CN115092287B

CN115092287B - Walking robot driving steering mechanism

Info

Publication number: CN115092287B
Application number: CN202111285096.7A
Authority: CN
Inventors: 吴海腾; 贾昭源; 毛泽庆; 罗福良; 褚俊涛
Original assignee: Hangzhou Shenhao Technology Co Ltd
Current assignee: Hangzhou Shenhao Technology Co Ltd
Priority date: 2021-11-01
Filing date: 2021-11-01
Publication date: 2023-04-25
Anticipated expiration: 2041-11-01
Also published as: CN115092287A

Abstract

The invention provides a walking robot driving steering mechanism which comprises a rolling wheel, a connecting frame, a steering driving mechanism and a walking driving mechanism, wherein the steering driving mechanism is arranged in a fixed shell, the steering driving mechanism is in transmission connection with one end of the connecting frame, the other end of the connecting frame is fixedly connected with the walking driving mechanism, the connecting frame is in rotary connection with the fixed shell, the walking driving mechanism is in transmission connection with the rolling wheel, the walking driving mechanism is in rotary connection with the rolling wheel, the connecting frame comprises a second connecting piece and a third connecting piece, the second connecting piece is in sliding connection with the third connecting piece, a suspension mechanism is arranged between the second connecting piece and the third connecting piece, and the suspension mechanism comprises a damping elastic piece.

Description

Walking robot driving steering mechanism

Technical Field

The invention relates to a walking robot driving steering mechanism.

Background

The walking robot is a wheeled robot with autonomous motion control and path planning, and is widely applied to the fields of logistics warehouse, catering service, line inspection and the like at present. Most of the existing walking robots are four-wheel robots, when the existing four-wheel robots pass through some obstacles, the jumping amplitude of the wheels greatly causes the upper body of the robot to be unstable, and therefore a stable robot with a suspension needs to be designed.

Disclosure of Invention

In order to solve the technical problems, the invention provides a driving steering mechanism with a suspension, which has a compact structure and is used for stabilizing a walking robot.

The invention adopts the following technical proposal

The utility model provides a walking robot drive steering mechanism, includes roll round, link, turns to actuating mechanism and walking actuating mechanism, turn to actuating mechanism and locate in the fixed shell, turn to actuating mechanism and link one end transmission and be connected, the link other end with walking actuating mechanism fixed connection, the link with fixed shell pivoted is connected, walking actuating mechanism with roll round transmission and be connected, and walking actuating mechanism with roll round pivoted is connected, the link includes second connecting piece and third connecting piece, the second connecting piece with third connecting piece gliding connection, the second connecting piece with be equipped with suspension mechanism between the third connecting piece, suspension mechanism includes damping elastic component.

Optionally, the second connecting piece is in transmission connection with the steering driving mechanism, and the third connecting piece is fixedly connected with the walking driving mechanism.

Optionally, the walking driving mechanism comprises a walking driving motor casing, the walking driving motor casing is connected with the rolling wheel through a bearing, and the walking driving motor casing is fixedly connected with the connecting frame.

Optionally, the suspension mechanism further comprises a pre-compression structure disposed between the second and third connection members for compressing the shock absorbing elastic member.

Optionally, the pre-pressing structure includes a pre-pressing part provided on one of the second connecting piece and the third connecting piece and a connecting part provided on the other, the pre-pressing part is connected with the connecting part 5, and when the pre-pressing part is connected with the connecting part, the damping elastic piece is in a compressed state.

Optionally, one of the second connecting piece and the third connecting piece is provided with a sliding rail, and the other is provided with a sliding block matched with the sliding rail.

Optionally, the steering driving mechanism comprises a rotary driving motor, a speed reducer and an encoder which are sequentially connected.

Optionally, an angle limiting structure for limiting the rotation angle of the connecting frame is arranged between the connecting frame of the steering driving mechanism and the fixed shell.

Optionally, the angle limiting structure comprises an angle limiting member and a constrained member, wherein the angle limiting member is fixedly connected with the fixed shell, the constrained member is directly or indirectly connected with the connecting frame, the constrained member rotates for a fixed angle and then is mutually blocked with one side of the angle limiting member, and the constrained member rotates for a fixed angle in a reverse direction and then is mutually blocked with the other side of the angle limiting member.

Optionally, one side of the constrained piece is provided with a notch, the angle constraint piece is partially positioned in the notch, and after the constrained piece rotates for a fixed angle, the bottom wall of the notch and the angle constraint piece are mutually blocked.

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

the driving steering mechanism of the walking robot provided by the invention is provided with the suspension mechanism, and is compact in structure, and the suspension mechanism enables the walking robot to be stable when passing through an obstacle.

Drawings

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

FIG. 2 is a schematic illustration of the operation of the row of ground knives of the present invention;

FIG. 3 is a second schematic view of the operation structure of the row cutter of the present invention;

FIG. 4 is one of the cross-sectional views of the running blade operating configuration of the present invention;

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

FIG. 6 is one of the exploded views of the row actuator of the present invention;

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

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

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

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

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

FIG. 12 is a third schematic view of the knife operating structure of the present invention;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

FIG. 38 is a cross-sectional view of the end turn tool of the present invention;

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

Reference numerals in the schematic drawings illustrate:

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

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

B. an end effector; b1, a second fixing piece; b2, a guide sleeve; b21, accommodating hole groove structure; b211, a first section; b212, a second section; b213, third section; b214, rubber ring; b3, an operation rod; b31, stopper; b4, elastic auxiliary parts; b5, a mounting piece; b51, a cavity groove; b6, a third depth camera;

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

D. a tip threading tool; d1, a fourth fixing piece; d2, a power mechanism; d3, a driving rod; d31, a second blocking part; d32, elastic slow release piece; d33, a platform part; d4, a sleeve; d41, a first blocking part; d42, a first blocking part; d5, screwing the piece; d51, avoiding holes; d52, opening; d6, fixing the sleeve; d61, a second blocking part; d7, a fifth depth camera;

E1, fixing the shell; e2, rolling wheels; e3, a connecting frame; e31, a second connecting piece; e32, a third connecting piece; e33, a damping elastic piece; e34, pre-pressing; e35, a connecting part; e36, sliding track; e37, sliding blocks; e4, a steering driving mechanism; e41, angle restraints; e42, constrained member; e421, notch; and E5, a walking driving mechanism.

Detailed Description

For a further understanding of the present invention, the present invention will be described in detail with reference to FIGS. 1-39 and examples.

1-39, a walking robot of the embodiment drives a steering mechanism, a fixed chassis and a control system are arranged at the bottom of the walking robot, and the walking robot is arranged on the fixed chassis.

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

The link E3 has a suspension mechanism, and the link E3 includes a second link E31 and a third link E32, and the second link E31 and the third link E32 are slidably connected. The second connecting piece E31 is in transmission connection with an output shaft of the steering driving mechanism E4, and the third connecting piece E32 is fixedly connected with a traveling driving motor casing of the traveling driving mechanism E5. The suspension mechanism includes a damper elastic member E33 provided between the second link E31 and the third link E32. A pre-pressing structure for compressing the damping elastic element E33 is arranged between the second connecting element E31 and the third connecting element E32. The pre-pressing structure comprises a pre-pressing part E34 arranged on one of the second connecting piece E31 and the third connecting piece E32 and a connecting part E35 arranged on the other, wherein the pre-pressing part E34 is connected with the connecting part E35, and when the pre-pressing part E34 is connected with the connecting part E35, the damping elastic piece E33 is in a compressed state. In this embodiment, the pre-pressing member E34 is a connecting shaft disposed on the third connecting member E32, the connecting portion E35 is a connecting hole disposed on the second connecting member E31, the connecting shaft passes through the connecting hole, a pre-pressing nut is disposed at an end of the connecting shaft, and the pre-pressing nut and the third connecting member E32 abut to prevent the connecting shaft from being separated from the connecting hole. The damping elastic piece E33 is a spring, one end of the damping elastic piece E33 is connected with the second connecting piece E31, and the other end of the damping elastic piece E33 is connected with the third connecting piece E32. The second connecting piece E31 and the third connecting piece E32 are connected through the matching sliding of the connecting shaft and the connecting hole, so that the second connecting piece E31 is fixed relative to the third connecting piece E32 in the circumferential direction through the axial relative sliding, and the second connecting piece E31 can transmit torque through the third connecting piece E32. The damping elastic member E33 is in a compressed state, so that the rigidity of the damping elastic member E33 can be increased, and when the rolling wheel E2 is jumped, the elastic variation of the damping elastic member E33 does not greatly prevent the instability of the ground knife operating structure 102.

One of the second connecting piece E31 and the third connecting piece E32 is provided with a sliding rail E36, the other is provided with a sliding block E37 matched with the sliding rail E36, and the second connecting piece E31 and the third connecting piece E32 are connected in a matched sliding way through the sliding rail E36 and the sliding block E37. The steering driving mechanism E4 includes a rotary driving motor, a decelerator, and an encoder which are sequentially connected.

An angle limiting structure for limiting the rotation angle of the connecting frame E3 is arranged between the connecting frame E3 and the fixed shell E1. The angle limiting structure comprises an angle limiting member E41 and a constrained member E42, wherein the angle limiting member E41 is fixedly connected with the fixed shell E1, and the constrained member E42 is directly or indirectly fixedly connected with the connecting frame E3. The constrained element E42 rotates by a fixed angle and then mutually abuts against one side of the angle constraining element E41, and the constrained element E42 rotates by a fixed angle and then mutually abuts against the other side of the angle constraining element E41. In this embodiment, the constrained element E42 is cylindrical, one side of the constrained element E42 has a notch E421, the angle constraining element E41 is partially located in the notch E421, after the constrained element E42 rotates by a fixed angle, the bottom wall of the notch E421 and one side of the angle constraining element E41 are blocked, and after the constrained element E42 rotates by a fixed angle in a reverse direction, the bottom wall of the notch E421 and the other side of the angle constraining element E41 are blocked.

The walking robot comprises a driving steering mechanism 101 and a ground knife operation structure 102, wherein a fixed chassis 1011 is arranged on the driving steering mechanism 101, and the ground knife operation structure 102 is arranged on the fixed chassis 1011. The ground knife operation structure 102 comprises a fixed base 8, a movable base 2 and a frame assembly 1, wherein the fixed base 8 is arranged on a fixed chassis 1011, the movable base 2 is connected with the fixed base 8 in a sliding manner, the fixed base 8 is provided with a transmission mechanism for driving the movable base 2 to move, the frame assembly 1 is arranged on the movable base 2, and the movable base 2 is provided with a rotary lifting mechanism 7 for enabling the frame assembly 1 to rotationally lift. The device also comprises a control system, wherein the transmission mechanism is electrically connected with the control system, and the rotary lifting mechanism 7 is electrically connected with the control system. The frame component 1 is provided with a telescopic mechanism 3, and the tail end of the telescopic mechanism 3 is provided with an executing mechanism 4.

The fixed base 8 is provided with a second sliding rail 81, and the movable base 2 is provided with a second sliding block matched with the sliding rail. The transmission mechanism includes a second motor 82, a screw 83 and a feed member 84. The second motor 82 is fixedly connected with the fixed base 8, the screw 83 is connected with the fixed base 8 through a bearing, the feeding piece 84 is arranged on the movable base 2, the feeding piece 84 is provided with a threaded hole matched with the screw 83, and the second motor 82 drives the screw 83 to rotate through a synchronous belt and a synchronous pulley. The screw 83 rotates to drive the movable base 2 to slide on the second slide rail 81.

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

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

Specifically, the linear-rotary compound motion is achieved by opening the first driving member 71. Since the first inner ring is fixed circumferentially relative to the ball screw 75, the opening of the first driving member 71 drives the frame assembly 1 to rotate around the ball screw 75, the rotation of the frame assembly 1 drives the second inner ring to rotate through the synchronous belt transmission between the second driving member 72 and the second inner ring, and the rotation of the second inner ring drives the frame assembly 1 to do linear motion relative to the ball screw 75.

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

The rotational movement is achieved by simultaneously activating the first drive member 71 and the second drive member 72. The first driving member 71 is turned on to realize the linear rotation compound motion of the frame assembly 1. At this time, only the second driving member 72 is required to be reversed, and the rotation speed is consistent with that of the first driving member 71, so that the second inner ring is in a stationary state, and therefore the frame assembly 1 does not perform linear movement but only rotational movement.

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

The detecting device further comprises a detecting mechanism, the detecting mechanism comprises a first inductor 12 and a first inductor 76, the first inductor 12 is fixed on the frame assembly 1, the first inductor 76 is directly or indirectly fixedly connected with the first inner ring, and the first inductor 12 can induce the first inductor 76. The first inductor 12 is electrically connected to the control system. In particular applications, the first sensing member 76 is integrally provided with the blocking member. The first sensing member 76 has a metal member, the first sensing member 76 is a metal-sensing sensor, when the first sensor 12 senses the first sensing member 76, the position of the frame assembly 1 is set as the origin position, and then the rotation angle of the frame assembly 1 is confirmed by the encoder of the first driving member 71.

The detection mechanism further comprises a second inductor 21 and a second inductor 77, the second inductor 21 is fixed on the movable base 2, the second inductor 77 is directly or indirectly fixedly connected with the first inner ring, and the second inductor 21 can induce the second inductor 77. The second inductor 21 is electrically connected to the control system. In particular, the second sensing member 77 is a metal member, and the second sensor 21 is a metal-sensing sensor. When the frame assembly 1 moves to the bottommost position, the second sensing member 77 reaches the position of the second sensor 21, and the second sensor 21 senses the second sensing member 77 and transmits a sensing signal to the control system. The fixed base 8 is provided with a fourth inductor, the movable base 2 is provided with a fourth inductor, and the fourth inductor can induce the fourth inductor. In specific application, the fourth sensor is a metal piece, and the fourth sensor is a sensor capable of sensing metal. When the movable base 2 moves to the extreme end of the fixed base 8, the fourth sensor reaches the position of the fourth sensor, and the fourth sensor senses the fourth sensor and transmits a sensing signal to the control system.

The telescopic mechanism 3 comprises a driving mechanism and a screw pair telescopic mechanism which are arranged on the frame assembly 1, and the driving mechanism is electrically connected with the control system. The driving mechanism comprises a first motor 31, and the screw pair telescopic mechanism comprises a screw 32 and a feeding assembly matched with the screw 32. The lead screw 32 is connected with the frame assembly 1 through a bearing, the output shaft of the first motor 31 is provided with a synchronous pulley, the lead screw 32 is fixed with the synchronous pulley, and the first motor 31 drives the lead screw 32 to rotate through the synchronous belt and the synchronous pulley. The feeding assembly is connected with the frame assembly 1 in a sliding way, the frame assembly 1 comprises an outer sleeve assembly 11, and the outer sleeve assembly 11 is sleeved outside the feeding assembly. The feed assembly comprises a feed nut 33 and a feed sleeve 34, the feed nut 33 and the feed sleeve 34 are fixedly connected, and the outer sleeve assembly 11 and the feed sleeve 34 are connected by keys, so that the feed assembly and the outer sleeve assembly 11 are circumferentially and relatively fixed and axially relatively sliding. The frame component 1 is internally provided with a rotary drive, the rotary drive and control system is electrically connected, the rotary drive drives the outer sleeve component 11 to rotate, and then drives the feeding sleeve 34 to rotate, and the actuating mechanism 4 is arranged at the tail end of the feeding sleeve 34.

When the rack assembly 1 works, the first motor 31 is controlled by the control system to drive the screw pair telescopic mechanism to stretch out and draw back, so that the actuating mechanism 4 is close to a switch cabinet switch operated by a contact target, and then the control system controls the rotation driving output shaft to rotate so as to drive the actuating mechanism 4 to rotate, and then the switch of the switch cabinet is turned on in a rotating mode. Because the rotation driving rotation also drives the feeding assembly to rotate, the feeding assembly can move relative to the screw rod 32, and in order to solve the problem, the control system only needs to control the screw rod 32 to reversely rotate through the first motor 31.

Also included is a gland assembly 5, the gland assembly 5 being bearing coupled to the feed sleeve 34. Normally, the switch of the switch cabinet is provided with a ground knife butt joint hole baffle, the ground knife butt joint hole baffle needs to be opened before the switch of the switch cabinet is operated, and the gland assembly 5 is used for opening the ground knife butt joint hole baffle of the switch cabinet. The gland assembly 5 comprises a gland end 51, a first connecting piece 53 and a mounting frame 54, wherein one end of the first connecting piece 53 is fixedly connected with the gland end 51, and the other end of the first connecting piece 53 is fixedly connected with the mounting frame 54. The mounting bracket 54 is bearing-coupled to the feed sleeve 34. The gland end 51 is a pressing plate with two sides provided with side edges, the two side edges of the pressing plate are provided with aligning members 52, and the aligning members 52 are provided with inclined surfaces extending inwards. In the present embodiment, the aligning member 52 has two inclined surfaces, i.e., a first inclined surface 521 and a second inclined surface 522, and the first inclined surface 521 and the second inclined surface 522 are two adjacent surfaces. The first inclined surface 521 and the second inclined surface 522 are both triangular surfaces. The junction of the first inclined surface 521 and the second inclined surface 522 is transited by a smooth curved surface. The first inclined surface 521 faces forward of the gland end and the second inclined surface 522 faces downward of the gland end. An ejection elastic piece 523 which enables the alignment piece to keep an ejection state is arranged between the alignment piece and two side edges of the pressing plate, and the ejection elastic piece 523 is a spring when the device is specifically applied.

The gland end 51 opens the ground knife against the orifice shield by depressing. When the ground knife butt-joint hole baffle enters the gland end 51, when the surfaces of the gland end 51 and the ground knife butt-joint hole baffle are not parallel, or when the gland end 51 and the ground knife butt-joint hole baffle are slightly staggered, after the first inclined surface 521/the second inclined surface 522 of the two aligning members are contacted with the ground knife butt-joint hole baffle, acting force is generated between the first inclined surface 521/the second inclined surface 522 and the ground knife butt-joint hole baffle along with the pressing of the gland end 51, so that the gland assembly 5 slightly rotates relative to the feeding sleeve 34, and the gland end 51 and the ground knife butt-joint hole baffle return to the parallel state, so that the gland end 51 accurately butts against the ground knife butt-joint hole baffle of the switch cabinet. And the two aligning members limit the ground blade abutment aperture stop to enter the middle position of the gland end 51 so as to stabilize the gland end 51 when applying a downward pressing force to the ground blade abutment aperture stop.

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

The frame assembly 1 further comprises a fixing frame 15, the first motor 31 is mounted on the fixing frame 15, and the pushing piece 35 is connected with the fixing frame 15 in a sliding mode. The fixing frame 15 is provided with a first sliding rail, and the pushing member 35 is provided with a first sliding block 351 matched with the first sliding rail. The gland assembly 5 includes a gland end 51, a first connector 53, a mounting bracket 54. One end of the first connecting member 53 is fixedly connected with the gland end 51, the other end of the first connecting member 53 is fixedly connected with the mounting bracket 54, the mounting bracket 54 is connected with the feeding sleeve 34 through a bearing, and the mounting bracket 54 is fixedly connected with the pushing member 35. The gland end 51 is a pressure plate with sides. The output shaft of the first motor 31 rotates through the driving screw 32, so that the feed nut 33 drives the pushing piece 35, the gland assembly 5 and the feed sleeve 34 to linearly move. Because the gland assembly 5 and the pusher 35 are fixedly connected, the gland assembly 5 does not deflect relative to the feed sleeve 34. Because the gland assembly 5 is in bearing connection with the feed sleeve 34, the rotary drive drives the outer sleeve assembly 11 to rotate, and drives the feed sleeve 34 and the actuator 4 to rotate, so that the feed assembly cannot be moved.

The frame assembly 1 is provided with a fifth inductor and the feeding assembly is provided with a fifth inductor. The fifth sensor is a metal piece, and the fifth sensor is a sensor capable of sensing metal. When the feed nut 33 is at the beginning of the lead screw 32, the fifth sensing element is in the position of the fifth sensor. The fifth sensing piece is electrically connected with the control system, and when the position of the fifth sensor is sensed by the fifth sensing piece, the sensing signal is transmitted to the control system by the fifth sensing piece, and the control system judges that the feeding assembly is reset. In a specific application, the fifth sensor is disposed on the pushing member 35, and the fifth sensor is disposed on the fixing frame 15.

The end of the feed sleeve 34 is provided with an actuator 4. The actuator 4 includes a transmission member 41 and an actuator 42, wherein one end of the actuator 42 is slidably connected to one end of the transmission member 41, and the actuator 42 is axially and relatively slidably fixed with respect to the circumferential direction of the transmission member 41. One of the actuator 42 and the transmission member 41 is provided with a non-cylindrical body, and the other is provided with a moving hole 422 matching the shape of the non-cylindrical body. In a specific application, the non-cylindrical body is a square cylinder, or may be a regular pentagonal cylinder, and the actuating member 42 and the transmission member 41 may be connected by a key. And an elastic buffer member 43 is arranged between one end of the executing member 42 and one end of the transmission member 41, and when the elastic buffer member 43 is a spring, the elastic buffer member 43 is sleeved on the non-cylinder. The other end of the transmission member 41 is fixedly connected to the feed sleeve 34. The actuating mechanism 4 further comprises a limiting member 44, the limiting member 44 is sleeved on the non-circular cylinder, one end of the limiting member 44 is fixedly connected with the transmission member 41, the other end of the limiting member 44 is provided with a first resisting portion 441, the actuating member 42 is provided with a second resisting portion 421, and when the actuating member 42 moves to a fixed position relative to the transmission member 41, the first resisting portion 441 resists the second resisting portion 421 to prevent the actuating member 42 from being separated from the limiting member 44. The other end of the actuating member 42 is used for operating a switch of the switch cabinet, the other end of the actuating member 42 is provided with a first hole groove structure 423 matched with the switch, and the top wall of the first hole groove structure 423 is provided with an inclined surface 4231 extending inwards. The first cell structure 423 is a hexagonal cell structure. The corners of the hexagonal hole groove structure are corners formed by the edges of the arc curved surface transition joint angles.

The frame assembly 1 is provided with a first depth camera 6, the first depth camera 6 is located at a position above the telescopic mechanism 3, and the first depth camera 6 is electrically connected with the control system. The first depth camera 6 is used for collecting position information of the switch cabinet switch and then feeding back to the control system. The control system then drives the rotary lifting mechanism 7, the transmission mechanism, the telescopic mechanism 3, such that the first aperture slot structure 423 is close to the switch of the switch cabinet. However, there may be some error in positioning, resulting in a misalignment of the first slot structure 423 and the switch of the switch cabinet. At this point, the sloped surface 4231 of the top wall of the first slot structure 423 will assist in sliding the switch into the first slot structure 423.

The limiting member 44 is fixed with a third sensor 442, and the third sensor 442 can sense the actuating member 42. The frame component 1 is provided with a containing space, the containing space is internally provided with a spring wire 14, the feeding sleeve 34 is of a hollow structure, the feeding sleeve 34 or the frame component 1 is provided with an electric wire hole for one end of the spring wire 14 to pass through, one end of the spring wire 14 is electrically connected with the third sensor 442 through the electric wire hole, and the other end of the spring wire 14 is connected with a power supply. In other embodiments, the third inductor 442 is fixedly coupled to the transmission member 41. In particular, the actuator 42 is a metal member and the third sensor 442 is a metal-sensing sensor. When the first hole groove structure 423 is staggered with the switch of the switch cabinet, the telescopic mechanism 3 is driven to enable the switch of the actuating member 42 touching the switch cabinet to receive reverse pressure, so that the actuating member 42 slides and retreats relative to the transmission member 41, and the elastic buffer member 43 is compressed. When the executing piece 42 retreats to the position of the third sensor 442, the third sensor 442 senses the executing piece 42, and when the first hole groove structure 423 and the switch of the switch cabinet are clamped, the executing piece 42 can suddenly return, the third sensor 442 senses a signal that the executing piece 42 leaves, the signal is fed back to the control system, and the control system judges that the switch clamping of the first hole groove structure 423 and the switch cabinet is completed.

The driving member 41 is provided with an endoscope 411, the executing member 42 is in a tubular structure, and the endoscope 411 can monitor the condition outside the executing member 42 through the tubular structure. The endoscope 411 is electrically connected to a control system, the endoscope 411 and the first depth camera 6 being used to monitor the position of the switch cabinet switch together. The feeding sleeve 34 has a hollow structure, one end of the spring wire 14 is electrically connected to the endoscope 411 through the hollow structure, and the other end of the spring wire 14 is connected to a power source.

In a further embodiment, the actuator 4 has a centering structure, the actuator 4 comprising an actuator 42, a transmission element 41 and a centering aid 9. The connection between the actuator 42 and the transmission member 41 is identical to the connection between the actuator 42 and the transmission member 41, and in this embodiment, the transmission member 41 is connected to the feed sleeve 34 through the centering aid 9, and the centering aid 9 is fixedly connected to the feed sleeve 34. The transmission member 41 and the centering aid 9 are connected by a centering structure comprising a gimbal structure 92 between the transmission member 41 and the centering aid 9, a compression spring 922 and a centering member. The universal joint structure 92 includes a connection block 921, two opposite first connection portions 91 extending outwards are provided at one end of the centering auxiliary member 9, two opposite second connection portions 412 extending outwards are provided at one end of the transmission member 41, the two first connection portions 91 are respectively hinged to two opposite sides of the connection block 921, and the two second connection portions 412 are respectively hinged to two opposite sides of the connection block 921, so that the transmission member 41 and the centering auxiliary member 9 are approximately in a straight line. But due to the arrangement of the gimbal structure 92 the transmission member 41 may be tilted with respect to the centering aid 9. A compression elastic member 922 is provided between the connection block 921 and the transmission member 41, and between the connection block 921 and the centering assistance member 9. In particular applications, the compression spring 922 is a disc spring. The compression elastic member 922 is in a compressed state, and the compression elastic member 922 can enable the transmission member 41 to tilt relative to the centering auxiliary member 9 and then to return to the transmission member 41 and the centering auxiliary member 9 to be in a substantially straight line state. The aligning member is a ball 923 or a rubber pad, and is mounted at an end of the first connection portion 91 and abuts against the transmission member 41. The centering member is also mounted at the end of the second connection portion 412 and abuts against the centering aid 9. The centering member assists in centering the transmission member 41 after tilting relative to the centering aid 9. The clearance fit of the gimbal structure, the driving member 41 and the actuating member 42 forms a bipolar float of the actuating mechanism 4, so that the actuating mechanism 4 can adapt to offset of 3 degrees and 1mm of eccentricity.

The mechanical arm is mounted on the fixed chassis, the control system controls the mechanical arm 1021 to move, four end tools are arranged at the tail end of the mechanical arm 1021 and are obliquely arranged on the mechanical arm 1021 and have the same inclination angle, and the four end tools are evenly distributed around the tail end of the mechanical arm 1021. The four end tools are each tilted 45 ° to the robotic arm 1021. The four end tools are perpendicular to each other. The four end tools are an end clamping tool A, an end operating tool B, an end operating switch tool C and an end screwing tool D respectively.

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

The clamping transmission structure comprises a gear set and a threaded rod A53, wherein the gear set comprises a first gear A51 and a second gear A52, the first gear A51 and the second gear A52 are bevel gears in specific application, and the first gear A51 and the second gear A52 are perpendicular to each other and meshed with each other. The gear set is installed in the fixed main body A31, and the output shaft of the second power source A32 is in transmission connection with the gear set. The first gear A51 is fixedly connected with the output shaft of the second power source A32 coaxially, the second gear A52 is fixedly connected with the threaded rod A53 coaxially, and the threaded rod A53 is rotatably connected with the fixed main body A31. The two clamping pieces A4 are fixedly connected with a fourth connecting piece A41, the fourth connecting piece A41 is arranged in the fixed main body A31, the fourth connecting piece A41 is provided with a threaded hole matched with the threaded rod A53, and the spiral directions of the threads in the two threaded holes are opposite. In other embodiments, the threaded hole may be provided directly to the clamp A4. The fixed body a31 is provided with a sliding hole a311 through which the fourth link a41 passes, and the sliding hole a311 restricts the fourth link a41 from moving only linearly. The fourth connecting piece a41 is provided with a positioning part a412, and the positioning part a412 abuts against the inner wall of the fixed body a31 to prevent the fourth connecting piece a41 from deflecting, so as to limit the fourth connecting piece a41 to only do linear motion.

The clamping piece A4 is provided with a shuttle hole A42, a click switch piece A43 is arranged in the shuttle hole A42, and a return elastic piece A44 is arranged between the click switch piece A43 and the clamping piece A4. The clamping piece A4 is provided with clamping parts A45 extending to two sides, and when the two clamping pieces A4 are close to each other, the clamping parts A45 of the two clamping pieces A4 are mutually abutted. The clamping piece A4 is provided with a half concave part A46, and when the two clamping pieces A4 are close to each other, the half concave parts A46 of the two clamping pieces A4 are overlapped and combined with each other to form a complete clamping hole A47. In a specific application, the clamping hole A47 is a square hole. The camera also comprises a second depth camera A6, and the second depth camera A6 is mounted on the first fixing piece A1. The second depth camera A6 is installed at the upper position of the fixed main body A31, the second depth camera A6 is electrically connected with the control system, the second depth camera A6 can detect the position of a switch of the switch cabinet, then the control system controls the mechanical arm 1021 to enable the tail end clamping tool A to be close to the switch of the switch cabinet, then the second power source A32 is driven to enable the two clamping pieces A4 to clamp the switch, then the first power source A2 is driven to enable the clamping pieces A4 to be rotated to unscrew the switch. The click switch member a43 may click a push button switch under the drive of the robot arm 1021. The clamping member A4 can clamp a square switch, or clamp a handle-shaped/long-shaped switch by using the clamping portion a 45.

The end operation tool B comprises a second fixing part B1 arranged on the mechanical arm 1021, a guide sleeve B2 fixed on the second fixing part B1, and an operation rod B3, wherein the operation rod B3 is connected with the guide sleeve B2 in a sliding manner, and an elastic auxiliary part B4 is arranged between the operation rod B3 and the guide sleeve B2. A pressure sensor for detecting the spring pressure is arranged between the elastic auxiliary piece B4 and the guide sleeve B2 or between the elastic auxiliary piece B4 and the operating rod B3, and the pressure sensor is electrically connected with the control system. A stopper structure for restricting the sliding position of the operating lever B3 is provided between the operating lever B3 and the guide sleeve B2. The stopper structure includes a stopper B31 connected to one end of the operating rod B3 and a stopper portion provided to the guide sleeve B2, and when the operating rod B3 moves to a fixed position with respect to the guide sleeve B2, the stopper B31 and the stopper portion come into contact to prevent the operating rod B3 from being separated from the guide sleeve B2.

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

The second fixing piece B1 is fixed with a third depth camera B6, the third depth camera B6 is located above the guide sleeve B2, and the third depth camera B6 is electrically connected with the control system. The third depth camera B6 may detect the position of the switch cabinet switch and then the control system controls the robotic arm 1021 to bring the end effector B close to the switch cabinet switch. The operating rod B3 can click a button switch, and when the mechanical arm 1021 controls the operating rod B3 to click the switch, the pressure sensor can sense the pressure applied to the elastic auxiliary member B4, namely the pressure of the operating rod B3 to the button switch. The pressure sensor transmits a pressure signal to the control system, and the control system can judge the force of the operating rod B3 clicking the switch according to the sensing signal of the pressure sensor.

The end-effector C includes a third fixing member C1 provided to the arm 1021, a motor C2 mounted to the third fixing member C1, and a transmission rod C3 drivingly connected to an output shaft of the motor C2. The transmission rod C3 is in bearing connection with the third fixing piece C1. The end of the transmission rod C3 is provided with a control piece C4, the control piece C4 and the transmission rod C3 axially and relatively slide in a circumferential direction relative to the fixed direction, the cross section of part of the transmission rod C3 is non-circular, and the control piece C4 is provided with a non-circular through hole matched with the transmission rod C3. In specific application, the cross section of part of the transmission rod C3 is square or regular pentagon or regular triangle, or the control piece C4 is connected with the transmission rod C3 in a key way. A rebound member C41 is arranged between the control member C4 and the transmission rod C3, and the rebound member C41 is a spring. The control piece C4 is provided with a butt joint hole groove structure C42 for butt joint of a switch cabinet switch, and the butt joint hole groove structure C42 is a hole groove structure formed by two overlapped and staggered square bodies. The two overlapped and staggered square bodies enable the butt joint hole groove structure C42 to form eight corner parts, and the eight corner parts are circumferentially and uniformly distributed in the butt joint hole groove structure C42. The corner is formed by the edge surfaces of the arc curved surface transition joint angle. The end surface of the abutting aperture groove structure C42 is an inwardly extending inclined transition surface C421.

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

The third fixing member C1 is fixed with a fourth depth camera C6, and the fourth depth camera C6 is electrically connected with the control system. The fourth depth camera C6 is located above the transmission rod C3. The fourth depth camera C6 may detect the position of the switch cabinet switch and then transmit a switch cabinet position signal to the control system, which controls the mechanical arm 1021 to cause the end-effector C to be moved closer to the switch of the switch cabinet. The mating aperture slot configuration C42 of the actuating member C4 may be aligned with the square opening Guan Kage of the switch cabinet. When the butt joint hole groove structure C42 is in butt joint with the square switch in a dislocation mode, the inclined transition surface C421 can help the butt joint hole groove structure C42 to butt joint with the square switch. The butt joint hole groove structure C42 is provided with eight corners, and is formed by two overlapped and staggered square bodies, so that the square switch can enter the butt joint hole groove structure C42 more easily. The motor C2 drives the transmission rod C3 to rotate, any corner of the butt joint hole groove structure C42 is contacted with any corner of the square switch, and the butt joint hole groove structure C42 can be quickly butt-jointed with other parts of the square switch. Continued rotation of motor C2 then causes operator C4 to turn off the switch.

The tail end screwing tool D comprises a fourth fixing piece D1 arranged on the mechanical arm 1021, a power mechanism D2 arranged on the fourth fixing piece D1 and a driving rod assembly in transmission connection with an output shaft of the power mechanism D2, wherein the driving rod assembly is in bearing connection with the fourth fixing piece D1, and a screwing piece D5 is arranged at the end part of the driving rod assembly. The actuating lever subassembly includes actuating lever D3, external member D4 and actuating lever D3 circumference relatively fixed axial relative slip, and actuating lever D3 is located to external member D4 cover, and actuating lever D3's cross section is non-circular, and external member D4 is equipped with the trepanning that suits with actuating lever D3 appearance. In a specific application, the cross section of the driving rod D3 is square, regular pentagon or triangle, or the kit D4 is in key connection with the driving rod D3. An elastic slow release piece D32 is arranged between the driving rod D3 and the sleeve piece D4, and the sleeve piece D4 is fixedly connected with the screwing piece D5. The screw D5 is provided with an avoidance hole D51 for avoiding the driving lever D3.

A gear structure for limiting the sliding position of the sleeve D4 is arranged between the sleeve D4 and the driving rod D3. The gear structure comprises a first blocking portion D41 arranged on the sleeve member D4 and a second blocking portion D31 arranged on the driving rod D3, and when the sleeve member D4 slides to a fixed position relative to the driving rod D3, the first blocking portion D41 and the second blocking portion D31 abut against each other to prevent the sleeve member D4 from being separated from the driving rod D3. The fourth mounting D1 fixedly connected with fixed sleeve D6, fixed sleeve D6 cover is established outside the actuating lever subassembly, is equipped with the bearing between actuating lever subassembly and the fixed sleeve D6. A blocking structure for limiting the sliding position of the sleeve D4 is arranged between the sleeve D4 and the fixed sleeve D6. The blocking structure comprises a first blocking part D42 arranged on the sleeve D4 and a second blocking part D61 arranged on the fixed sleeve D6, and when the sleeve D4 slides to a fixed position relative to the driving rod D3, the first blocking part D42 and the second blocking part D61 abut against each other to limit the sleeve D4 to move continuously. The movable range of the sleeve D4 is limited between the second blocking portion D31 and the second blocking portion D61. In a specific application, the first blocking portion D41 and the first blocking portion D42 are provided as an integral structure.

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

The fourth fixing member D1 is fixed with a fifth depth camera D7, and the fifth depth camera D7 is electrically connected with the control system. The fifth depth camera D7 is located above the driving lever D3. The fifth depth camera D7 may detect the position of the switch cabinet and then transmit a switch cabinet position signal to the control system, which controls the mechanical arm 1021 to bring the end screwing tool D close to the switch of the switch cabinet. The opening D52 at the end of the screwing member D5 may engage the handle-shaped/elongated switch, and after the switch is engaged, the power mechanism D2 is driven to screw the screwing member D5 into the switch. Some switches are turned on by pressing after screwing, which means that the mechanical arm 1021 is required to press the screwing piece D5, so that the screwing piece D5 is retracted relative to the driving rod D3, and the end of the driving rod D3 presses the switch. After the switch is turned on, the elastic slow release member D32 returns the screwing member D5 to the initial position.

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

(1) Driving the steering mechanism: the omnidirectional four-wheel-drive motion chassis is adopted, the performance is reliable, the control is flexible, the high-precision trackless autonomous positioning navigation is adopted, the autonomous obstacle avoidance and anti-falling functions are realized, and the operation safety is ensured;

(2) Mechanical arm: the six-degree-of-freedom cooperative mechanical arm has free driving and collision protection functions, achieves high-precision terminal gesture adjustment and motion planning, and is matched with a special working tool to carry out specific working tasks.

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

(4) The ground knife operation structure comprises: the multi-degree-of-freedom cradle head platform is used, and the capability of the grounding disconnecting link to be opened and closed can be realized through a 3D visual positioning system by matching with a large torque driving module.

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

(6) Partial discharge sensor: and the detection technology of the ultra-high frequency partial discharge is utilized to realize the partial discharge detection of the switch cabinet.

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

The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.

Claims

1. The utility model provides a walking robot drive steering mechanism, includes roll round, link, turns to actuating mechanism and walking actuating mechanism, its characterized in that, turn to actuating mechanism and locate in the fixed shell, turn to actuating mechanism and link one end transmission and connect, the link other end with walking actuating mechanism fixed connection, the link with fixed shell pivoted is connected, walking actuating mechanism with roll round transmission and connect, and walking actuating mechanism with roll round pivoted and connect, the link includes second connecting piece and third connecting piece, the second connecting piece with the gliding connection of third connecting piece, the second connecting piece with be equipped with suspension mechanism between the third connecting piece, suspension mechanism includes shock attenuation elastic component.

2. The walking robot driving steering mechanism of claim 1, wherein the second connecting member is in transmission connection with the steering driving mechanism, and the third connecting member is fixedly connected with the walking driving mechanism.

3. The walking robot driving steering mechanism according to claim 1, wherein the walking driving mechanism comprises a walking driving motor casing, the walking driving motor casing is connected with the rolling wheel through a bearing, and the walking driving motor casing is fixedly connected with the connecting frame.

4. The walking robot-driven steering mechanism of claim 1, wherein the suspension mechanism further comprises a pre-compression structure provided between the second link and the third link for compressing the shock absorbing elastic member.

5. The steering mechanism of claim 4, wherein the pre-pressing structure comprises a pre-pressing member provided at one of the second connecting member and the third connecting member and a connecting portion provided at the other, the pre-pressing member and the connecting portion are connected, and the shock absorbing elastic member is in a compressed state when the pre-pressing member and the connecting portion are connected.

6. The walking robot driving steering mechanism of claim 1, wherein one of said second link and said third link is provided with a slide rail, and the other is provided with a slide block engaged with the slide rail.

7. A walking robot driving steering mechanism according to any one of claims 1-6, wherein the steering driving mechanism comprises a rotary driving motor, a decelerator and an encoder which are sequentially connected.

8. A walking robot driving steering mechanism according to any one of claims 1 to 6, wherein an angle limiting structure for limiting the rotation angle of the connecting frame is provided between the steering driving mechanism connecting frame and the fixed housing.

9. The steering mechanism of claim 8, wherein the angle limiting structure comprises an angle limiting member and a constrained member, the angle limiting member is fixedly connected with the fixed housing, the constrained member is directly or indirectly connected with the connecting frame, the constrained member is mutually blocked with one side of the angle limiting member after rotating by a fixed angle, and the constrained member is mutually blocked with the other side of the angle limiting member after reversing by the fixed angle.

10. The steering mechanism of claim 9, wherein one side of the constrained member has a notch, the angle constraining member is partially positioned in the notch, and after the constrained member rotates a fixed angle, a bottom wall of the notch and the angle constraining member abut against each other.