CN115256336A - Master control room robot for automatically opening and closing cabinet door to take pictures and operation method - Google Patents

Abstract

The invention discloses a master control room robot for automatically photographing a switch cabinet door and an operation method, and relates to the technical field of power grid equipment investigation, wherein the robot comprises a robot body, a driving chassis is arranged on the lower surface of the robot body, a first mechanical arm and a second mechanical arm are arranged on the upper surface of the robot body, and a camera is fixedly connected to one end of the first mechanical arm, and the robot has the beneficial effects that: storing the arrangement information of the master control room screen cabinet into a robot database through manual programming; the installation can let the robot acquire position information's induction system guide robot location on the screen cabinet, removes the step of shooing with the arm tongs action of cubical switchboard door and camera and writes into the robot controller in, before drive chassis drives the robot body and reachs the screen cabinet door, realizes opening the door through program control to shooing to the many devices wiring condition in the screen cabinet, can make fortune dimension personnel know the inside condition of equipment better, it is convenient to bring for fortune dimension personnel's reconnaissance work.

Description

Master control room robot for automatically opening and closing cabinet door to take pictures and operation method

Technical Field

The invention relates to the technical field of power grid equipment investigation, in particular to a master control room robot for automatically opening and closing a cabinet door to take a picture and an operation method.

Background

The power grid dispatching department pays particular attention to the running state of equipment in a station, particularly the defects of the equipment in the station, event alarm information and fault handling conditions, when secondary equipment has defects or alarms, operation and maintenance personnel are required to handle faults in time, the operation and maintenance personnel investigate the conditions of the secondary equipment in each screen cabinet in the field by calling a field camera, but the moving ranges of the fixed camera and the camera of the fixed rail robot are limited, the fixed camera cannot cover most of areas of the screen cabinet, the screen cabinet door cannot be opened automatically for inspection, the wiring condition of a device in the screen cabinet is shot, inconvenience is brought to fault elimination, and the power utilization recovery time is influenced.

Secondly, when secondary equipment of a transformer substation needs to be added and wiring is modified, secondary designers of a design institute need to carry out site investigation, the main process and content of the site investigation are fixed and single, the conditions of wiring of internal devices, terminal row wiring and the like of each screen cabinet are mainly investigated according to the working principle of a secondary device, the technical improvement and the quantity of capital construction projects are increased along with the increase of the number of the transformer substations, the investigation is still carried out when a person takes a bus to the transformer substation, the road is far away, time and labor are wasted, the site robot cannot open and close the screen cabinet door for investigation, and an efficient and convenient remote investigation mode is lacked, so that the master control room robot for automatically photographing the screen cabinet door and the operation method are provided.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a master control room robot for automatically opening and closing a cabinet door to take a picture and an operation method, which solve the problems in the background technology.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a master control room robot for automatic switch cabinet door is shot, includes robot, robot's lower surface is provided with the drive chassis, robot's upper surface is provided with first arm and second arm, the one end fixedly connected with camera of first arm, the one end fixedly connected with installation piece of second arm, the inside fixed mounting of installation piece has first motor, the output of first motor extends to the outside of installation piece and fixedly connected with presss from both sides and gets the mechanism, the last fixed surface of installation piece installs the mechanism of opening door, the annular chute has been seted up to one side of installation piece, the inner chamber rotation of annular chute is connected with the annular sliding block, the annular sliding block gets mechanism fixed connection with the clamp, the mechanism of opening door includes the second fixed plate, one side fixed mounting of second fixed plate has the connecting block, the one end fixedly connected with of connecting block, first spring groove has been seted up to the inside of fixed block, the one end fixedly connected with first expanding spring in first spring groove, the one end fixedly connected with first stopper of first expanding spring, the one end of first stopper extends to one side of first spring groove, one side of fixed block is the arc-shaped fixing block, the inside fixed block is installed the fixed electromagnet.

Optionally, the clamping mechanism comprises a first fixing plate, a clamping block is arranged on one side of the first fixing plate, a first sliding groove is formed in one side of the first fixing plate, an inner cavity of the first sliding groove is rotatably connected with a bidirectional screw rod, first sliding blocks are sleeved on the surfaces of two ends of the bidirectional screw rod in a threaded manner, and the first sliding blocks are fixedly connected with the clamping block.

Optionally, a second motor is fixedly mounted on the back surface of the first fixing plate, and an output end of the second motor extends to an inner cavity of the first sliding chute and is fixedly connected with the bidirectional screw rod.

Optionally, the groove has been seted up to the inside of robot, the inner chamber of accomodating the groove is provided with the third fixed plate, one side fixed mounting of third fixed plate has the containing box, the inside below that just is located the groove of accomodating of robot has seted up the second spout, the inner chamber of second spout rotates and is connected with first lead screw, the surperficial screw thread of first lead screw has cup jointed the second slider, second slider and third fixed plate fixed connection, the inside fixed mounting of robot has the third motor, the output of third motor extend to the inside of second spout and with first lead screw fixed connection.

Optionally, a third sliding groove is formed in the robot body and above the accommodating groove, a guide rod is fixedly mounted in an inner cavity of the third sliding groove, a third sliding block is sleeved on the surface of the guide rod in a movable mode, and the third sliding block is fixedly connected with a third fixing plate.

Optionally, a key slot has been seted up to the inside of containing box, the inner chamber in key slot is provided with the elevator, the spacing groove has been seted up to one side of elevator, the rotation groove has been seted up to the inside of containing box, the inner chamber in rotation groove rotates and is connected with the dwang, the fixed coupling in surface of dwang has first conical gear, the inside fixed mounting of containing box has the fourth motor, the output of fourth motor extend to the inner chamber in rotation groove and with dwang fixed connection.

Optionally, a fourth chute is formed in the storage box, an inner cavity of the fourth chute is rotatably connected with a second lead screw, one end of the second lead screw extends to the inner cavity of the rotation groove and is fixedly connected with a second bevel gear, and the second bevel gear is meshed with the first bevel gear.

Optionally, the surface thread of the second lead screw is sleeved with a fourth slider, the lower surface of the fourth slider is fixedly provided with an electric telescopic handle, the output end of the electric telescopic handle is fixedly connected with a movable block, a second spring groove is formed in the movable block, a second expansion spring is fixedly arranged in the inner cavity of the second spring groove, one end of the second expansion spring is fixedly connected with a second limiting block, one end of the second limiting block extends to the inner cavity of the limiting groove, and the lower surface of the second limiting block is an arc surface.

A master control room robot operation method for automatically opening and closing a cabinet door to take a picture comprises the following steps:

s1: storing the layout information of the main control room screen cabinet into a robot database through manual programming; storing the layout information of the screen cabinet of the main control room by a robot-carried path learning method; the induction device which can enable the robot to acquire position information is arranged on the screen cabinet to guide the robot to be positioned, meanwhile, the mechanical arm gripper motion and the camera moving shooting step of the switch cabinet door are written into the robot controller, and the chassis is driven to drive the robot body to move, so that the robot body reaches the front of the screen cabinet door;

s2: the first screw rod is driven to rotate by the third motor, the containing box is moved out of the inner cavity of the containing groove, the rotating rod is driven to rotate by the fourth motor, the first bevel gear drives the second screw rod to rotate, the fourth sliding block drives the movable block to move in the inner cavity of the fourth sliding groove, the movable block is driven to move upwards by the electric telescopic rod, and the second limiting block is pushed to extend into the inner cavity of the limiting groove by utilizing the flexibility of the second telescopic spring to drive the lifting block to move upwards so that the key extends out of the inner cavity of the key groove;

s3: utilize first arm to drive to press from both sides the top of getting the mechanism and removing to the containing box, utilize the second motor to drive two-way lead screw and rotate, make two grip blocks be close to each other, press from both sides the key and get, make second arm drive through control procedure and press from both sides the mechanism of getting, unblank and promote forward in inserting the keyhole with the key, make the handle pop out, make the handle promote first stopper and remove to the inner chamber in first spring groove, extrude first expanding spring, work as between the handle gets into two connecting blocks, utilize first expanding spring's elasticity, promote first stopper and remove, snatch the handle, utilize second arm to drive the mechanism of opening the door and remove, open the screen cabinet door, realize shooing of the many devices wiring condition in the screen cabinet through program control.

The invention provides a master control room robot for automatically opening and closing a cabinet door to take a picture and an operation method, and the robot has the following beneficial effects:

1. the master control room robot for automatically opening and closing the screen cabinet door to take a picture and the operation method thereof store the screen cabinet layout information of the master control room into a robot database through manual programming; storing the layout information of the screen cabinet of the main control room by a robot-carried path learning method; the robot is guided to be positioned by the induction device capable of acquiring position information through installation on the screen cabinet, and meanwhile, the mechanical arm gripper motion and the camera moving shooting step of the switch cabinet door are written into the robot controller, the robot body is driven to move through the driving chassis, the robot body reaches the front of the screen cabinet door, the second mechanical arm is used for driving the installation block to move, the clamping mechanism is enabled to insert a key into a key hole to be unlocked and pushed forwards, the handle is enabled to pop out, the handle can be grasped by the opening mechanism, the screen cabinet door is opened through the matching of the opening mechanism and the second mechanical arm, the matching of the first mechanical arm and the camera is utilized, the shooting records of all positions inside the robot can be carried out, operation and maintenance personnel can know the conditions inside the device better, and convenience is brought to the investigation work of the operation and maintenance personnel.

2. This a master control room robot and operation method for automatic switch cabinet door is shot, through pressing from both sides the cooperation of getting mechanism and mechanism of opening door, utilize the second motor to drive two-way lead screw and rotate, make two first sliders move at the inner chamber of first spout, drive two grip blocks and be close to each other, press from both sides the key and get, can insert the key in the keyhole through the second arm and carry out the operation of unblanking, when the handle pops out, one side that utilizes first stopper is the cambered surface, make the handle promote first stopper and remove to the inner chamber of first spring groove, extrude first expanding spring, get into between two connecting blocks as the handle, utilize first expanding spring's elasticity, promote first stopper and remove, can limit the handle between two connecting blocks, utilize the second arm to open the cabinet door, and is more convenient.

3. The main control room robot for automatic switch cabinet door photographing and the operation method thereof are characterized in that a first lead screw is driven to rotate through a third motor, a second sliding block is driven to move in an inner cavity of a second sliding groove, a third fixing plate is driven to move, a containing box is moved out of the inner cavity of the containing groove, a rotating rod is driven to rotate through a fourth motor, a first bevel gear is driven to rotate, the first bevel gear is meshed with a second bevel gear, the second lead screw can be driven to rotate, the fourth sliding block is driven to slide in the inner cavity of a fourth sliding groove, an electric telescopic rod is driven to move, a movable block is driven to move in the inner cavity of the fourth sliding groove, after the movable block moves to a position corresponding to one lifting block, the movable block is driven to move upwards through the electric telescopic rod to reach one side of the lifting block, the second limiting block is pushed to extend into the inner cavity of a limiting groove, the lifting block is driven to move upwards, a key extends out of the inner cavity of a key groove, and the key can be conveniently replaced.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic cross-sectional view of the mounting block of the present invention;

FIG. 3 is a schematic sectional view of the gripping mechanism of the present invention from above;

FIG. 4 is a schematic sectional view of the door opening mechanism of the present invention from above;

FIG. 5 is a schematic sectional view of the storage box of the present invention;

fig. 6 is a schematic sectional structural view of the lifting block and the movable block of the present invention.

In the figure: 1. a robot body; 2. a first robot arm; 3. a second mechanical arm; 4. a camera; 5. mounting blocks; 6. a first motor; 7. a gripping mechanism; 8. a door opening mechanism; 9. an annular chute; 10. an annular slider; 11. a first fixing plate; 12. a clamping block; 13. a first chute; 14. a bidirectional screw rod; 15. a first slider; 16. a second motor; 17. a second fixing plate; 18. connecting blocks; 19. a fixed block; 20. a first spring groove; 21. a first extension spring; 22. a first stopper; 23. an electromagnet; 24. a drive chassis; 25. a storage groove; 26. a third fixing plate; 27. a second chute; 28. a first lead screw; 29. a second slider; 30. a third motor; 31. a third chute; 32. a guide bar; 33. a third slider; 34. a storage box; 35. a key slot; 36. a lifting block; 37. a limiting groove; 38. a rotating groove; 39. rotating the rod; 40. a first bevel gear; 41. a fourth motor; 42. a fourth chute; 43. a second lead screw; 44. a fourth slider; 45. a second bevel gear; 46. an electric telescopic rod; 47. a movable block; 48. a second spring groove; 49. a second extension spring; 50. and a second limiting block.

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.

Referring to fig. 1 to 6, the present invention provides a technical solution: a master control room robot for automatically photographing a screen cabinet door comprises a robot body 1, wherein a driving chassis 24 is arranged on the lower surface of the robot body 1, moving wheels are arranged on the lower surface of the driving chassis 24, a first mechanical arm 2 and a second mechanical arm 3 are arranged on the upper surface of the robot body 1, a camera 4 is fixedly connected to one end of the first mechanical arm 2, an installation block 5 is fixedly connected to one end of the second mechanical arm 3, a first motor 6 is fixedly installed inside the installation block 5, the output end of the first motor 6 extends to the outside of the installation block 5 and is fixedly connected with a clamping mechanism 7, a door opening mechanism 8 is fixedly installed on the upper surface of the installation block 5, an annular sliding groove 9 is formed in one side of the installation block 5, an inner cavity of the annular sliding groove 9 is rotatably connected with an annular sliding block 10, the annular sliding block 10 is fixedly connected with the clamping mechanism 7, and master control room screen cabinet arrangement information is stored in a robot database through manual programming; storing the layout information of the screen cabinet of the main control room by a robot-carried path learning method; the induction device capable of enabling the robot to acquire position information guides the robot to be positioned by installing on the screen cabinet, meanwhile, the mechanical arm tongs of the switch cabinet door and the camera 4 are moved to shoot steps to be written into a robot controller, the robot body 1 is driven to move through the driving chassis 24, the robot body 1 is made to reach the screen cabinet door, the second mechanical arm 3 is used for driving the installation block 5 to move, the clamping mechanism 7 is made to be clamped to insert a key into a key hole to be unlocked and push forwards, the handle is made to pop out, the handle can be grasped by the door opening mechanism 8, through the matching of the door opening mechanism 8 and the second mechanical arm 3, the screen cabinet door is opened, the first mechanical arm 2 and the camera 4 are matched, photographing records can be carried out on all positions inside the screen cabinet, the operation and maintenance personnel can better know the inside conditions of the equipment, and convenience is brought to the investigation work of the operation and maintenance personnel.

Wherein, the door opening mechanism 8 comprises a second fixing plate 17, a connecting block 18 is fixedly installed on one side of the second fixing plate 17, one end of the connecting block 18 is fixedly connected with a fixing block 19, a first spring groove 20 is formed inside the fixing block 19, one end of the first spring groove 20 is fixedly connected with a first expansion spring 21, one end of the first expansion spring 21 is fixedly connected with a first limiting block 22, one end of the first limiting block 22 extends to the outside of the first spring groove 20, one side of the first limiting block 22 is arc-shaped, an electromagnet 23 is fixedly installed inside the fixing block 19, the clamping mechanism 7 comprises a first fixing plate 11, one side of the first fixing plate 11 is provided with a clamping block 12, one side of the first fixing plate 11 is provided with a first chute 13, the inner cavity of the first chute 13 is rotatably connected with a bidirectional screw rod 14, first sliding blocks 15 are sleeved on the surfaces of two ends of the bidirectional screw rod 14 in a threaded manner, and the first sliding blocks 15 are fixedly connected with the clamping block 12, a second motor 16 is fixedly installed on the back of the first fixing plate 11, the output end of the second motor 16 extends to the inner cavity of the first chute 13 and is fixedly connected with the bidirectional screw rod 14, the two first sliders 15 are driven to move in the inner cavity of the first chute 13 by the cooperation of the clamping mechanism 7 and the door opening mechanism 8, the two clamping blocks 12 are driven to approach each other to clamp the key, the key can be inserted into the keyhole by the second mechanical arm 3 to carry out unlocking operation, when the handle is popped out, the handle pushes the first limiting block 22 to move towards the inner cavity of the first spring groove 20 by using the cambered surface on one side of the first limiting block 22, the first telescopic spring 21 is extruded, when the handle enters between the two connecting blocks 18, the first limiting block 22 is pushed to move by using the flexibility of the first telescopic spring 21, can utilize second arm 3 to open the cabinet door between two connecting blocks 18 with the handle restriction, it is more convenient.

Wherein, the robot body 1 is provided with a containing groove 25 inside, an inner cavity of the containing groove 25 is provided with a third fixing plate 26, one side of the third fixing plate 26 is fixedly provided with a containing box 34, the robot body 1 is provided with a second chute 27 inside and below the containing groove 25, an inner cavity of the second chute 27 is rotatably connected with a first lead screw 28, a surface thread of the first lead screw 28 is sleeved with a second slider 29, the second slider 29 is fixedly connected with the third fixing plate 26, the robot body 1 is fixedly provided with a third motor 30 inside, an output end of the third motor 30 extends to the inside of the second chute 27 and is fixedly connected with the first lead screw 28, the robot body 1 is provided with a third chute 31 inside and above the containing groove 25, an inner cavity of the third chute 31 is fixedly provided with a guide rod 32, a surface of the guide rod 32 is movably sleeved with a third rotating rod 33, the third slider 33 is fixedly connected with the third fixing plate 26, the containing box 34 is provided with a key groove 35 inside and provided with a lifting block 36, one side of the lifting block 36 is provided with a second chute 37, a surface of the lifting block 36, a rotating fixed with a second bevel gear box 34, an inner cavity of the lifting block 34 is connected with a fourth bevel gear 40, an inner cavity of a fourth bevel gear 40, an inner cavity of the gear 40 is connected with a bevel gear, a fourth bevel gear 40, a fourth bevel gear 40, a gear box 43, a fourth bevel gear box 43 connected with a gear box 40, and a gear box 41, an electric telescopic rod 46 is fixedly arranged on the lower surface of the fourth sliding block 44, an output end of the electric telescopic rod 46 is fixedly connected with a movable block 47, a second spring groove 48 is formed in the movable block 47, a second telescopic spring 49 is fixedly arranged in an inner cavity of the second spring groove 48, one end of the second telescopic spring 49 is fixedly connected with a second limiting block 50, one end of the second limiting block 50 extends to an inner cavity of the limiting groove 37, the lower surface of the second limiting block 50 is a cambered surface, the first screw 28 is driven to rotate by a third motor 30, the second sliding block 29 moves in the inner cavity of the second sliding groove 27 to drive the third fixing plate 26 to move, the containing box 34 is moved out of the inner cavity of the containing groove 25, and the rotating rod 39 is driven to rotate by a fourth motor 41, the first bevel gear 40 is rotated, because the first bevel gear 40 is engaged with the second bevel gear 45, the second screw rod 43 can be driven to rotate, the fourth slider 44 is made to slide in the inner cavity of the fourth chute 42, the electric telescopic rod 46 is driven to move, the movable block 47 is made to move in the inner cavity of the fourth chute 42, when the movable block 47 moves to the position corresponding to one of the lifting blocks 36, the electric telescopic rod 46 is utilized to drive the movable block 47 to move upwards, the movable block reaches one side of the lifting block 36, the second limiting block 50 is pushed to extend into the inner cavity of the limiting groove 37 by utilizing the flexibility of the second telescopic spring 49, the lifting block 36 is driven to move upwards, the key extends out of the inner cavity of the key groove 35, and the key can be conveniently replaced and taken.

A master control room robot operation method for automatically opening and closing a cabinet door to take a picture comprises the following steps:

s1: storing the arrangement information of the master control room screen cabinet into a robot database through manual programming; storing the layout information of the screen cabinet of the main control room by a robot-carried path learning method; the induction device which can enable the robot to obtain position information is arranged on the screen cabinet to guide the robot to be positioned, meanwhile, the mechanical arm gripper motion of the switch cabinet door and the moving shooting step of the camera 4 are written into the robot controller, and the driving chassis 24 drives the robot body 1 to move, so that the robot body 1 reaches the front of the screen cabinet door;

s2: the first screw 28 is driven to rotate by the third motor 30, so that the containing box 34 is moved out of the inner cavity of the containing groove 25, the rotating rod 39 is driven to rotate by the fourth motor 41, the first bevel gear 40 drives the second screw 43 to rotate, the fourth slider 44 drives the movable block 47 to move in the inner cavity of the fourth sliding groove 42, the movable block 47 is driven to move upwards by the electric telescopic rod 46, and the second limiting block 50 is pushed to extend into the inner cavity of the limiting groove 37 by utilizing the elasticity of the second telescopic spring 49, so that the lifting block 36 is driven to move upwards, and a key is enabled to extend out of the inner cavity of the key groove 35;

s3: utilize first arm 2 to drive to press from both sides and get mechanism 7 and remove to the top of containing box 34, utilize second motor 16 to drive two-way lead screw 14 and rotate, make two grip blocks 12 be close to each other, press from both sides the key and get mechanism 7, make second arm 3 drive through control program and press from both sides, unblank and promote forward in inserting the key hole, make the handle pop out, make the handle promote first stopper 22 and remove to the inner chamber of first spring groove 20, extrude first expanding spring 21, get into between two connecting blocks 18 when the handle, utilize the elasticity of first expanding spring 21, promote first stopper 22 and remove, snatch the handle, utilize second arm 3 to drive opening mechanism 8 and remove, open the screen cabinet door, realize shooing of the many devices wiring condition in the screen cabinet through program control.

To sum up, when the master control room robot for automatically opening and closing the screen cabinet door for photographing and the operation method are used, firstly, the arrangement information of the screen cabinet of the master control room is stored in the robot database through manual programming; storing the layout information of the screen cabinet of the main control room by a robot-carried path learning method; the induction device which can lead the robot to obtain the position information is arranged on the screen cabinet to guide the robot to be positioned, meanwhile, the mechanical arm gripper action of the switch cabinet door and the moving shooting step of the camera 4 are written into the robot controller, the robot body 1 is driven to move by the driving chassis 24, the robot body 1 reaches the front of the screen cabinet door, the third motor 30 is started, the first screw rod 28 is driven to rotate by the third motor 30, the second slide block 29 moves in the inner cavity of the second sliding groove 27, the third fixing plate 26 is driven to move, the containing box 34 is moved out of the inner cavity of the containing groove 25, the fourth motor 41 is started, the rotating rod 39 is driven to rotate by the fourth motor 41, the first conical gear 40 rotates, the second conical gear 45 is meshed with the first conical gear 40, the second screw rod 43 can be driven to rotate, and the fourth slide block 44 slides in the inner cavity of the fourth sliding groove 42, the electric telescopic rod 46 is driven to move, the movable block 47 moves in the inner cavity of the fourth chute 42, when the movable block 47 moves to a position corresponding to one of the lifting blocks 36, the electric telescopic rod 46 is started, the electric telescopic rod 46 drives the movable block 47 to move upwards to enable the movable block 47 to reach one side of the lifting block 36, the second limiting block 50 is pushed to extend into the inner cavity of the limiting groove 37 by utilizing the elasticity of the second telescopic spring 49, the lifting block 36 is driven to move upwards, a key extends out of the inner cavity of the key groove 35, the clamping mechanism 7 is driven to move through the first mechanical arm 2, the second motor 16 is started, the two-way screw 14 is driven to rotate by utilizing the second motor 16, the two first sliding blocks 15 move in the inner cavity of the first chute 13 to drive the two clamping blocks 12 to approach each other, the key is clamped, and the key can be inserted into the key hole through the second mechanical arm 3 to perform unlocking operation, promote simultaneously forward, make the handle pop out, one side that utilizes first stopper 22 is the cambered surface, make the handle promote first stopper 22 and remove to the inner chamber of first spring groove 20, extrude first expanding spring 21, get into between two connecting blocks 18 when the handle, utilize first expanding spring 21's elasticity, promote first stopper 22 and remove, can limit the handle between two connecting blocks 18, utilize second arm 3 to open the cabinet door, drive camera 4 through first arm 2 and remove, adjust camera 4's angle, utilize camera 4 to shoot the record to its inside each position, can.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (9)

1. The utility model provides a master control room robot for automatic switch cabinet door is shot, includes robot body (1), its characterized in that: the lower surface of the robot body (1) is provided with a driving chassis (24), the upper surface of the robot body (1) is provided with a first mechanical arm (2) and a second mechanical arm (3), one end of the first mechanical arm (2) is fixedly connected with a camera (4), one end of the second mechanical arm (3) is fixedly connected with an installation block (5), the inside of the installation block (5) is fixedly provided with a first motor (6), the output end of the first motor (6) extends to the outside of the installation block (5) and is fixedly connected with a clamping mechanism (7), the upper surface of the installation block (5) is fixedly provided with a door opening mechanism (8), one side of the installation block (5) is provided with an annular sliding groove (9), the inner cavity of the annular sliding groove (9) is connected with an annular sliding block (10) in a rotating manner, the annular sliding block (10) is fixedly connected with the clamping mechanism (7), the door opening mechanism (8) comprises a second fixing plate (17), one side of the second fixing plate (17) is fixedly provided with a connecting block (18), one end of the fixing block (18) is fixedly connected with a fixing block (19), one end of the first spring groove (20) is provided with a first spring groove (20), the one end fixedly connected with first stopper (22) of first expanding spring (21), the one end of first stopper (22) extends to the outside of first spring groove (20), one side of first stopper (22) is the arc, the inside fixed mounting of fixed block (19) has electro-magnet (23).

2. The robot of the main control room for automatically opening and closing the door of the screen cabinet to take a picture according to claim 1, wherein: the clamping mechanism (7) comprises a first fixing plate (11), a clamping block (12) is arranged on one side of the first fixing plate (11), a first sliding groove (13) is formed in one side of the first fixing plate (11), an inner cavity of the first sliding groove (13) is rotatably connected with a bidirectional screw rod (14), first sliding blocks (15) are sleeved on the surfaces of two ends of the bidirectional screw rod (14) in a threaded manner, and the first sliding blocks (15) are fixedly connected with the clamping block (12).

3. The robot of claim 2, wherein the robot comprises: the back of the first fixing plate (11) is fixedly provided with a second motor (16), and the output end of the second motor (16) extends to the inner cavity of the first sliding groove (13) and is fixedly connected with the bidirectional screw rod (14).

4. The robot of claim 1, wherein the robot comprises: the utility model discloses a robot, including robot body (1), one side fixed mounting has containing box (34), the inside of containing groove (25) has been seted up, the inner chamber of containing groove (25) is provided with third fixed plate (26), one side fixed mounting of third fixed plate (26) has containing box (34), second spout (27) have been seted up to the inside below that just is located containing groove (25) of robot body (1), the inner chamber of second spout (27) rotates and is connected with first lead screw (28), second slider (29) have been cup jointed to the surface screw thread of first lead screw (28), second slider (29) and third fixed plate (26) fixed connection, the inside fixed mounting of robot body (1) has third motor (30), the output of third motor (30) extend to the inside of second spout (27) and with first lead screw (28) fixed connection.

5. The robot of claim 4, wherein the robot comprises: the inside of robot body (1) and the top that is located and accomodates groove (25) have seted up third spout (31), the inner chamber fixed mounting of third spout (31) has guide bar (32), third slider (33) have been cup jointed in the surface activity of guide bar (32), third slider (33) and third fixed plate (26) fixed connection.

6. The master control room robot for automatically opening and closing a cabinet door to take a picture according to claim 4, wherein: key slot (35) have been seted up to the inside of containing box (34), the inner chamber of key slot (35) is provided with lift piece (36), spacing groove (37) have been seted up to one side of lift piece (36), rotation groove (38) have been seted up to the inside of containing box (34), the inner chamber rotation of rotation groove (38) is connected with dwang (39), the fixed cover in surface of dwang (39) has been cup jointed first conical gear (40), the inside fixed mounting of containing box (34) has fourth motor (41), the output of fourth motor (41) extend to the inner chamber that rotates groove (38) and with dwang (39) fixed connection.

7. The robot of claim 6, wherein the robot comprises: fourth spout (42) have been seted up to containing box (34) inside, the inner chamber of fourth spout (42) rotates and is connected with second lead screw (43), the one end of second lead screw (43) extends to the inner chamber and the fixedly connected with second bevel gear (45) of rotating groove (38), second bevel gear (45) and first bevel gear (40) mesh mutually.

8. The robot of claim 7, wherein the robot comprises: the surface thread of second lead screw (43) has cup jointed fourth slider (44), the lower fixed surface of fourth slider (44) installs electric telescopic handle (46), the output fixedly connected with movable block (47) of electric telescopic handle (46), second spring groove (48) have been seted up to the inside of movable block (47), the inner chamber fixed mounting of second spring groove (48) has second expanding spring (49), the one end fixedly connected with second stopper (50) of second expanding spring (49), the one end of second stopper (50) extends to the inner chamber of spacing groove (37), the lower surface of second stopper (50) is the cambered surface.

9. An operation method of a master control room robot for automatically opening and closing a cabinet door to take a picture is characterized in that: the method comprises the following steps:

s1: storing the layout information of the main control room screen cabinet into a robot database through manual programming; storing the layout information of the master control room screen cabinet by a robot-carried path learning method; the induction device which can enable the robot to acquire position information is arranged on the screen cabinet to guide the robot to be positioned, meanwhile, the mechanical arm gripper motion and the camera (4) moving shooting step of the switch cabinet door are written into the robot controller, and the robot body (1) is driven to move through the driving chassis (24), so that the robot body (1) reaches the front of the screen cabinet door;

s2: the first screw rod (28) is driven to rotate by the third motor (30), the containing box (34) is moved out of the inner cavity of the containing groove (25), the rotating rod (39) is driven to rotate by the fourth motor (41), the first bevel gear (40) drives the second screw rod (43) to rotate, the fourth slider (44) drives the movable block (47) to move in the inner cavity of the fourth sliding groove (42), the movable block (47) is driven to move upwards by the electric telescopic rod (46), and the second limiting block (50) is pushed to extend into the inner cavity of the limiting groove (37) by utilizing the flexibility of the second telescopic spring (49), so that the lifting block (36) is driven to move upwards, and a key is enabled to extend out of the inner cavity of the key groove (35);

s3: utilize first arm (2) to drive to press from both sides and get mechanism (7) and remove to the top of containing box (34), utilize second motor (16) to drive two-way lead screw (14) and rotate, make two grip blocks (12) be close to each other, press from both sides the key, make second arm (3) drive through control procedure and press from both sides and get mechanism (7), insert the key in the keyhole and unblank and promote forward, make the handle pop out, make the handle promote first stopper (22) and remove to the inner chamber of first spring groove (20), extrude first expanding spring (21), get into between two connecting blocks (18) as the handle, utilize the elasticity of first expanding spring (21), promote first stopper (22) and remove, snatch the handle, utilize second arm (3) to drive mechanism of opening the door (8) and remove, open the screen cabinet door, realize taking a picture of the many installations wiring condition in the screen cabinet through program control.

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