CN117901131A - Moment detection robot for operating switch cabinet - Google Patents

Abstract

The invention discloses a moment detection robot for operating a switch cabinet, and relates to the technical field of power supply equipment detection, wherein the moment detection robot comprises a mechanical arm and an unlocking clamp, and the unlocking clamp is arranged at the tail end of the mechanical arm; the unlocking fixture comprises a visual mechanism, a key mechanism and auxiliary mechanisms, wherein the auxiliary mechanisms are arranged on two sides of the key mechanism; the visual mechanism is used for detecting the position information of the four-angle lock and the hexagonal lock along with the movement of the mechanical arm and the information of the auxiliary locking mechanism of the four-angle lock and the hexagonal lock; the action of the auxiliary mechanism is used for pressing auxiliary locking ejector pins beside the four-corner locks; moment detection of the key mechanism is used for unlocking the four-angle lock and the hexagonal lock by using the calibration torque; the four-corner lock and the hexagonal lock on the switch cabinet are automatically moved and identified by using the mechanical arm and the unlocking fixture, and are automatically opened; the problem of in the current cubical switchboard detects, lack the automation equipment of a plurality of lockholes of auxiliary switch cabinet of opening is solved.

Description

Moment detection robot for operating switch cabinet

Technical Field

The invention relates to the technical field of power supply equipment detection, in particular to a moment detection robot for operating a switch cabinet.

Background

In modern life, power is closely related to the production and life of people, wherein a switch cabinet (switch cabinet) is an electrical device, the outside of the switch cabinet firstly enters a main control switch in the cabinet, then enters a sub-control switch, and all branches are arranged according to the needs of the sub-control switch. Such as meters, automatic control, motor magnetic switches, various ac contactors, etc., and high-voltage and low-voltage switchgear, high-voltage buses, such as power plants, etc., and low-cycle relief for protecting major equipment. The main function of the switch cabinet is to open and close, control and protect electric equipment in the process of generating, transmitting, distributing and converting electric energy of the electric power system. The components in the switch cabinet mainly comprise a bus, a load switch, an isolating switch, a contactor, an operating mechanism, various relay devices, a voltmeter, an ammeter, a transformer and the like. All parts of the switch cabinet are sensitive electronic elements, and before the switch cabinet is used, the electric parameter detection needs to be carried out on the switch cabinet so as to ensure that the parts in the switch cabinet meet the use requirements.

In actual operation, when the electric parameter detection is carried out on the switch cabinet, a worker often needs to take a square key, manually rotate a square lock hole on the switch cabinet and shake in or shake out a breaker in the switch cabinet; and after the related setting of the circuit breaker is carried out, taking the hexagonal key, firstly pressing down a baffle plate in front of the hexagonal lock hole, and then inserting the hexagonal key into the hexagonal lock hole to carry out closing.

However, in the implementation mode, the automation degree is low, the strong electric equipment is carefully closed by the wiring, the risk of arc overflow exists when the operation is improper slightly, the safety threat to staff is high, and the experience requirement for the operators is extremely high.

Therefore, a square lock hole on the automatic opening switch cabinet is required to swing in or out of the circuit breaker and a robot for automatically opening a hexagonal lock hole to perform closing is required, so that unmanned operation of the switch cabinet can be realized when automatic testing equipment is matched, electric parameter detection is automatically performed, the safety of a worker responsible for detection is ensured, and the detection efficiency is improved.

In the prior art, there is an auxiliary operation device suitable for a power distribution network switch cabinet, including the gesture and the size of knob on the switch cabinet are discerned through the camera, then the gesture of each anchor clamps on the terminal operation anchor clamps of adjustment through step motor makes it keep unanimous with the gesture of knob on the switch cabinet, and drive the terminal operation anchor clamps together fixed with oilless bush with small-size motor drive roller and select the anchor clamps that are fit for the knob size on the switch cabinet, finally, drive the sun gear through step motor and rotate, make three planet wheel spin, reach the effect of turning round the knob. However, the multifunctional lock has the defects that a plurality of clamps are arranged on a clamp disc at the front end, although the clamps can be switched, the switch cabinet is compact in position of a square lock hole and a hexagonal lock hole, when the lock is opened by rotation, other clamps on the clamp disc can be interfered by a box body to cause that the lock cannot be opened, and the multifunctional lock further lacks a torque monitoring function and cannot open a baffle plate in front of the hexagonal lock hole.

In summary, the present inventors have found that at least the following technical problems exist in the prior art:

In the existing switch cabinet detection, the problem of lack of automatic equipment for assisting in opening a plurality of lock holes of the switch cabinet is solved.

Disclosure of Invention

The invention aims to provide a moment detection robot for operating a switch cabinet, which aims to solve the problem that in the existing switch cabinet detection, automatic equipment for assisting in opening a plurality of lock holes of the switch cabinet is lacking.

The preferred technical solutions of the technical solutions provided by the present invention can produce a plurality of technical effects described below.

In order to solve the technical problems, the technical scheme of the invention is as follows:

The invention provides a moment detection robot for operating a switch cabinet, which comprises a mechanical arm and an unlocking clamp, wherein the unlocking clamp is arranged at the tail end of the mechanical arm; the unlocking fixture comprises a visual mechanism, a key mechanism and auxiliary mechanisms, wherein the auxiliary mechanisms are arranged on two sides of the key mechanism; the visual mechanism is used for detecting the position information of the four-angle lock and the hexagonal lock and the information of the auxiliary locking mechanism along with the movement of the mechanical arm; the action of the auxiliary mechanism is used for pressing an auxiliary locking thimble beside the four-corner lock; and the moment detection of the key mechanism is used for unlocking the four-angle lock and the hexagonal lock with a calibrated torque.

Further, the robot further comprises a movable ground rail, and the base of the mechanical arm is mounted on a sliding table of the movable ground rail.

Further, the vision mechanism comprises a CCD camera and a light source.

Further, the unlocking fixture further comprises a lock frame, and one end of the lock frame in the length direction is arranged at the tail end of the mechanical arm; the key mechanism comprises a driving unit and a two-in-one key unit, the driving unit is arranged in the lockset frame, the two-in-one key unit is arranged at the other end of the lockset frame in the length direction, and the driving unit is in transmission connection with the two-in-one key unit; the auxiliary mechanism comprises two telescopic cylinders, and jacking blocks are arranged at telescopic ends of the two telescopic cylinders; the two telescopic cylinders are respectively arranged at two opposite sides outside the lockset frame.

Further, a positioning cylinder is arranged on the mechanical arm, and a positioning center is arranged on the telescopic end of the positioning cylinder; a center positioning block is arranged on the outer side of the lock frame; and the positioning cylinder drives the positioning center to slide into the positioning hole of the center positioning block.

Further, the driving unit comprises a servo motor and a speed reducer, and the servo electric fish is connected with the speed reducer; and a coupler is connected between the speed reducer and the two-in-one key unit.

Further, the two-in-one key unit comprises a transmission spline shaft, an adapter sleeve, a public sleeve, an inner guide rod, an inner spring, an outer spring and a fixing ring which are coaxially installed; one end of the transmission spline shaft is in transmission connection with the driving unit, and the other end of the transmission spline shaft is in transmission sleeve connection with the adapter sleeve; the transmission spline shaft is internally hollowed, the inner guide rod is arranged in the transmission spline shaft, and the inner spring is sleeved between the inner guide rod and the transmission spline shaft; one end of the public sleeve is in transmission sleeve connection with the adapter sleeve, a limiting step is arranged in the public sleeve, and the inner spring is in butt joint with the limiting step; the outer circumference of the other end of the public sleeve is provided with a spline block matched with the hexagonal lock, the outer spring and the fixed ring are sleeved outside the public sleeve, the outer spring is in contact with the adapter sleeve and the fixed ring, and the fixed ring is in contact with the spline block; and square holes matched with the four-corner phase locks are hollowed out in the positions of the inner rings corresponding to the spline blocks.

Further, the two-in-one key unit further comprises a mosaic block and an end cover sleeve; the mosaic block comprises a cylindrical section and a mosaic section which are connected in sequence; the outer circumference of the cylindrical section is sleeved in the inner spring; the embedded sections of the embedded blocks are embedded on the peripheral walls of the square holes; the cylindrical section is internally hollowed with a stepped hole, the inner guide rod is sleeved in the stepped hole, the end cover is sleeved in the stepped hole, the end face of the end cover sleeve is connected with the stepped face of the stepped hole, and the end cover sleeve is connected with the end face of the inner guide rod.

Further, the end face of the lock frame, on which the two-in-one key unit is mounted, is set as a mounting face; the mounting surface is provided with a rotating shaft sleeve which penetrates through two sides of the mounting surface; the adapter sleeve is rotationally sleeved in the rotating shaft sleeve.

Further, a round baffle is connected to the adapter sleeve, and the round baffle is arranged in the lock frame; the first sensor is arranged on the mounting surface, and the sensing end of the first sensor penetrates through the mounting surface to face one surface of the round baffle plate; a second sensor is arranged in the lock frame, and the induction end of the second sensor faces the other surface of the round baffle plate; the first sensor and the second sensor are arranged in opposite directions; three brackets are arranged on the outer side of the lock frame, and are all arranged on the same surface of the lock frame with the center positioning block; a third sensor is arranged on the first bracket; the second and third brackets slidably mount a knock pin, the knock pin being sheathed with a resilient member disposed between the second and third brackets; the third sensor is arranged adjacent to the center positioning block, and the sensing end of the third sensor faces the center pin.

Compared with the prior art, the technical scheme of the invention has the beneficial effects that:

the moment detection robot is provided with a mechanical arm and an unlocking clamp, wherein the unlocking clamp is arranged at the tail end of the mechanical arm; by utilizing the cooperation of the mechanical arm and the unlocking fixture, the unlocking fixture can be used for quickly finding out and acting on the lock hole when unlocking, so that the automation degree of the operation switch cabinet is improved, and the manual operation is reduced.

Further, the unlocking fixture comprises a visual mechanism, a key mechanism and auxiliary mechanisms, wherein the auxiliary mechanisms are arranged on two sides of the key mechanism; the visual mechanism is used for detecting the position information of the four-angle lock and the hexagonal lock and the information of the auxiliary locking mechanism along with the movement of the mechanical arm; the action of the auxiliary mechanism is used for pressing an auxiliary locking thimble beside the four-corner lock; the moment detection of the key mechanism is used for unlocking the four-angle lock and the hexagonal lock with a calibrated torque; the type of a lock hole on the switch cabinet is identified through the visual mechanism, then an unlocking program of a lock hole of a relevant type is called, for example, a four-angle lock is called, the mechanical arm is required to move the unlocking fixture to the front of the four-angle lock, the auxiliary mechanism is called to press an auxiliary locking top needle beside the four-angle lock into the lock, and then the mechanism can synchronously extend forwards into the lock hole, so that the four-angle lock is slowly opened; the rotation of the key mechanism can detect the output torque through electric feedback, so that the corresponding lock on the switch cabinet can be opened in the calibrated torque, and the lock on the switch cabinet can not be damaged.

Drawings

In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is a schematic diagram of the structure of the switch cabinet of the present invention;

FIG. 3 is a front view of the unlocking jig of the present invention;

FIG. 4 is a schematic cross-sectional view of an unlocking jig of the present invention;

FIG. 5 is a schematic partial cross-sectional view of a two-in-one key unit of the present invention;

FIG. 6 is a partial top view of the unlocking jig of the present invention;

FIG. 7 is a schematic elevational view of the two-in-one key unit and first sensor of the present invention;

FIG. 8 is a schematic cross-sectional view of a mosaic of the present invention;

Fig. 9 is a schematic view of the installation of the positioning cylinder and the positioning tip of the present invention.

Wherein, the reference numerals are as follows:

1. a mechanical arm; 11. moving the ground rail; 12. positioning a cylinder; 121. positioning a center;

2. Unlocking the clamp; 21. a lockset frame; 211. a mounting surface; 22. a center positioning block; 221. positioning holes; 23. a bracket; 231. a knock pin; 232. a rebound member;

3. a vision mechanism; 31. a CCD camera; 32. a light source;

4. A key mechanism;

5. a driving unit; 51. a servo motor; 52. a speed reducer; 53. a coupling;

6. a two-in-one key unit; 60. a transmission spline shaft; 61. an adapter sleeve; 611. a round baffle; 62. a common sleeve; 621. a limit step; 622. a spline block; 623. square holes; 63. an inner guide rod; 64. an inner spring; 65. an outer spring; 66. a fixing ring; 67. a mosaic block; 671. a cylindrical section; 672. a stepped hole; 673. a mosaic section; 68. an end cover sleeve; 69. A swivel sleeve;

7. An auxiliary mechanism; 71. A telescopic cylinder; 72. A top block;

8. a first sensor; 81. A second sensor; 82. A third sensor;

9. A switch cabinet; 91. four-corner lock; 92. a hexagonal lock.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, based on the described embodiments, which a person of ordinary skill in the art would obtain without inventive faculty, are within the scope of the application.

Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. 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. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

The invention provides a moment detection robot for operating a switch cabinet, which utilizes a mechanical arm and an unlocking fixture to automatically move and identify a four-corner lock and a hexagonal lock on the switch cabinet and automatically unlock the four-corner lock and the hexagonal lock on the switch cabinet; the problem of in the current cubical switchboard detects, lack the automation equipment of a plurality of lockholes of auxiliary switch cabinet of opening is solved effectually.

Example 1

The embodiment discloses a moment detection robot for operating a switch cabinet, which comprises a mechanical arm 1 and an unlocking clamp 2, as shown in fig. 1 to 3, wherein the unlocking clamp 2 is arranged at the tail end of the mechanical arm 1; the unlocking fixture 2 comprises a visual mechanism 3, a key mechanism 4 and an auxiliary mechanism 7, wherein the auxiliary mechanism 7 is arranged on two sides of the key mechanism 4; the vision mechanism 3 is used for detecting the position information of the four-angle lock 91 and the hexagonal lock 92 and the information of the auxiliary locking mechanism along with the movement of the mechanical arm 1; the action of the auxiliary mechanism 7 is used for pressing an auxiliary locking thimble beside the four-corner lock 91; the torque detection of the key mechanism 4 is used to unlock the four-angle lock 91 and the six-angle lock 92 with a nominal torque.

The beneficial effects are that: the moment detection robot is provided with a mechanical arm 1 and an unlocking fixture 2, wherein the unlocking fixture 2 is arranged at the tail end of the mechanical arm 1; by utilizing the cooperation of the mechanical arm 1 and the unlocking fixture 2, the unlocking fixture 2 can be used for quickly finding out and acting on the lock hole when in unlocking, so that the automation degree of the operation switch cabinet 9 is improved, and the manual operation is reduced.

Further, the unlocking fixture 2 comprises a visual mechanism 3, a key mechanism 4 and an auxiliary mechanism 7, wherein the auxiliary mechanism 7 is arranged on two sides of the key mechanism 4; the vision mechanism 3 is used for detecting the position information of the four-angle lock 91 and the six-angle lock 92 and the information of the auxiliary locking mechanism along with the movement of the mechanical arm 1; the action of the auxiliary mechanism 7 is used for pressing an auxiliary locking thimble beside the four-corner lock 91; the torque detection of the key mechanism 4 is used for unlocking the four-angle lock 91 and the six-angle lock 92 with a calibrated torque; the type of a lock hole on the switch cabinet 9 is identified through the visual mechanism 3, then an unlocking program of a lock hole of a relevant type is called, for example, the mechanical arm 1 is required to move the unlocking fixture 2 to the lock 91, the auxiliary mechanism 7 is called to press an auxiliary locking top needle beside the lock 91 into the lock hole, and then the mechanism can synchronously extend into the lock hole forwards, so that the lock 91 is slowly opened; the rotation of the key mechanism 4 can detect the output torque through electrical feedback, so that the corresponding lock on the switch cabinet 9 can be opened in the calibrated torque, and the lock on the switch cabinet 9 can not be damaged.

In the course of the specific implementation process, the method comprises,

Regarding the specific components of the vision mechanism 3 described above, this embodiment is shown in fig. 3 and 4, and the vision mechanism 3 includes a CCD camera 31 and a light source 32.

When the image recognition method is applied, the light source 32 is used for irradiating the image which can enable the CCD camera 31 to acquire high-definition images, so that the image recognition program can better recognize the image of the target object.

Regarding the specific structure of the unlocking jig 2 and the specific structure of the key mechanism 4, as shown in fig. 3, the unlocking jig 2 further includes a lock rack 21, and one end of the lock rack 21 in the length direction is mounted on the end of the mechanical arm 1; the key mechanism 4 comprises a driving unit 5 and a two-in-one key unit 6, wherein the driving unit 5 is arranged in the lockset frame 21, the two-in-one key unit 6 is arranged on the other end of the lockset frame 21 in the length direction, and the driving unit 5 is in transmission connection with the two-in-one key unit 6; the auxiliary mechanism 7 comprises two telescopic air cylinders 71, and jacking blocks 72 are arranged on telescopic ends of the two telescopic air cylinders 71; the two telescopic cylinders 71 are respectively arranged at two opposite sides outside the lock frame 21.

In order to ensure the stability of the key mechanism 4 during unlocking, as shown in fig. 4 and 9, a positioning cylinder 12 is mounted on the mechanical arm 1, and a positioning center 121 is mounted on the telescopic end of the positioning cylinder 12; a center positioning block 22 is arranged on the outer side of the lock frame 21; the positioning cylinder 12 drives the positioning tip 121 to slide into the positioning hole 221 of the tip positioning block 22.

When the lock is applied, as the unlocking fixture 2 is arranged on the tail end shaft of the mechanical arm 1, the unlocking fixture 2 can rotate on the tail end shaft of the mechanical arm 1, the positioning cylinder 12 arranged on the mechanical arm 1 and the center positioning block 22 arranged on the lock frame 21 are utilized, the positioning center 121 arranged on the telescopic end of the positioning cylinder 12 is utilized, after the two-in-one key unit 6 is inserted into a lock hole, the telescopic end of the positioning cylinder 12 drives the positioning center 121 to slide into the positioning hole 221 of the center positioning block 22 so as to lock the position of the unlocking fixture 2, and the unlocking stability of the two-in-one key unit 6 is improved.

Regarding the specific constitution of the above-described driving unit 5, this embodiment is shown in fig. 4, the driving unit 5 includes a servo motor 51 and a decelerator 52, and the servo motor is connected to the decelerator 52; a coupling 53 is connected between the decelerator 52 and the two-in-one key unit 6.

When the torque detection unlocking device is applied, the two-in-one key unit 6 is driven by the servo motor 51, and the servo motor 51 can detect the output torque when the two-in-one key unit 6 rotates, so that torque feedback during unlocking is obtained, and torque detection unlocking is realized.

Regarding the specific construction of the two-in-one key unit 6, as shown in fig. 4 to 8, the two-in-one key unit 6 includes a transmission spline shaft 60, an adapter sleeve 61, a common sleeve 62, an inner guide rod 63, an inner spring 64, an outer spring 65, and a fixing ring 66, which are coaxially installed; one end of the transmission spline shaft 60 is in transmission connection with the driving unit 5, and the other end of the transmission spline shaft 60 is in transmission sleeve connection with the adapter sleeve 61; the transmission spline shaft 60 is internally hollowed, an inner guide rod 63 is arranged in the transmission spline shaft 60, and an inner spring 64 is sleeved between the inner guide rod 63 and the transmission spline shaft 60; one end of the public sleeve 62 is in transmission sleeve connection with the adapter sleeve 61, a limiting step 621 is arranged in the public sleeve 62, and the inner spring 64 is in abutting connection with the limiting step 621; the other end outer circumference of the public sleeve 62 is provided with a spline block 622 matched with the hexagonal lock 92, the external spring 65 and the fixed ring 66 are sleeved outside the public sleeve 62, the external spring 65 is in contact with the adapter sleeve 61 and the fixed ring 66, and the fixed ring 66 is in contact with the spline block 622; square holes 623 matched with the four-corner locks 91 are hollowed out in the positions of the inner rings of the common sleeve 62 corresponding to the spline blocks 622.

The two-in-one key unit 6 further comprises a mosaic block 67 and an end cover sleeve 68; mosaic 67 comprises cylindrical section 671 and mosaic section 673 connected in sequence; the outer circumference of the cylindrical section 671 is sleeved in the inner spring 64; the inlaid segments 673 of the inlaid block 67 are inlaid on the peripheral walls of the square hole 623; the cylindrical section 671 is hollowed with a stepped hole 672, the inner guide rod 63 is sleeved in the stepped hole 672, the end cover sleeve 68 is arranged in the stepped hole 672, the end surface of the end cover sleeve 68 is connected with the stepped surface of the stepped hole 672, and the end surface of the guide rod 63 in the end cover sleeve 68 is connected.

The end surface of the lock frame 21, on which the two-in-one key unit 6 is mounted, is set as a mounting surface 211; the mounting surface 211 is provided with a rotating shaft sleeve 69, and the rotating shaft sleeve 69 penetrates through two sides of the mounting surface 211; the adapter sleeve 61 is rotatably sleeved in the rotating shaft sleeve 69.

When the two-in-one key unit 6 is applied, the lock cores of the four-angle locks 91 can be sleeved through the square holes 623 arranged in the public sleeve 62, the servo motor 51 starts the public sleeve 62 to rotate so as to unlock, and the relay components in the switch cabinet 9 are subjected to the action of shaking in or out; the two-in-one key unit 6 is characterized in that when the common sleeve 62 is inserted into a lock hole of the hexagonal lock 92 through a spline block 622 arranged outside the common sleeve 62, the embedded block 67 in the common sleeve 62 can be recovered along the inner guide rod 63, and the servo motor 51 starts the common sleeve 62 to start the lock ring of the hexagonal lock 92 to rotate through the spline block 622, so that the opening or closing action of the hexagonal lock 92 is completed; through the cooperation of the coaxially installed transmission spline shaft 60, the adapter sleeve 61, the public sleeve 62, the inner guide rod 63, the inner spring 64, the outer spring 65 and the fixed ring 66, two locks on the switch cabinet 9 can be opened by one set of lock, interference of actions possibly generated by parallel arrangement of a plurality of sets of unlocking tools is reduced, the unlocking speed of the unlocking fixture 2 is faster, and the automatic operation is more convenient to set.

In order to realize the unlocking operation of the unlocking fixture 2, a plurality of sensors are required to cooperate with detection information to complete the unlocking operation under the stable condition, in this embodiment, as shown in fig. 4, 5, 6 and 7, the adapter sleeve 61 is connected with a circular baffle 611, and the circular baffle 611 is arranged in the lock frame 21; the first sensor 8 is mounted on the mounting surface 211, and the sensing end of the first sensor 8 penetrates through one surface of the mounting surface 211 facing the circular baffle 611; the second sensor 81 is arranged in the lock frame 21, and the sensing end of the second sensor 81 faces the other surface of the round baffle 611; the first sensor 8 and the second sensor 81 are arranged in azimuth opposite to each other; three brackets 23 are arranged on the outer side of the lock frame 21, and the three brackets 23 and the center positioning block 22 are arranged on the same surface of the lock frame 21; the first bracket 23 is provided with a third sensor 82; the second and third brackets 23 are slidably mounted with a knock pin 231, the knock pin 231 is sleeved with a rebound member 232, and the rebound member 232 is disposed between the second and third brackets 23; the third sensor 82 is disposed adjacent the center positioning block 22 with the sensing end of the third sensor 82 facing the center pin 231.

When the two-in-one key unit is applied, the first sensor 8 and the second sensor 81 function that the two-in-one key unit 6 is not plugged into the lock hole; the initial states of the first sensor 8 and the second sensor 81 are that the round baffle 611 is close to the first sensor 8, the first sensor 8 is connected, and the second sensor 81 is disconnected; when the public sleeve 62 of the two-in-one key unit 6 is plugged into the lock hole, if the lock hole of the hexagonal lock 92 is not aligned, the round baffle 611 is driven by the cooperation of the public sleeve 62 and the outer spring 65, the round baffle 611 can retreat to a sensing position close to the sensor of the second sensor 81, at this time, the first sensor 8 is in an off state, the second sensor 81 is in an on state, and the robot stops moving forward to plug the public sleeve 62; in the above state, the outer spring 65 has a compressive elastic force, and then drives the common sleeve 62 to rotate by a proper angle, when the common sleeve 62 is aligned with the lock hole of the hexagonal lock, the common sleeve 62 slides into the lock hole, the outer spring 65 is reset, the circular baffle 611 returns to the sensing position close to the first sensor 8, and at this time, it is determined that the common sleeve 62 has been inserted into the lock hole of the hexagonal lock.

The third sensor 82 is used for judging whether the blocking piece of the key hole of the switch cabinet can be opened, when the blocking piece of the key hole of the switch cabinet is pressed by the mechanical arm 1 to be in place, if the third sensor 82 is in an off state, the blocking piece is proved to be openable, and the next action can be performed; if the third sensor 82 is in the on state, it is proved that the blocking piece of the key hole of the switch cabinet cannot be opened, and the next action cannot be performed.

Example 2

In the implementation process, as shown in fig. 1, this embodiment is different from embodiment 1 in that the device further includes a movable ground rail 11, and the base of the mechanical arm 1 is mounted on a sliding table of the movable ground rail 11.

When the mechanical arm is applied, the degree of freedom of the mechanical arm 1 can be increased by moving the ground rail 11, which is also called a seventh axis of the robot, so that the mechanical arm 1 can be completed in a more flexible posture when the mechanical arm is in unlocking operation, and the speed of completing the action is increased.

Example 3

In the implementation process, this embodiment is different from embodiment 1 in that the specific component of the vision mechanism 3 may be a high-definition camera.

When the method is applied, the PC end image recognition program of the industrial personal computer is combined, the PLC data end of the control mechanical arm 1 and the unlocking fixture 2 is accessed, the performance of the non-industrial camera of the high-definition camera is utilized, the large-range high-definition image acquisition is realized, the target graph is accurately recognized in the large-range image through the optimization of the algorithm, and the high-precision image recognition function of the industrial camera can be realized by using the common high-definition camera.

It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (10)

1. A moment detection robot for operating a switch cabinet is characterized in that,

The mechanical arm comprises a mechanical arm and an unlocking clamp, wherein the unlocking clamp is arranged at the tail end of the mechanical arm;

The unlocking fixture comprises a visual mechanism, a key mechanism and auxiliary mechanisms, wherein the auxiliary mechanisms are arranged on two sides of the key mechanism;

The visual mechanism is used for detecting the position information of the four-angle lock and the hexagonal lock and the information of the auxiliary locking mechanism along with the movement of the mechanical arm; the action of the auxiliary mechanism is used for pressing an auxiliary locking thimble beside the four-corner lock; and the moment detection of the key mechanism is used for unlocking the four-angle lock and the hexagonal lock with a calibrated torque.

2. The moment detecting robot according to claim 1, wherein,

The mechanical arm comprises a mechanical arm body, and is characterized by further comprising a movable ground rail, wherein the base of the mechanical arm is arranged on a sliding table of the movable ground rail.

3. The moment detecting robot according to claim 1, wherein,

The vision mechanism comprises a CCD camera and a light source.

4. The moment detecting robot according to claim 1, wherein,

The unlocking fixture further comprises a lock frame, and one end of the lock frame in the length direction is arranged at the tail end of the mechanical arm;

the key mechanism comprises a driving unit and a two-in-one key unit, the driving unit is arranged in the lockset frame, the two-in-one key unit is arranged at the other end of the lockset frame in the length direction, and the driving unit is in transmission connection with the two-in-one key unit;

the auxiliary mechanism comprises two telescopic cylinders, and jacking blocks are arranged at telescopic ends of the two telescopic cylinders; the two telescopic cylinders are respectively arranged at two opposite sides outside the lockset frame.

5. The moment detecting robot according to claim 4, wherein,

A positioning cylinder is arranged on the mechanical arm, and a positioning center is arranged at the telescopic end of the positioning cylinder;

a center positioning block is arranged on the outer side of the lock frame;

and the positioning cylinder drives the positioning center to slide into the positioning hole of the center positioning block.

6. The moment detecting robot according to claim 4, wherein,

The driving unit comprises a servo motor and a speed reducer, and the servo electric fish is connected with the speed reducer;

and a coupler is connected between the speed reducer and the two-in-one key unit.

7. The moment detecting robot according to claim 5, wherein,

The two-in-one key unit comprises a transmission spline shaft, an adapter sleeve, a public sleeve, an inner guide rod, an inner spring, an outer spring and a fixed ring which are coaxially installed;

One end of the transmission spline shaft is in transmission connection with the driving unit, and the other end of the transmission spline shaft is in transmission sleeve connection with the adapter sleeve;

The transmission spline shaft is internally hollowed, the inner guide rod is arranged in the transmission spline shaft, and the inner spring is sleeved between the inner guide rod and the transmission spline shaft;

one end of the public sleeve is in transmission sleeve connection with the adapter sleeve, a limiting step is arranged in the public sleeve, and the inner spring is in butt joint with the limiting step;

The outer circumference of the other end of the public sleeve is provided with a spline block matched with the hexagonal lock, the outer spring and the fixed ring are sleeved outside the public sleeve, the outer spring is in contact with the adapter sleeve and the fixed ring, and the fixed ring is in contact with the spline block;

And square holes matched with the four-corner phase locks are hollowed out in the positions of the inner rings corresponding to the spline blocks.

8. The moment detecting robot according to claim 7, wherein,

The two-in-one key unit further comprises a mosaic block and an end cover sleeve;

The mosaic block comprises a cylindrical section and a mosaic section which are connected in sequence; the outer circumference of the cylindrical section is sleeved in the inner spring; the embedded sections of the embedded blocks are embedded on the peripheral walls of the square holes;

The cylindrical section is internally hollowed with a stepped hole, the inner guide rod is sleeved in the stepped hole, the end cover is sleeved in the stepped hole, the end face of the end cover sleeve is connected with the stepped face of the stepped hole, and the end cover sleeve is connected with the end face of the inner guide rod.

9. The moment detecting robot according to claim 7, wherein,

The end face of the lockset frame, on which the two-in-one key unit is mounted, is used as a mounting face;

the mounting surface is provided with a rotating shaft sleeve which penetrates through two sides of the mounting surface;

the adapter sleeve is rotationally sleeved in the rotating shaft sleeve.

10. The moment detecting robot according to claim 9, wherein,

The adapter sleeve is connected with a round baffle plate, and the round baffle plate is arranged in the lockset frame;

The first sensor is arranged on the mounting surface, and the sensing end of the first sensor penetrates through the mounting surface to face one surface of the round baffle plate; a second sensor is arranged in the lock frame, and the induction end of the second sensor faces the other surface of the round baffle plate; the first sensor and the second sensor are arranged in opposite directions;

Three brackets are arranged on the outer side of the lock frame, and are all arranged on the same surface of the lock frame with the center positioning block;

A third sensor is arranged on the first bracket; the second and third brackets slidably mount a knock pin, the knock pin being sheathed with a resilient member disposed between the second and third brackets; the third sensor is arranged adjacent to the center positioning block, and the sensing end of the third sensor faces the center pin.