CN116476104A - Terminal operation module of switch cabinet operation robot and switch cabinet operation robot - Google Patents
Terminal operation module of switch cabinet operation robot and switch cabinet operation robot Download PDFInfo
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- CN116476104A CN116476104A CN202310398535.8A CN202310398535A CN116476104A CN 116476104 A CN116476104 A CN 116476104A CN 202310398535 A CN202310398535 A CN 202310398535A CN 116476104 A CN116476104 A CN 116476104A
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- screwing mechanism
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- switch cabinet
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- 230000007246 mechanism Effects 0.000 claims abstract description 119
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 230000010354 integration Effects 0.000 abstract description 5
- 239000012636 effector Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a terminal operation module of a switch cabinet operation robot and the switch cabinet operation robot, wherein the terminal operation module comprises a clamping jaw mechanism, a door lock screwing mechanism and a key sleeve screwing mechanism, and the door lock screwing mechanism is used for realizing the screwing and the unscrewing of a cabinet door locking bolt of a cabinet body, and the opening and closing of an air switch and the pressing operation of a pressing switch; the key sleeving and screwing mechanism is used for realizing sleeving and rotating opening of a cabinet door key of the cabinet body, opening and closing of the air switch and pressing operation of the pressing switch; a clamping mechanism is arranged between the tail ends of the door lock screwing mechanism and the key sleeve screwing mechanism; the clamping jaw mechanism comprises two clamping jaw blocks, the two clamping jaw blocks move relatively, and the door lock screwing mechanism and the key sleeve screwing mechanism are respectively positioned on the two clamping jaw blocks. The invention has the advantages of simple structure, high integration level, strong operation function and the like.
Description
Technical Field
The invention mainly relates to the technical field of switch cabinet inspection, in particular to a switch cabinet operation robot tail end operation module and a switch cabinet operation robot.
Background
With the development of technology, robots are increasingly used in the fields of industrial automation and special operations. The operation danger coefficient of the high-voltage switch cabinet body is high, the operation content is multiple, the operation content of the switch cabinet operation robot on the market at present is the rotation of the joint debugging switch, the pressing of a knob and the like, basically some operations of the joint debugging switch are remained on the cabinet surface, the opening and closing of the switch cabinet door and the operation of the electric elements (such as an air switch) in the cabinet body cannot be realized at all, the structure is too complex, and the weight and the volume are huge.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides a switch cabinet operation robot tail end operation module and a switch cabinet operation robot which are simple in structure, high in integration level and strong in operation function.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the end operation module of the switch cabinet operation robot comprises a clamping jaw mechanism, a door lock screwing mechanism and a key sleeve screwing mechanism, wherein the door lock screwing mechanism is used for screwing and unscrewing a cabinet door locking bolt of a cabinet body, and opening and closing of an air switch and pressing operation of a pressing switch; the key sleeving and screwing mechanism is used for realizing sleeving and rotating opening of a cabinet door key of the cabinet body, opening and closing of the air switch and pressing operation of the pressing switch; a clamping mechanism is arranged between the door lock screwing mechanism and the tail end of the key sleeve screwing mechanism; the clamping jaw mechanism comprises two clamping jaw blocks, the two clamping jaw blocks move relatively, and the door lock screwing mechanism and the key sleeve screwing mechanism are respectively positioned on the two clamping jaw blocks; when the two clamping jaw blocks do relative movement, the door lock screwing mechanism and the clamping mechanism on the key sleeve screwing mechanism do relative movement so as to realize the rotation operation of the joint adjustment switch or the rotation handle.
As a further improvement of the above technical scheme:
the door lock screwing mechanism and the key sleeving screwing mechanism comprise a rotating motor, a linear motor and a tail end operating piece, wherein the linear motor is positioned on the rotating motor, and a flexible mechanism is arranged between the tail end operating piece and the linear motor.
The flexible mechanism comprises a sliding seat, a cover plate and a flexible spring, one end of the sliding seat is connected with the linear motor, the flexible spring is positioned in the sliding seat, the cover plate is sleeved on the tail end operating piece and is fixedly connected with the other end of the sliding seat, and one end of the tail end operating piece is propped against the flexible spring.
The linear motor is arranged inside a first fixing seat, a second fixing seat is arranged on the first fixing seat, the sliding seat is arranged in the second fixing seat in a sliding mode, and the clamping block is located on one side of the second fixing seat.
The first fixing seat is provided with a position detection piece for detecting the position of the linear motor.
A slip ring is arranged between the linear motor and the rotary motor.
Still include cabinet door adsorption equipment, cabinet door adsorption equipment links to each other with the control module of cubical switchboard operation robot.
Still include 3D camera and laser rangefinder, 3D camera and laser rangefinder all link to each other with the control module of cubical switchboard operation robot.
The invention also discloses a switch cabinet operation robot which comprises a fixing frame and a multi-axis mechanical arm, wherein the multi-axis mechanical arm is fixed on the fixing frame, and the tail end of the multi-axis mechanical arm is provided with the switch cabinet operation robot tail end operation module.
As a further improvement of the above technical scheme:
the fixing frame is provided with a rotary stop lever mechanism for opening the cabinet door to a preset angle position.
Compared with the prior art, the invention has the advantages that:
1. the end operation module of the switch cabinet operation robot is integrated with the door lock screwing mechanism and the key sleeve screwing mechanism, can be suitable for the opening and closing operation of cabinet doors of different types of cabinets and air switches, and is provided with a clamping block between the door lock screwing mechanism and the key sleeve screwing mechanism to realize the operation of knob switches (such as a joint adjustment switch) or rotary handles and the like; the switch cabinet has the advantages of simple integral structure, high integration level and strong operation function, and meets the basic operation content of the switch cabinet body.
2. According to the invention, the door lock screwing mechanism and the key sleeving screwing mechanism are specifically operated, and the flexible mechanism can enable the tail end operating member (such as a bolt sleeve head or a key sleeve) to have certain flexibility, including the front-back flexibility and the circumferential swinging property, so that the sleeving between the tail end operating member and a bolt or a key is facilitated, the requirement of the tail end operating member on positioning precision is reduced, and the reliability of operation is ensured.
3. The sliding seat is internally provided with the inner hexagon hole matched with the bolt head, wherein the edges of the inner hexagon hole are subjected to chamfer treatment, so that a certain swinging space is reserved between the bolt head of the tail end operating piece and the inner hexagon hole while large torque transmission between the sliding seat and the tail end operating piece is ensured. When the end operating element acts, the end operating element can compress the flexible spring to realize the expansion and contraction in the front-back direction, and can also move in the inner hexagon Kong Nabai to realize the circumferential swinging. The flexible mechanism is simple in structure and ingenious in design.
Drawings
Fig. 1 is a perspective view of a switchgear operation robot according to an embodiment of the present invention.
Fig. 2 is a front view of a switchgear operation robot according to an embodiment of the present invention.
Fig. 3 is a perspective view of a terminal working module according to an embodiment of the present invention.
Fig. 4 is a front view of the end job module according to the embodiment of the present invention.
Fig. 5 is a top view of an embodiment of a terminal working module of the present invention.
Fig. 6 is a perspective view showing a door lock screwing mechanism according to an embodiment of the present invention.
Fig. 7 is a front view of the door lock screwing mechanism according to the embodiment of the present invention.
Fig. 8 is a perspective view of a flexible mechanism of the present invention in an embodiment.
Fig. 9 is a cross-sectional structural view of a flexible mechanism of the present invention in an embodiment.
Fig. 10 is a perspective view of the bar mechanism of the present invention in an embodiment.
Legend description: 1. a fixing frame; 2. a multi-axis mechanical arm; 3. a terminal operation module; 31. a jaw mechanism; 311. a jaw block; 32. a key sleeve screwing mechanism; 33. a door lock screwing mechanism; 331. a rotating electric machine; 332. a slip ring; 333. a linear motor; 334. a flexible mechanism; 3341. a sliding seat; 3342. a cover plate; 3343. a flexible spring; 335. a terminal operating member; 336. a first fixing seat; 337. the second fixing seat; 338. a position detecting member; 34. a clamping mechanism; 341. clamping blocks; 35. a 3D camera; 36. a laser range finder; 37. a cabinet door adsorption mechanism; 371. an electromagnet; 4. a stop lever mechanism; 41. a stop lever.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 1 and 2, the end operation module 3 of the switch cabinet operation robot in the embodiment of the invention comprises a clamping jaw mechanism 31, a door lock screwing mechanism 32 and a key sleeve screwing mechanism 32, wherein the door lock screwing mechanism 33 is used for realizing the screwing and unscrewing of a cabinet door locking bolt, and the opening and closing of an air switch and the pressing operation of a pressing switch; the key sleeving and screwing mechanism 32 is used for realizing sleeving and rotating opening of a cabinet door key of the cabinet body, opening and closing of the air switch and pressing operation of the pressing switch; the ends of the door lock screwing mechanism 33 and the key sleeve screwing mechanism 32 are respectively provided with a corresponding clamping block 341, and the two clamping blocks 341 form a clamping mechanism 34; the clamping jaw mechanism 31 comprises two clamping jaw blocks 311, the two clamping jaw blocks 311 move relatively, and the door lock screwing mechanism 33 and the key sleeve screwing mechanism 32 are respectively positioned on the two clamping jaw blocks 311 and are parallel to each other; in the relative movement of the two jaw blocks 311, the door lock screwing mechanism 33 and the clamp block 341 on the key sleeve screwing mechanism 32 also perform relative movement to clamp the joint adjustment switch or the rotary handle, etc., to achieve the relative rotation operation.
The end operation module of the switch cabinet operation robot is integrated with the door lock screwing mechanism 33 and the key sleeving screwing mechanism 32, can be suitable for the opening and closing operations of cabinet doors of different types of cabinets and air switches, and is provided with the clamping block 341 between the door lock screwing mechanism 33 and the key sleeving screwing mechanism 32 to realize the operation of knob switches (such as a joint adjustment switch) or rotary handles and the like; the switch cabinet has the advantages of simple integral structure, high integration level and strong operation function, and meets the basic operation content of the switch cabinet body.
In a specific embodiment, the door lock screwing mechanism 33 and the key sleeve screwing mechanism 32 each include a rotary motor 331, a linear motor 333, and a terminal operating member 335, the linear motor 333 is located on the rotary motor 331, and a flexible mechanism 334 is provided between the terminal operating member 335 and the linear motor 333. The above-mentioned door lock screwing mechanism 33 and the key-fit screwing mechanism 32 are basically the same in structure, except that the end operating member 335 is different, wherein the end operating member 335 of the door lock screwing mechanism 33 is a bolt sleeve head matched with a door lock bolt, and the end operating member 335 corresponding to the key-fit screwing mechanism 32 is a key sleeve matched with a door key. Of course, the end effectors 335 described above may be replaced to accommodate different types of switch cabinets.
The door lock screwing mechanism 33 can realize the screwing and unscrewing of the cabinet door locking bolt, during specific operation, the tail end operating piece 335 (bolt sleeve head) is stretched out by the linear motor 333 and is sleeved after aligning with the cabinet door bolt, and then the whole bolt sleeve head is driven to rotate by the rotary motor 331 until the bolt is loosened; likewise, the rotating motor 331 rotates reversely to lock the bolts, thereby locking the cabinet door. In the above operation, the torque of the rotating electric machine 331 may be detected by a torque sensor (not shown in the drawings) provided to the rotating electric machine 331 itself, and when the detected torque of the rotating electric machine 331 is smaller than a certain value, it is judged that the bolt has been completely loosened; or when the torque of the rotating motor 331 is detected to be larger than a certain value, the bolt is judged to be completely locked, so that the reliability of the loosening and locking operation of the bolt is ensured.
Similarly, the key sleeving and screwing mechanism 32 is specifically operated, the linear motor 333 stretches out the key sleeve at the tail end, the key sleeve is aligned with the cabinet door key and then sleeved, and the rotary motor 331 drives the key to rotate, so that the cabinet door is opened or closed.
While the door lock screwing mechanism 33 and the key sleeving screwing mechanism 32 are specifically operated, the flexible mechanism 334 can enable the tail end operating member 335 (such as a bolt sleeve or a key sleeve) to have certain flexibility, including front-back flexibility and circumferential swinging property, so that the sleeving between the tail end operating member 335 and a bolt or a key is facilitated, the requirement of the tail end operating member 335 on positioning precision is reduced, and the reliability of operation is ensured.
Specifically, the flexible mechanism 334 includes a sliding seat 3341, a cover plate 3342 and a flexible spring 3343, wherein one end of the sliding seat 3341 is connected with the linear motor 333, the flexible spring 3343 is located in the sliding seat 3341, one end of the end operating member 335 is provided with a bolt head, the cover plate 3342 is sleeved on the end operating member 335 and is fastened to the other end of the sliding seat 3341, and one end of the end operating member 335 abuts against the flexible spring 3343. The sliding seat 3341 is internally provided with an inner hexagonal hole matched with the bolt head, and the edges of the inner hexagonal hole are subjected to angle guiding treatment, so that a certain swinging space is reserved between the bolt head of the tail end operating piece 335 and the inner hexagonal hole while large torque transmission between the sliding seat 3341 and the tail end operating piece 335 is ensured. When the end operation element 335 is operated, the end operation element 335 may compress the flexible spring 3343 to expand and contract in the front-rear direction, or may be operated in the inner hexagon Kong Nabai to swing in the circumferential direction. The flexible mechanism 334 is simple in structure and smart in design.
In a specific structure, the linear motor 333 is mounted inside a first fixing base 336, and a second fixing base 337 is mounted on the first fixing base 336, and the sliding base 3341 is slidably disposed in the second fixing base 337. The sliding seat 3341 can slide in the second fixing seat 337 through the movement of the linear motor 333, so that the end operating member 335 can retract into the second fixing seat 337, and the collision damage of the end operating member 335 is avoided. The first fixing base 336 is provided with a position detecting member 38 (such as a position sensor) for detecting the position of the linear motor 333, so as to perform closed-loop control on the linear motor 333 to ensure the reliability of the movement of the linear motor 333.
When the door lock screwing mechanism 33 and the key sleeve screwing mechanism 32 operate the air switch, the tail end operation piece 335 is retracted into the second fixing base 337, and then the second fixing base 337 extends to the upper side or the lower side of the air switch, and the air switch is toggled up and down according to a certain track by the control of the multi-axis mechanical arm 2, so that the opening and closing actions of the air switch are realized. Similarly, the door lock screwing mechanism 33 and the key fit screwing mechanism 32 can also realize a click operation of the push switch. The whole structure is simple and the operation is simple.
In addition, when the joint debugging switch is rotated, since the clamping block 341 is located at one side of the second fixing base 337, the two clamping blocks 311 are driven to move relatively by the driving member of the clamping jaw mechanism 31, so that the two clamping blocks 341 are close to each other to clamp the joint debugging switch knob (or the rotating handle, etc.), and then are rotated by matching with the corresponding mechanical arm to realize the operation of the joint debugging switch. Wherein the ends of each clamping block 341 are provided with plastic sheets so as not to damage the joint debugging switch when the clamping blocks 341 are clamped.
In a specific embodiment, a slip ring 332 is disposed between the linear motor 333 and the rotary motor 331, and the slip ring 332 can ensure that the linear motor 333 and the wires of the position sensor are not damaged due to rotation when the rotary motor 331 and the linear motor 333 rotate relatively.
In a specific embodiment, the cabinet door adsorption mechanism 37 (such as an electromagnet 371 or a vacuum chuck) is further included, and the cabinet door adsorption mechanism 37 is connected with a control module (such as a control board) of the switch cabinet operation robot. After the door lock screwing mechanism 33 and the key sleeve screwing mechanism 32 open the door, the corresponding electromagnet 371 is controlled to be electrified to adsorb the door, and the rotating track of the door is planned through the multi-axis mechanical arm 2, so that the door is opened and closed.
In a specific embodiment, the 3D camera 35 and the laser rangefinder 36,3D camera 35 and the laser rangefinder 36 are connected to a control board of the switch cabinet operation robot and are located on the jaw mechanism 31. When the positioning or the sleeving operation is realized, the accurate coordinate system position is measured and calculated through the 3D camera 35 and the laser range finder 36, so that the specified position can be quickly reached through the movement of the actuating mechanism, and the efficient operation is realized.
The terminal operation module 3 of the switch cabinet operation robot can realize various operations of the high-voltage switch cabinet, including complex cabinet door opening and closing and opening of an air switch in the cabinet body; the multifunctional mechanism is compositely integrated at the tail end, so that the structure is simple and compact, and the space and the weight are small; through the design application of the flexible mechanism 334, the flexibility in the aspects of angle and front and back can be simultaneously realized, and the visual precision requirement is greatly reduced structurally.
The embodiment of the invention also discloses a switch cabinet operation robot, which comprises a fixing frame 1 and a multi-axis mechanical arm 2, wherein the multi-axis mechanical arm 2 is fixed on the fixing frame 1, and the tail end of the multi-axis mechanical arm 2 is provided with the switch cabinet operation robot tail end operation module 3. The switch cabinet robot of the present invention includes the end effector module 3 as described above, and also has the advantages described above with respect to the end effector module 3.
In a specific embodiment, the mounting bracket 1 is provided with a rotating bar mechanism 4 for opening the cabinet door to a predetermined angular position. Wherein the bar mechanism 4 comprises two bars 41 and corresponding driving motors, wherein the bars 41 are rotatably arranged on two sides of the fixing frame 1. During specific operation, after the electromagnet 371 pulls the cabinet door open by a certain angle, the stop lever 41 is controlled to rotate, so that the tail end of the stop lever 41 abuts against the inner side of the cabinet door, and then the stop lever continues to rotate to drive the cabinet door to rotate until the cabinet door is required to rotate, at the moment, the electromagnet 371 can be powered off to loosen the cabinet door, and meanwhile, the mechanical arm retracts to execute other operations such as opening and closing of an air switch in the switch cabinet. The stop lever mechanism 4 can realize the reliability of opening the cabinet door (a wire harness exists between the inside of the cabinet body and the cabinet door, and the wire harness can tighten the cabinet door), so that the reliability of the subsequent operation of the elements in the cabinet body is ensured; the stop lever mechanism 4 is simple in structure and convenient to operate.
The whole tail end operation module 3 is connected with the tail end joint of the multi-axis mechanical arm 2, has compact structure, light weight and multifunctional composite integration, can finish more operation contents of the switch cabinet body, such as rotation of a joint debugging switch, pressing of a pressing switch, opening and closing of a switch cabinet door, opening and closing of an air switch in the cabinet body, rotation of a handle, rotation of a cabinet door key lock and the like, and can flexibly select a tail end adaptive tool according to the on-site condition.
As used in this disclosure and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (10)
1. The end operation module of the switch cabinet operation robot is characterized by comprising a clamping jaw mechanism (31), a door lock screwing mechanism (33) and a key sleeve screwing mechanism (32), wherein the door lock screwing mechanism (33) is used for realizing the screwing and unscrewing of a cabinet door locking bolt of a cabinet body, and the opening and closing of an air switch and the pressing operation of a pressing switch; the key sleeving and screwing mechanism (32) is used for realizing sleeving and rotating opening of a cabinet door key, opening and closing of the air switch and pressing operation of the pressing switch; a clamping mechanism (34) is arranged between the door lock screwing mechanism (33) and the tail end of the key sleeve screwing mechanism (32); the clamping jaw mechanism (31) comprises two clamping jaw blocks (311), the two clamping jaw blocks (311) move relatively, and the door lock screwing mechanism (33) and the key sleeve screwing mechanism (32) are respectively positioned on the two clamping jaw blocks (311); when the two clamping jaw blocks (311) do relative movement, the door lock screwing mechanism (33) and the clamping mechanism (34) on the key sleeve screwing mechanism (32) do relative movement so as to realize the rotation operation of the joint adjustment switch or the rotation handle.
2. The switch cabinet operation robot end operation module according to claim 1, wherein the door lock screwing mechanism (33) and the key-in screwing mechanism (32) each include a rotary motor (331), a linear motor (333), and an end operation member (335), the linear motor (333) is located on the rotary motor (331), and a flexible mechanism (334) is provided between the end operation member (335) and the linear motor (333).
3. The switch cabinet operation robot end operation module according to claim 2, wherein the flexible mechanism (334) comprises a sliding seat (3341), a cover plate (3342) and a flexible spring (3343), one end of the sliding seat (3341) is connected with the linear motor (333), the flexible spring (3343) is located in the sliding seat (3341), the cover plate (3342) is sleeved on the end operation member (335) and is fixedly connected with the other end of the sliding seat (3341), and one end of the end operation member (335) abuts against the flexible spring (3343).
4. A switch cabinet operation robot terminal operation module according to claim 3, wherein the linear motor (333) is mounted inside a first fixing base (336), a second fixing base (337) is mounted on the first fixing base (336), the sliding base (3341) is slidably disposed in the second fixing base (337), and the clamping block (34) is located at one side of the second fixing base (337).
5. The switch cabinet operation robot end operation module according to claim 4, wherein the first fixing base (336) is provided with a position detecting member (38) for detecting the position of the linear motor (333).
6. The switch cabinet operation robot end operation module according to any one of claims 2-5, characterized in that a slip ring (332) is provided between the linear motor (333) and the rotary motor (331).
7. The end of switchgear operation robot module according to any of the claims 1-5, further comprising a cabinet door adsorption mechanism (37), said cabinet door adsorption mechanism (37) being connected to a control module of the switchgear operation robot.
8. The switch cabinet operation robot end work module according to any of the claims 1-5, further comprising a 3D camera (35) and a laser rangefinder (36), wherein the 3D camera (35) and the laser rangefinder (36) are both connected to a control module of the switch cabinet operation robot.
9. Switch cabinet operation robot, comprising a fixing frame (1) and a multi-axis mechanical arm (2), wherein the multi-axis mechanical arm (2) is fixed on the fixing frame (1), and the switch cabinet operation robot tail end operation module (3) as claimed in any one of claims 1-8 is arranged at the tail end of the multi-axis mechanical arm (2).
10. The switch cabinet handling robot according to claim 9, characterized in that the mounting bracket (1) is provided with a rotating bar mechanism (4) for opening the cabinet door to a predetermined angular position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310398535.8A CN116476104B (en) | 2023-04-04 | 2023-04-04 | Terminal operation module of switch cabinet operation robot and switch cabinet operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310398535.8A CN116476104B (en) | 2023-04-04 | 2023-04-04 | Terminal operation module of switch cabinet operation robot and switch cabinet operation robot |
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| CN116476104A true CN116476104A (en) | 2023-07-25 |
| CN116476104B CN116476104B (en) | 2024-09-17 |
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| CN202310398535.8A Active CN116476104B (en) | 2023-04-04 | 2023-04-04 | Terminal operation module of switch cabinet operation robot and switch cabinet operation robot |
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| JPH0890471A (en) * | 1994-09-19 | 1996-04-09 | Suzuki Motor Corp | Industrial robot |
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人系统有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN208246841U (en) * | 2018-02-01 | 2018-12-18 | 苏州元谋智能机器人系统有限公司 | A kind of robot of automatic opening and closing door |
| CN112659140A (en) * | 2020-12-11 | 2021-04-16 | 亿嘉和科技股份有限公司 | Indoor live-line operation robot |
| CN114825142A (en) * | 2022-05-26 | 2022-07-29 | 国网河北省电力有限公司石家庄供电分公司 | Handcart type circuit breaker replacing method |
| CN115107017A (en) * | 2021-11-01 | 2022-09-27 | 杭州申昊科技股份有限公司 | Operation method of walking robot |
-
2023
- 2023-04-04 CN CN202310398535.8A patent/CN116476104B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0890471A (en) * | 1994-09-19 | 1996-04-09 | Suzuki Motor Corp | Industrial robot |
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人系统有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN208246841U (en) * | 2018-02-01 | 2018-12-18 | 苏州元谋智能机器人系统有限公司 | A kind of robot of automatic opening and closing door |
| CN112659140A (en) * | 2020-12-11 | 2021-04-16 | 亿嘉和科技股份有限公司 | Indoor live-line operation robot |
| CN115107017A (en) * | 2021-11-01 | 2022-09-27 | 杭州申昊科技股份有限公司 | Operation method of walking robot |
| CN114825142A (en) * | 2022-05-26 | 2022-07-29 | 国网河北省电力有限公司石家庄供电分公司 | Handcart type circuit breaker replacing method |
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| Publication number | Publication date |
|---|---|
| CN116476104B (en) | 2024-09-17 |
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