematic view of the telescoping mechanism of the present invention;

FIG. 14 is a second cross-sectional view of the telescoping mechanism of the present invention;

FIG. 15 is a fourth schematic view of the ground knife operating structure of the present invention;

FIG. 16 is a second cross-sectional view of the ground knife operating structure of the present invention;

FIG. 17 is a schematic view of the feed assembly of the present invention;

FIG. 18 is a second cross-sectional view of the actuator of the present invention;

FIG. 19 is a second exploded view of the actuator of the present invention;

FIG. 20 is a schematic view of the drive steering mechanism of the present invention;

FIG. 21 is a cross-sectional view of the drive steering mechanism of the present invention;

FIG. 22 is a schematic view of the connecting frame of the present invention;

FIG. 23 is an exploded view of the attachment bracket of the present invention;

FIG. 24 is a schematic view of an angle limiting structure of the present invention;

FIG. 25 is a schematic view of an actuator according to the present invention;

FIG. 26 is a second cross-sectional view of the actuator of the present invention;

FIG. 27 is a second exploded view of the actuator of the present invention;

FIG. 28 is a schematic view of an end gripping tool of the present invention;

FIG. 29 is a cross-sectional view of an end gripping tool of the present invention;

FIG. 30 is an exploded view of the end gripping tool of the present invention;

FIG. 31 is a schematic view of an end effector of the present invention;

FIG. 32 is a cross-sectional view of the end effector of the present invention;

FIG. 33 is an exploded view of the end effector of the present invention;

FIG. 34 is a schematic view of an end-effector switch tool of the present invention;

FIG. 35 is a cross-sectional view of the end effector switch tool of the present invention;

FIG. 36 is an exploded view of the end effector switch tool of the present invention;

FIG. 37 is a schematic view of an end-turn tool of the present invention;

FIG. 38 is a cross-sectional view of the tip turning tool of the present invention;

fig. 39 is an exploded view of the end-screwing tool of the present invention.

The reference numerals in the schematic drawings illustrate:

1. a rack assembly; 11. an outer sleeve assembly; 12. a first inductor; 13. a limiting member; 14. a spring wire; 15. a fixed mount; 2. moving the base; 21. a second inductor; 3. a telescoping mechanism; 31. a first motor; 32. a screw rod; 33. a feed nut; 34. a feed sleeve; 35. a pusher member; 351. a first slider; 4. an actuator; 41. a transmission member; 411. an endoscope; 412. a second connecting portion; 42. an executive component; 421. a second resisting portion; 422. moving the hole; 423. a first hole and groove structure; 4231. a bevel; 43. an elastic buffer member; 44. a stopper; 441. a first resisting part; 442. a third inductor; 5. a gland assembly; 51. a capping end; 52. adjusting the piece; 53. a first connecting member; 54. a mounting frame; 6. a first depth camera; 7. a rotary lifting mechanism; 71. a first driving member; 72. a second driving member; 73. a bottom nut; 74. screwing a nut; 75. a ball screw; 76. a first sensing member; 761. a stopper; 77. a second sensing member; 8. a fixed base; 81. a second slide rail; 82. a second motor; 83. a screw; 84. a feeding member; 9. a centering auxiliary part; 91. a first connection portion; 92. a gimbal structure; 921. connecting the squares; 922 a compression spring; 923. a ball bearing; 101. driving a steering mechanism; 1011. fixing the chassis; 102. a ground cutter operating structure; 1021. a mechanical arm;

A. a tip holding tool; a1, a first fixing piece; a2, a first power source; a31, fixing the main body; a311, a sliding hole; a32, a second power source; a4, a clamping piece; a41, a fourth connecting piece; a412, a positioning part; a42, shuttle hole; a43, clicking a switch piece; a44, a return elastic element; a45, a clamping part; a46, half concave; a47, a clamping hole; a51, a first gear; a52, a second gear; a53, a threaded rod; a6, a second depth camera;

B. a terminal operating tool; b1, a second fixing piece; b2, a guide sleeve; b21, an accommodating hole and groove structure; b211, a first section; b212, a second section; b213, a third segment; b214, a rubber ring; b3, an operating rod; b31, stopper; b4, an elastic auxiliary member; b5, mounting pieces; b51, a cavity groove; b6, third depth camera;

C. an end-effector switch tool; c1, a third fixing piece; c2, motor; c3, a transmission rod; c31, a first retaining part; c32, a boss; c4, a handle; c41, a rebound piece; c42, butt joint hole groove structure; c421, transition surface; c43, a second retaining part; c5, a protective sleeve; c6, fourth depth camera;

D. a tip screwing tool; d1, a fourth fastener; d2, a power mechanism; d3, a driving rod; d31, a second stopper; d32, an elastic slow release member; d33, a platform part; d4, kit; d41, a first blocking part; d42, a first blocking part; d5, screws; d51, evasion holes; d52, opening; d6, a fixed sleeve; d61, a second blocking portion; d7, fifth depth camera;

e1, a fixed shell; e2, rolling wheels; e3, a connecting frame; e31, second connector; e32, third connector; e33, a shock-absorbing elastic member; e34, prepressing part; e35, a connection part; e36, sliding rail; e37, slider; e4, steering drive mechanism; e41, angle restraints; e42, a restraint; e421, a gap; e5, a walking driving mechanism.

Detailed Description

For a further understanding of the present invention, reference will now be made in detail to the embodiments of the present invention illustrated in the accompanying drawings, FIGS. 1-39.

With reference to fig. 1 to 39, the operation method of the walking robot of the present embodiment includes a driving steering mechanism 101, a ground knife operating mechanism 102, a robot arm and a control system, wherein the driving steering mechanism 101 is provided with a fixed chassis 1011, and the ground knife operating mechanism 102 and the robot arm are mounted on the fixed chassis 1011. The ground knife operating structure 102 comprises a fixed base 8, a movable base 2 and a rack assembly 1, wherein the fixed base 8 is installed on a fixed base 1011, the movable base 2 is connected with the fixed base 8 in a sliding manner, the fixed base 8 is provided with a transmission mechanism for driving the movable base 2 to move, the rack assembly 1 is arranged on the movable base 2, and the movable base 2 is provided with a rotary lifting mechanism 7 for enabling the rack assembly 1 to rotate and lift. The transmission mechanism is electrically connected with the control system, and the rotary lifting mechanism 7 is electrically connected with the control system. The rack assembly 1 is provided with a telescopic mechanism 3, and the tail end of the telescopic mechanism 3 is provided with an actuating mechanism 4. The ground knife operating structure 102 is provided with a visible light camera and an indicator.

The driving steering mechanism 101 comprises a rolling wheel E2, a connecting frame E3, a steering driving mechanism E4 and a walking driving mechanism E5, the steering driving mechanism E4 is arranged in a fixed shell E1, and a fixed shell E1 is arranged on a fixed chassis 1011. An output shaft of a steering driving mechanism E4 is in transmission connection with one end of a connecting frame E3, the connecting frame E3 is in bearing connection with a fixed shell E1, the other end of the connecting frame E3 is fixedly connected with a walking driving mechanism E5, the walking driving mechanism E5 is installed on the connecting frame E3 through a walking driving motor shell, the output shaft of the walking driving mechanism E5 is in transmission connection with a rolling wheel E2, the walking driving motor shell is in bearing connection with the rolling wheel E2, the steering driving mechanism E4 drives the rolling wheel E2 to steer through the connecting frame E3 and the walking driving mechanism E5, and the walking driving mechanism E5 drives the rolling wheel E2 to rotate. The steering driving mechanism E4 is electrically connected with the control system, and the walking driving mechanism E5 is electrically connected with the control system.

The connecting frame E3 is provided with a suspension mechanism, the connecting frame E3 comprises a second connecting piece E31 and a third connecting piece E32, and the second connecting piece E31 and the third connecting piece E32 are connected in a sliding mode. The second connecting piece E31 is in transmission connection with an output shaft of the steering driving mechanism E4, and the third connecting piece E32 is fixedly connected with a walking driving motor shell of the walking driving mechanism E5. The suspension mechanism includes a shock-absorbing elastic member E33 provided between the second link E31 and the third link E32. A pre-pressing structure for compressing the shock absorbing elastic piece E33 is arranged between the second connecting piece E31 and the third connecting piece E32. The prepressing structure comprises a prepressing piece E34 arranged on one of the second connecting piece E31 and the third connecting piece E32 and a connecting part E35 arranged on the other one, the prepressing piece E34 is connected with the connecting part E35, and when the prepressing piece E34 is connected with the connecting part E35, the damping elastic piece E33 is in a compressed state. In this embodiment, the pre-pressing piece E34 is a connecting shaft disposed on the third connecting piece E32, the connecting portion E35 is a connecting hole disposed on the second connecting piece E31, the connecting shaft passes through the connecting hole, a pre-pressing nut is disposed at an end of the connecting shaft, and the pre-pressing nut and the third connecting piece E32 abut against each other to prevent the connecting shaft from being separated from the connecting hole. The damping elastic piece E33 is a spring, one end of the damping elastic piece E33 is connected with the second connecting piece E31, and the other end of the damping elastic piece E33 is connected with the third connecting piece E32. The second connecting piece E31 and the third connecting piece E32 are connected through the matching sliding of the connecting shaft and the connecting hole, so that the second connecting piece E31 is relatively fixed relative to the third connecting piece E32 in the axial direction and the circumferential direction in a sliding mode, and the second connecting piece E31 can transmit torque through the third connecting piece E32. The shock-absorbing elastic piece E33 is in a compressed state, so that the rigidity of the shock-absorbing elastic piece E33 can be increased, and when the rolling wheel E2 jumps, the elastic change of the shock-absorbing elastic piece E33 can not prevent the ground knife operating structure 102 from being unstable too much.

One of the second connecting piece E31 and the third connecting piece E32 is provided with a sliding track E36, the other one is provided with a sliding block E37 matched with the sliding track E36, and the second connecting piece E31 and the third connecting piece E32 are in matched sliding connection through the sliding track E36 and the sliding block E37. The steering drive mechanism E4 includes a rotary drive motor, a speed reducer, and an encoder connected in this order.

An angle limiting structure for limiting the rotation angle of the connecting frame E3 is arranged between the connecting frame E3 and the fixed shell E1. The angle limiting structure comprises an angle restraint piece E41 and a restrained piece E42, the angle restraint piece E41 is fixedly connected with a fixed shell E1, and the restrained piece E42 is directly or indirectly fixedly connected with a connecting frame E3. After the restrained piece E42 rotates for a fixed angle, the restrained piece E42 is abutted against one side of the angle restraint piece E41, and after the restrained piece E42 rotates for a fixed angle, the restrained piece E3526 is abutted against the other side of the angle restraint piece E41. In this embodiment, the constrained member E42 is cylindrical, a notch E421 is formed in one side of the constrained member E42, the angle constrained member E41 is partially located in the notch E421, after the constrained member E42 rotates for a fixed angle, the bottom wall of the notch E421 abuts against one side of the angle constrained member E41, and after the constrained member E42 rotates for a fixed angle in the opposite direction, the bottom wall of the notch E421 abuts against the other side of the angle constrained member E41.

The fixed base 8 is provided with a second slide rail 81, and the movable base 2 is provided with a second slide block matched with the slide rail. The transmission mechanism includes a second motor 82, a screw 83 and a feed member 84. Second motor 82 and unable adjustment base 8 fixed connection, screw rod 83 and unable adjustment base 8 pass through the bearing and connect, and removal base 2 is located to feeding 84, and feeding 84 is equipped with the screw hole with screw rod 83 complex, and second motor 82 passes through hold-in range and drive screw rod 83 rotation with the hold-in range. The rotation of the screw 83 can drive the moving base 2 to slide on the second slide rail 81.

The rotary lifting mechanism 7 comprises a first driving piece 71, a second driving piece 72, a bottom nut 73, an upper nut 74 and a ball screw 75, the ball screw 75 is fixed on the movable base 2, the ball screw 75 is sleeved with the bottom nut 73 and the upper nut 74, the bottom nut 73 comprises a first inner ring and a first outer ring, the first inner ring and the first outer ring are connected through a bearing, the ball screw 75 is sleeved with the first inner ring, the first inner ring is in key connection with the ball screw 75, the first inner ring can only do linear motion relative to the ball screw 75, the first inner ring relatively fixes in the circumferential direction and relatively slides in the axial direction relative to the ball screw 75, and the first outer ring is fixedly connected with the rack assembly 1. The upper nut 74 includes a second inner ring and a second outer ring, the second inner ring is in bearing connection with the second outer ring, the second inner ring is provided with a thread engaged with the ball screw 75, and the second outer ring is fixedly connected with the rack assembly 1. The first driving piece 71 and the second driving piece 72 are both mounted on the frame assembly 1, an output shaft of the first driving piece 71 is in transmission connection with the first inner ring synchronous belt, and an output shaft of the second driving piece 72 is in transmission connection with the second inner ring synchronous belt.

Both the bottom nut 73 and the upper nut 74 are mounted to the frame assembly 1. A synchronous pulley is fixed on an output shaft of the first driving member 71, a synchronous pulley is fixed on a first inner ring of the bottom nut 73, and a synchronous belt is arranged outside the synchronous pulley. A synchronous pulley is fixed on the output shaft of the second driving element 72, a synchronous pulley is fixed on the second inner ring of the upper nut 74, and a synchronous belt is arranged outside the synchronous pulley. The rotary lifting mechanism 7 can realize the rotary motion, the linear motion and the linear and rotary composite motion of the frame component 1.

In particular, the linear-rotary compound movement is achieved by activating the first drive element 71. Because the first inner ring is circumferentially fixed relative to the ball screw 75, the first driving member 71 is opened to drive the rack assembly 1 to rotate around the ball screw 75, the rack assembly 1 rotates to drive the second inner ring to rotate through the synchronous belt transmission between the second driving member 72 and the second inner ring, and the second inner ring rotates to drive the rack assembly 1 to do linear motion relative to the ball screw 75.

The linear movement is achieved by activating the second drive member 72. The second driving member 72 is turned on to drive the second inner ring to rotate, and the second inner ring rotates to drive the frame assembly 1 to move linearly relative to the ball screw 75.

The rotational movement is achieved by simultaneously activating the first drive element 71 and the second drive element 72. As described above, the first driving member 71 is turned on to realize the linear and rotational compound motion of the frame assembly 1. At this time, the second inner ring is in a static state only by reversely rotating the second driving member 72 and keeping the same rotating speed as the first driving member 71, so that the frame assembly 1 does not move linearly but only rotates.

A limiting structure used for limiting the rotation angle of the frame assembly 1 is arranged between the frame assembly 1 and the ball screw 75. The limiting structure comprises a limiting piece 13 and a limiting piece, the limiting piece 13 is fixed on the rack assembly 1, the limiting piece is directly or indirectly fixedly connected with the first inner ring/ball screw 75, the limiting piece is provided with two blocking portions 761, and the limiting piece 13 is limited between the two blocking portions 761. In a specific application, the blocking piece is fixed on the synchronous pulley of the first inner ring.

The detection device further comprises a detection mechanism, the detection mechanism comprises a first sensor 12 and a first sensing piece 76, the first sensor 12 is fixed on the rack assembly 1, the first sensing piece 76 is directly or indirectly and fixedly connected with the first inner ring, and the first sensor 12 can sense the first sensing piece 76. The first inductor 12 is electrically connected to the control system. In a specific application, the first sensing member 76 and the blocking member are integrally disposed. The first sensing member 76 has a metal member, the first sensing member 76 is a sensor capable of sensing metal, when the first sensor 12 senses the first sensing member 76, the position of the rack assembly 1 is set as the original position, and then the rotation angle of the rack assembly 1 is confirmed by the encoder of the first driving member 71.

The detection mechanism further comprises a second sensor 21 and a second sensing member 77, the second sensor 21 is fixed on the movable base 2, the second sensing member 77 is directly or indirectly fixedly connected with the first inner ring, and the second sensor 21 can sense the second sensing member 77. The second inductor 21 is electrically connected to the control system. In a specific application, the second sensing element 77 is a metal element, and the second sensor 21 is a sensor capable of sensing metal. When the rack assembly 1 moves to the bottom, the second sensing member 77 reaches the position of the second sensor 21, and the second sensor 21 senses the second sensing member 77 and transmits a sensing signal to the control system. The unable adjustment base 8 is equipped with the fourth inductor, removes base 2 and is equipped with the fourth response piece, and the fourth inductor can respond to the fourth response piece. In particular, the fourth sensing member is a metal member, and the fourth sensor is a sensor capable of sensing metal. When the movable base 2 moves to the tail end of the fixed base 8, the fourth sensing member reaches the position of the fourth sensor, and the fourth sensor senses the fourth sensing member and transmits a sensing signal to the control system.

The telescopic mechanism 3 comprises a driving mechanism arranged on the rack assembly 1 and a screw pair telescopic mechanism, and the driving mechanism is electrically connected with the control system. The driving mechanism comprises a first motor 31, and the screw pair telescoping mechanism comprises a screw 32 and a feeding assembly matched with the screw 32. Lead screw 32 and rack assembly 1 pass through the bearing and connect, and the output shaft of first motor 31 is equipped with synchronous pulley, and lead screw 32 is fixed with synchronous pulley, and first motor 31 passes through the hold-in range and the rotation of synchronous pulley drive lead screw 32. The feeding assembly is connected with the rack assembly 1 in a sliding mode, the rack assembly 1 comprises an outer sleeve assembly 11, and the outer sleeve assembly 11 is sleeved outside the feeding assembly. The feeding assembly comprises a feeding nut 33 and a feeding sleeve 34, the feeding nut 33 is fixedly connected with the feeding sleeve 34, and the outer sleeve assembly 11 is in key connection with the feeding sleeve 34, so that the feeding assembly and the outer sleeve assembly 11 can circumferentially and relatively slide in a fixed axial direction. A rotary drive is arranged in the rack assembly 1 and is electrically connected with the control system, the rotary drive drives the outer sleeve assembly 11 to rotate, so as to drive the feeding sleeve 34 to rotate, and the actuating mechanism 4 is arranged at the tail end of the feeding sleeve 34.

When the rack assembly 1 works, the first motor 31 is controlled by the control system to drive the screw pair telescoping mechanism to telescope, so that the actuating mechanism 4 is close to a switch of a switch cabinet operated by contacting a target, and then the control system controls the rotary driving output shaft to rotate to drive the actuating mechanism 4 to rotate, so that the switch of the switch cabinet is turned on in a rotary manner. Since the rotation of the rotary drive will also drive the feeding assembly to rotate, which will cause the feeding assembly to move relative to the lead screw 32, in order to solve this problem, the control system only needs to control the lead screw 32 to rotate reversely through the first motor 31.

Also included is a gland assembly 5, the gland assembly 5 being in bearing connection with the feeder sleeve 34. The switch of cubical switchboard is equipped with ground sword butt joint hole baffle usually, needs open ground sword butt joint hole baffle before the operation cubical switchboard switch, and gland subassembly 5 is used for opening the ground sword butt joint hole baffle of cubical switchboard. The gland assembly 5 comprises a gland end 51, a first connecting piece 53 and a mounting frame 54, wherein one end of the first connecting piece 53 is fixedly connected with the gland end 51, and the other end of the first connecting piece 53 is fixedly connected with the mounting frame 54. The mounting bracket 54 is bearing connected to the feed sleeve 34. The pressing cover end 51 is a pressing plate with side edges at two sides, the two side edges of the pressing plate are both provided with an adjusting piece 52, and the adjusting piece 52 is provided with an inclined plane extending inwards. In this embodiment, the aligning member 52 has two inclined surfaces, namely, a first inclined surface 521 and a second inclined surface 522, and the first inclined surface 521 and the second inclined surface 522 are two adjacent surfaces. The first inclined surface 521 and the second inclined surface 522 are both triangular surfaces. The joint of the first inclined surface 521 and the second inclined surface 522 is transited by a smooth curved surface. The first inclined surface 521 faces forward of the cap end, and the second inclined surface 522 faces downward of the cap end. An ejection elastic piece 523 which enables the aligning piece to keep an ejection state is arranged between the aligning piece and two side edges of the pressing plate, and when the device is used specifically, the ejection elastic piece 523 is a spring.

The gland end 51 is pressed down to open the ground engaging aperture stop. When the ground knife abutting hole baffle enters the press cover end 51, when the surfaces of the press cover end 51 and the ground knife abutting hole baffle are not parallel, or when the press cover end 51 and the ground knife abutting hole baffle are slightly staggered, after the first inclined surface 521/the second inclined surface 522 of the two alignment pieces are contacted with the ground knife abutting hole baffle, the press cover end 51 presses down the first inclined surface 521/the second inclined surface 522 and the ground knife abutting hole baffle to generate acting force to enable the press cover assembly 5 to slightly rotate relative to the feeding sleeve 34, so that the press cover end 51 and the ground knife abutting hole baffle return to be parallel, and the press cover end 51 accurately abuts against the ground knife abutting hole baffle of the switch cabinet. And the two aligning members limit the ground cutter butt joint hole baffle to enter the middle position of the gland end 51, so that the gland end 51 is stable when applying a pressing force to the ground cutter butt joint hole baffle.

In another embodiment, the telescoping mechanism 3 comprises a driving mechanism and a screw pair telescoping mechanism which are arranged on the rack assembly 1, and the driving mechanism is electrically connected with the control system. The driving mechanism comprises a first motor 31, and the screw pair telescoping mechanism comprises a screw 32 and a feeding assembly matched with the screw 32. First motor 31 is fixed in frame subassembly 1, and lead screw 32 is connected with frame subassembly 1 bearing, and first motor 31 and lead screw 32 transmission are connected. The feeding assembly comprises a feeding nut 33, a pushing piece 35, a gland assembly 5 and a feeding sleeve 34, the feeding nut 33 is sleeved outside the lead screw 32, the feeding nut 33 is fixedly connected with the pushing piece 35, the pushing piece 35 is fixedly connected with the gland assembly 5, and the gland assembly 5 is in bearing connection with the feeding sleeve 34. The frame assembly 1 comprises an outer sleeve assembly 11, the outer sleeve assembly 11 is sleeved outside the feeding sleeve 34, the feeding sleeve 34 is in key connection with the outer sleeve assembly 11, the outer sleeve assembly 11 limits the feeding sleeve 34 to do linear motion only, and the feeding sleeve 34 circumferentially and relatively slides in a fixed axial direction relative to the outer sleeve assembly 11.

The rack assembly 1 further comprises a fixed frame 15, the first motor 31 is mounted on the fixed frame 15, and the pushing member 35 is connected with the fixed frame 15 in a sliding manner. The fixing frame 15 is provided with a first slide rail, and the pushing element 35 is provided with a first slide block 351 matched with the first slide rail. The gland assembly 5 includes a gland end 51, a first connector 53, a mounting bracket 54. One end of the first connecting member 53 is fixedly connected with the gland end 51, the other end of the first connecting member 53 is fixedly connected with the mounting bracket 54, the mounting bracket 54 is connected with the feeding sleeve 34 through a bearing, and the mounting bracket 54 is fixedly connected with the pushing member 35. The capping end 51 is a press plate with side edges at both sides. The output shaft of the first motor 31 rotates through the driving screw 32, so that the feed nut 33 drives the pushing member 35, the gland assembly 5 and the feed sleeve 34 to move linearly. Since the gland assembly 5 and the pusher member 35 are fixedly coupled, the gland assembly 5 does not deflect relative to the feeder sleeve 34. Since the gland assembly 5 is in bearing connection with the feeder sleeve 34, the rotary drive drives the outer sleeve assembly 11 to rotate, which in turn drives the feeder sleeve 34 and the actuator 4 to rotate, without moving the feeder assembly.

The rack assembly 1 is provided with a fifth inductor, and the feeding assembly is provided with a fifth induction piece. The fifth sensing element is a metal element, and the fifth sensor is a sensor capable of sensing metal. The fifth sensor is in the position of the fifth sensor when the feed nut 33 is at the beginning of the screw 32. The fifth sensing piece is electrically connected with the control system, when the fifth sensing piece senses the position of the fifth sensor, the fifth sensing piece transmits a sensing signal to the control system, and the control system judges that the feeding assembly returns. In particular, the fifth sensor is disposed on the pushing member 35, and the fifth sensor is disposed on the fixing frame 15.

The end of the feeder sleeve 34 is provided with an actuator 4. The actuating mechanism 4 comprises a transmission member 41 and an actuating member 42, one end of the actuating member 42 is slidably connected with one end of the transmission member 41, and the actuating member 42 circumferentially relatively fixes and axially relatively slides with respect to the transmission member 41. One of the actuating member 42 and the transmission member 41 is provided with a non-cylindrical body, and the other is provided with a moving hole 422 which is matched with the non-cylindrical body. In a specific application, the non-cylindrical body may be a square cylinder or a regular pentagonal cylinder, and the actuating member 42 and the driving member 41 may be connected by a key. And an elastic buffer member 43 is arranged between one end of the executing member 42 and one end of the transmission member 41, and when the application is specifically performed, the elastic buffer member 43 is a spring, and the elastic buffer member 43 is sleeved on the non-cylindrical body. The other end of the transmission member 41 is fixedly connected to the feed sleeve 34. The actuator 4 further includes a limiting member 44, the limiting member 44 is sleeved on the non-circular cylinder, one end of the limiting member 44 is fixedly connected to the driving member 41, the other end of the limiting member 44 is provided with a first abutting portion 441, the actuator 42 is provided with a second abutting portion 421, and when the actuator 42 moves to a fixed position relative to the driving member 41, the first abutting portion 441 abuts against the second abutting portion 421 to prevent the actuator 42 from separating from the limiting member 44. The other end of the actuating member 42 is used for operating a switch of the switch cabinet, the other end of the actuating member 42 is provided with a first hole and groove structure 423 matched with the switch, and the top wall of the first hole and groove structure 423 is provided with a bevel 4231 extending inwards. The first hole and groove structure 423 is a hexagonal hole and groove structure. The angle part of the hexagonal hole groove structure is formed by the edge surface of the circular arc curved surface transition connection angle.

The frame assembly 1 is provided with a first depth camera 6, the first depth camera 6 is located above the telescopic mechanism 3, and the first depth camera 6 is electrically connected with the control system. The first depth camera 6 is used for collecting position information of the switch cabinet and then feeding back the position information to the control system. The control system then drives the rotary lifting mechanism 7, the transmission mechanism, the telescoping mechanism 3, bringing the first aperture structure 423 close to the switch of the switchgear. However, slight errors in the positioning may occur, which may result in a slight misalignment of the first slotted hole structure 423 and the switch of the switch cabinet. At this point, the ramped surface 4231 of the top wall of the first aperture and slot structure 423 will assist the switch to slide into the first aperture and slot structure 423.

The limiting member 44 is fixed with a third sensor 442, and the third sensor 442 can sense the actuator 42. The rack assembly 1 is internally provided with an accommodating space, the accommodating space is internally provided with a spring wire 14, the feeding sleeve 34 is of a hollow structure, the feeding sleeve 34 or the rack assembly 1 is provided with a wire hole for one end of the spring wire 14 to pass through, one end of the spring wire 14 is electrically connected with the third inductor 442 through the wire hole, and the other end of the spring wire 14 is connected with a power supply. In other embodiments, the third inductor 442 is fixedly connected to the transmission member 41. In one embodiment, the actuator 42 is a metal component, and the third sensor 442 is a metal-sensitive sensor. When the first hole groove structure 423 is staggered with the switch of the switch cabinet, the driving of the telescopic mechanism 3 can make the actuating element 42 touch the switch of the switch cabinet to receive reverse pressure, so that the actuating element 42 slides back relative to the transmission element 41, and the elastic buffer element 43 is compressed. When the actuator 42 is retracted to the position of the third sensor 442, the third sensor 442 senses the actuator 42, when the first hole and groove structure 423 is engaged with the switch of the switch cabinet, the actuator 42 suddenly returns, the third sensor 442 senses a signal indicating that the actuator 42 is away from the switch cabinet, and the signal is fed back to the control system, and the control system determines that the engagement between the first hole and groove structure 423 and the switch of the switch cabinet is completed.

The transmission member 41 is provided with an endoscope 411, the actuating member 42 is a cylindrical structure, and the endoscope 411 can monitor the condition outside the actuating member 42 through the cylindrical structure. The endoscope 411 is electrically connected to the control system, and the endoscope 411 and the first depth camera 6 are used to jointly monitor the position of the switch cabinet switch. The feeding sleeve 34 is a hollow structure, one end of the spring wire 14 is electrically connected to the endoscope 411 through the hollow structure, and the other end of the spring wire 14 is connected to a power supply.

In another embodiment, the actuator 4 has a centering structure, and the actuator 4 includes an actuator 42, a transmission member 41, and a centering aid 9. The connection mode between the actuating member 42 and the transmission member 41 is the same as the connection structure between the actuating member 42 and the transmission member 41, in this embodiment, the transmission member 41 is connected with the feeding sleeve 34 through the centering auxiliary member 9, and the centering auxiliary member 9 is fixedly connected with the feeding sleeve 34. The transmission member 41 and the centering auxiliary member 9 are connected through a centering structure, which includes a universal joint structure 92, a compression elastic member 922 and a centering member between the transmission member 41 and the centering auxiliary member 9. The gimbal structure 92 includes a connection block 921, one end of the centering aid 9 is provided with two opposite first connection portions 91 extending outward, one end of the transmission member 41 is provided with two opposite second connection portions 412 extending outward, the two first connection portions 91 are respectively hinged to two opposite side surfaces of the connection block 921, and the two second connection portions 412 are respectively hinged to the other two opposite side surfaces of the connection block 921, so that the transmission member 41 and the centering aid 9 are substantially in a straight line. However, due to the arrangement of the universal joint arrangement 92, the transmission element 41 can tilt relative to the centering aid 9. The compression elastic members 922 are arranged between the connecting block 921 and the transmission member 41 and between the connecting block 921 and the centering auxiliary member 9. In particular, the compression spring 922 is a disc spring. The compressed elastic member 922 is compressed, and the compressed elastic member 922 can make the transmission member 41 tilt and then align with the centering auxiliary member 9, so that the transmission member 41 and the centering auxiliary member 9 are restored to a state of being substantially aligned. The aligning member is a ball 923 or a rubber pad, and the aligning member is installed at an end of the first connection portion 91 and abuts against the driving member 41. The aligning member is also fitted to the end of the second connecting portion 412 and interferes with the centering aid 9. The aligning element assists in aligning the transmission element 41 after tilting relative to the centring aid 9. The clearance fit of the gimbal structure, the transmission member 41 and the actuator 42 forms a bipolar float of the actuator 4, so that the actuator 4 can adapt to offsets of ± 3 ° and ± 1 mm.

The control system controls the motion of the mechanical arm 1021, four end tools are arranged at the tail end of the mechanical arm 1021, the four end tools are all obliquely arranged relative to the mechanical arm 1021, the inclination angles of the four end tools are the same, and the four end tools are evenly distributed around the periphery of the tail end of the mechanical arm 1021. The four end tools are all tilted 45 deg. relative to the robot arm 1021. The four end tools are perpendicular to each other two by two. The four end tools are an end clamping tool a, an end operating tool B, an end operating switch tool C and an end screwing tool D, respectively. The actuating mechanism is an end tool arranged on the ground knife operating structure.

The tail end clamping tool A comprises a first fixing piece A1 arranged on the mechanical arm 1021, a first power source A2 arranged on the first fixing piece A1 and a first execution assembly, wherein the first execution assembly comprises a fixing main body A31, a second power source A32 arranged on the fixing main body A31 and two clamping pieces A4, a clamping transmission structure is arranged in the fixing main body A31, and the second power source A32 enables the two clamping pieces A4 to be close to or separated from each other through the clamping transmission structure. The fixing body A31 is in bearing connection with the first fixing piece A1, the fixing body A31 is in transmission connection with an output shaft of the first power source A2, and the first power source A2 drives the first executing component to rotate. In a specific application, the fixing body a31 is a fixing shell.

The clamping transmission structure comprises a gear set and a threaded rod A53, the gear set comprises a first gear A51 and a second gear A52, in particular to application, the first gear A51 and the second gear A52 are both bevel gears, and the first gear A51 and the second gear A52 are perpendicular to each other and meshed with each other. The gear set is arranged in the fixed main body A31, and the output shaft of the second power source A32 is in transmission connection with the gear set. The first gear A51 and the output shaft of the second power source A32 are coaxially and fixedly connected, the second gear A52 and the threaded rod A53 are coaxially and fixedly connected, and the threaded rod A53 and the fixed body A31 are rotatably connected. Two holder A4 all fixedly connected with fourth connecting piece A41, fourth connecting piece A41 are located in fixed main part A31, and fourth connecting piece A41 is equipped with the screw hole with threaded rod A53 complex, and the internal screw thread's of two screw holes spiral opposite direction. In other embodiments, the threaded hole may be provided directly to the clamp a 4. The fixed body a31 is provided with a sliding hole a311 for the fourth connecting piece a41 to pass through, and the sliding hole a311 limits the fourth connecting piece a41 to move only in a straight line. The fourth connector a41 has a positioning part a412, and the positioning part a412 abuts against the inner wall of the fixing body a31 to prevent the fourth connector a41 from deflecting and limit the fourth connector a41 from moving only in a straight line.

The clamping piece A4 is provided with a shuttle hole A42, a click switch piece A43 is arranged in the shuttle hole A42, and a return elastic piece A44 is arranged between the click switch piece A43 and the clamping piece A4. The clamping piece A4 is provided with a clamping part A45 extending towards two sides, and when the two clamping pieces A4 approach each other, the clamping parts A45 of the two clamping pieces A4 abut against each other. The clamping piece A4 is provided with a half-concave part A46, and when the two clamping pieces A4 approach each other, the half-concave parts A46 of the two clamping pieces A4 are overlapped with each other to form a complete clamping hole A47. In particular application, the clamping hole A47 is a square hole. A second depth camera A6 is also included, the second depth camera A6 being mounted to the first mount A1. The second depth camera A6 is installed above the fixed body A31, the second depth camera A6 is electrically connected with the control system, the second depth camera A6 can detect the position of a switch of the switch cabinet, then the control system controls the mechanical arm 1021 to enable the tail end clamping tool A to be close to the switch of the switch cabinet, then the second power source A32 is driven to enable the two clamping pieces A4 to clamp the switch, then the first power source A2 is driven to enable the clamping pieces A4 to rotate to turn on and off the switch. The click switch piece a43 can click a button switch by the drive of the robot arm 1021. The holder a4 can hold a square switch, or can hold a stem-like/elongated switch by the holder a 45.

The end operating tool B includes a second fastener B1 provided on the robot arm 1021, a guide sleeve B2 fixed on the second fastener B1, an operating rod B3, a sliding connection between the operating rod B3 and the guide sleeve B2, and an elastic auxiliary member B4 provided between the operating rod B3 and the guide sleeve B2. A pressure sensor for detecting the pressure of the spring is arranged between the elastic auxiliary member B4 and the guide sleeve B2 or between the elastic auxiliary member B4 and the operating rod B3, and the pressure sensor is electrically connected with the control system. A stop structure for limiting the sliding position of the operating rod B3 is arranged between the operating rod B3 and the guide sleeve B2. The stopper structure includes a stopper B31 connected to one end of the operating lever B3 and a stopper portion provided in the guide sleeve B2, and when the operating lever B3 moves to a fixed position with respect to the guide sleeve B2, the stopper B31 interferes with the stopper portion to prevent the operating lever B3 from being separated from the guide sleeve B2.

The guide sleeve B2 is provided with a receiving hole and groove structure B21, and one end of the operating rod B3 is arranged in the receiving hole and groove structure B21. The accommodating hole groove structure B21 is divided into a first section B211, a second section B212 and a third section B213, the size of the first section B211 is smaller than that of the second section B212, and the size of the second section B212 is smaller than that of the third section B213. One end of the operating lever B3 passes through the first segment B211 and the second segment B212 into the third segment B213. The size of the first section B211 is matched with the outer diameter of the operating rod B3. The second section B212 is internally provided with a rubber ring B214 which is sleeved outside the operating rod B3, and the rubber ring B214 completely fills the space in the second section B212. A stop B31 is arranged in the third section B213, and the stop B31 is fixedly connected with one end of an operating rod B3. The stop part is the bottom of the rubber ring B214, and the stop B31 and the stop part cooperate to prevent the operating rod B3 from being separated from the guide sleeve B2. An elastic auxiliary member B4 is arranged in the third section B213, and the elastic auxiliary member B4 is a spring. A mounting piece B5 is arranged in the third section B213, the cross section of the mounting piece B5 is of a T-shaped structure, one end of a mounting piece B5 is arranged in the third section B213 and is provided with a cavity groove B51, the other end of the mounting piece B5 is fixedly connected with the guide sleeve B2, and an elastic auxiliary piece B4 is arranged in the cavity groove B51. One end of the elastic assistant piece B4 is connected with the stop B31, and the other end of the elastic assistant piece B4 is connected with the bottom wall of the cavity groove B51. In a specific application, the stop member B31 is provided with a pressure sensor, and the pressure sensor is abutted against the elastic auxiliary member B4.

The second fixture B1 is fixed with a third depth camera B6, the third depth camera B6 is positioned above the guide sleeve B2, and the third depth camera B6 is electrically connected with the control system. The third depth camera B6 may detect the position of the switch cabinet and the control system then controls the robot 1021 to bring the end effector B into proximity with the switch of the switch cabinet. The operating lever B3 can be used to click a button switch, and when the mechanical arm 1021 controls the operating lever B3 to click the button switch, the pressure sensor can sense the pressure applied to the elastic auxiliary member B4, i.e., the pressure applied to the button switch by the operating lever B3. The pressure sensor transmits a pressure signal to the control system, and the control system can judge the force of the operating rod B3 for clicking the switch according to the sensing signal of the pressure sensor.

The end-effector switch tool C includes a third mount C1 provided on the robot arm 1021, a motor C2 mounted on the third mount C1, and a transmission rod C3 connected to an output shaft of the motor C2 in a transmission manner. The transmission rod C3 is connected with a bearing of a third fixing piece C1. The end of the transmission rod C3 is provided with an operating piece C4, the operating piece C4 and the transmission rod C3 are circumferentially fixed and axially slide relatively, the cross section of part of the transmission rod C3 is non-circular, and the operating piece C4 is provided with a non-circular through hole matched with the transmission rod C3. In specific application, the cross section of a part of the transmission rod C3 is square, regular pentagon or regular triangle, or the operating piece C4 and the transmission rod C3 are in key connection. A rebound piece C41 is arranged between the operating piece C4 and the transmission rod C3, and the rebound piece C41 is a spring. The operating piece C4 is provided with a butt joint hole groove structure C42 for butt joint of a switch cabinet switch, and the butt joint hole groove structure C42 is a hole groove structure formed by two overlapped and staggered cubes. The two overlapping and staggered cubes form eight corners of the butt-joint hole groove structure C42, and the eight corners are evenly distributed in the circumferential direction in the butt-joint hole groove structure C42. The corner part is formed by the side surface of the arc curved surface transition connection corner. The end surface of the butt-joint hole groove structure C42 is an inward extending inclined transition surface C421.

An anti-drop structure for preventing the separation between the operating piece C4 and the driving rod C3 is arranged between the driving rod C3 and the operating piece C4. The anti-drop structure comprises a first anti-drop part C31 arranged at the end part of the transmission rod C3 and a second anti-drop part C43 arranged at the operating piece C4, and when the operating piece C4 slides to the end part of the transmission rod C3, the first anti-drop part C31 and the second anti-drop part C43 are mutually interfered to prevent the operating piece C4 from being separated from the transmission rod C3. The operating piece C4 is a cylindrical structure, the operating piece C4 is sleeved outside the transmission rod C3, the first anti-falling part C31 is a screw fixed at the end of the transmission rod C3, the size of the screw is larger than that of the transmission rod C3, and the second anti-falling part C43 is a step platform arranged in the operating piece C4. The rebounding piece C41 is sleeved outside the transmission rod C3, the transmission rod C3 is provided with a boss C32 extending in the radial direction, one end of the rebounding piece C41 is connected with the boss C32, and the other end of the rebounding piece C41 is connected with the operating piece C4. The transmission rod C3 further comprises a protection sleeve C5 used for protecting the rebound piece C41, the rebound piece C41 is located in the protection sleeve C5, the protection sleeve C5 is arranged outside the transmission rod C3, and the protection sleeve is fixedly connected with the boss C32.

The third mount C1 holds a fourth depth camera C6, the fourth depth camera C6 being electrically connected to the control system. A fourth depth camera C6 is located above the drive link C3. The fourth depth camera C6 may detect the position of the switch cabinet switch and then transmit a switch cabinet position signal to the control system which controls the robot 1021 to bring the end effector switch tool C into proximity with the switch cabinet switch. The butt-joint hole slot structure C42 of the operating piece C4 can be clamped with a square switch of the switch cabinet. The inclined transition surface C421 helps the docking aperture groove structure C42 dock the square switch when the docking aperture groove structure C42 docks the square switch. The docking aperture slot structure C42 has eight corners formed by two overlapping and alternating cubes to allow the square switch to more easily enter the docking aperture slot structure C42. The motor C2 drives the transmission rod C3 to rotate, any corner of the butt joint hole groove structure C42 contacts any corner of the square switch, and the butt joint hole groove structure C42 can be quickly butted to other parts of the square switch. Continued rotation of the motor C2 then causes the operating member C4 to unscrew the switch.

The tail end screwing tool D comprises a fourth fixing part D1 arranged on the mechanical arm 1021, a power mechanism D2 arranged on the fourth fixing part D1 and a driving rod assembly in transmission connection with an output shaft of the power mechanism D2, wherein the driving rod assembly is in bearing connection with the fourth fixing part D1, and a screwing part D5 is arranged at the end part of the driving rod assembly. The driving rod assembly comprises a driving rod D3 and a sleeve piece D4, the sleeve piece D4 and the driving rod D3 are circumferentially fixed relatively and axially and relatively slide, the sleeve piece D4 is sleeved on the driving rod D3, the cross section of the driving rod D3 is non-circular, and the sleeve piece D4 is provided with a sleeve hole adaptive to the shape of the driving rod D3. In a specific application, the cross section of the driving rod D3 is square, regular pentagon or triangle, or the sleeve D4 is connected with the driving rod D3 through a key. An elastic slow-release piece D32 is arranged between the driving rod D3 and a sleeve piece D4, and the sleeve piece D4 is fixedly connected with a screwing piece D5. The screw D5 is provided with an escape hole D51 for escaping the drive lever D3.

A gear structure for limiting the sliding position of the sleeve D4 is arranged between the sleeve D4 and the driving rod D3. The gear structure comprises a first blocking portion D41 arranged on the sleeve D4 and a second blocking portion D31 arranged on the driving rod D3, and when the sleeve D4 slides to a fixed position relative to the driving rod D3, the first blocking portion D41 and the second blocking portion D31 abut against each other to prevent the sleeve D4 from being separated from the driving rod D3. The fourth fixing piece D1 is fixedly connected with a fixing sleeve D6, the fixing sleeve D6 is sleeved outside the driving rod assembly, and a bearing is arranged between the driving rod assembly and the fixing sleeve D6. A position stopping structure for limiting the sliding position of the sleeve D4 is arranged between the sleeve D4 and the fixed sleeve D6. The blocking structure comprises a first blocking portion D42 arranged on the sleeve D4 and a second blocking portion D61 arranged on the fixed sleeve D6, and when the sleeve D4 slides to a fixed position relative to the driving rod D3, the first blocking portion D42 and the second blocking portion D61 abut against each other to limit the sleeve D4 to move continuously. The movable range of the kit D4 is limited between the second stopper portion D31 and the second stopper portion D61. In a specific application, the first stopper portion D41 and the first blocking portion D42 are integrally formed.

The driving rod D3 is sleeved with the elastic slow release piece D32, the driving rod D3 is provided with a platform part D33 which is abutted with one end of the elastic slow release piece D32, and the other end of the elastic slow release piece D32 is abutted with a sleeve part D4. The screwing piece D5 is a cylindrical structure, four notches D52 are uniformly arranged at the end part of the screwing piece D5 in the circumferential direction, and the notches D52 are arranged in a pairwise symmetry mode. The end of the driving lever D3 is provided with a blocking nut forming a second blocking portion D31.

The fourth holder D1 holds a fifth depth camera D7, the fifth depth camera D7 being electrically connected to the control system. The fifth depth camera D7 is located above the drive rod D3. The fifth depth camera D7 may detect the position of the switch cabinet switch and then transmit a switch cabinet position signal to the control system, which controls the robotic arm 1021 to bring the end screw tool D into proximity with the switch cabinet switch. The notch D52 at the end of the screw D5 can engage the stem/elongated switch, and after the switch is engaged, the power mechanism D2 is then driven to screw the screw D5 into the switch. Some switches are turned on by pressing after screwing, which requires the mechanical arm 1021 to press the screw D5, so that the screw D5 is retracted relative to the driving rod D3 and the end of the driving rod D3 presses the switch. After opening the switch, the resilient release D32 may return screw D5 to the initial position.

A method of operating a walking robot, comprising the steps of:

step 2: controlling the end tool to operate the switch;

and step 3: judging whether the end tool is operated in place;

and 4, step 4: in the step 3, the state of the indicator is judged by analyzing the sound characteristic of the operation process and using a visible light camera, so as to judge whether the end tool is operated in place.

Optionally, the method comprises the following steps:

step 1: controlling the walking robot to move to the front of the switch cabinet;

step 2: controlling a depth camera to shoot current image information;

and 4, step 4: controlling the frame assembly and/or the mechanical arm of the walking robot to move, and driving the end tool to be in butt joint with the switch;

and 5: controlling the end tool to operate the switch;

The robot is provided with a double-vision holder, a partial discharge sensor and an environment monitoring sensor. The switch room operation robot has the following functions:

(1) driving a steering mechanism: the omnidirectional four-wheel-drive motion chassis is adopted, so that the performance is reliable, the control is flexible, the high-precision trackless autonomous positioning navigation is adopted, and the functions of autonomous obstacle avoidance and drop prevention are realized, so that the operation safety is ensured;

(2) mechanical arm: the six-degree-of-freedom cooperative-grade mechanical arm has the functions of free driving and collision protection, achieves high-precision tail end posture adjustment and motion planning, and is matched with a special operation tool to perform specific operation tasks.

(3) An end-effector: the depth camera is carried, and functions of daily switching operation, emergency operation, information checking protection, key pressing and the like can be realized through multi-tool switching.

(4) The ground knife operation structure comprises: the multi-freedom-degree holder platform is matched with the large-torque driving module, and the grounding disconnecting link opening and closing operation capacity can be realized through the 3D vision positioning system.

(5) Double vision holder: the switch cabinet is provided with a visible light camera and an infrared image sensor, so that the daily inspection function and the operation monitoring function of the switch cabinet can be realized.

(6) Partial discharge sensor: the partial discharge detection of the switch cabinet is realized by using an ultrahigh frequency partial discharge detection technology.

(7) An environment monitoring sensor: the monitoring of the environmental temperature, humidity and toxic and harmful gases is realized.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. A method of operating a walking robot, comprising the steps of:

step 2: controlling the end tool to operate the switch;

and step 3: judging whether the end tool is operated in place;

2. The method of claim 1, wherein the walking robot comprises a driving steering mechanism, a ground-knife operating mechanism, a robot arm, and a control system, the driving steering mechanism has a fixed chassis, the robot arm and the ground-knife operating mechanism are both mounted on the fixed chassis, the ground-knife operating mechanism has a frame assembly, the control system controls the movement of the robot arm and the frame assembly, the end of the robot arm has four end tools, each of the four end tools is disposed at an angle of 45 ° relative to the robot arm, the four end tools are circumferentially and uniformly distributed around the end of the robot arm, the frame assembly also has end tools, and the end tools of the frame assembly are actuators.

3. The method of claim 2, wherein the four end tools are perpendicular to each other.

4. The method as claimed in claim 2, wherein the ground knife operating structure comprises a fixed base and a movable base, the fixed base is mounted on the fixed base, the movable base and the fixed base are slidably connected by a second slide rail, the fixed base is provided with a transmission mechanism for driving the movable base to move, the transmission mechanism is electrically connected with the control system, and the frame assembly is disposed on the movable base.

5. The method of claim 4, wherein the mobile base is provided with a rotary elevating mechanism for rotatably elevating the frame member, and the rotary elevating mechanism is electrically connected to the control system.

6. The method of claim 2, wherein the frame assembly is provided with a telescopic mechanism, and an actuator is provided at a distal end of the telescopic mechanism.

7. The method of claim 6, wherein the telescoping mechanism comprises a driving mechanism disposed on the frame assembly and a lead screw pair telescoping mechanism, the driving mechanism drives the lead screw pair telescoping mechanism to telescope, and the driving mechanism is electrically connected to the control system.

8. The method of claim 7, wherein the driving mechanism comprises a first motor, the lead screw pair retracting mechanism comprises a lead screw and a feeding assembly engaged with the lead screw, the lead screw is rotatably connected to the frame assembly, the first motor drives the lead screw to rotate, the feeding assembly is slidably connected to the frame assembly, and the feeding assembly and the frame assembly are circumferentially fixed and axially slidable relative to each other.

9. The method of claim 8, wherein the frame assembly comprises an outer sleeve assembly, and wherein the outer sleeve assembly is sleeved outside the feeding assembly and is keyed to the feeding assembly.

10. The method as claimed in claim 9, wherein a rotary drive is provided in the frame assembly, the rotary drive drives the outer sleeve assembly to rotate, and further drives the feeding assembly to rotate, and the actuator is provided at a distal end of the feeding assembly.