CN-224209966-U - Multifunctional end effector based on inspection robot

CN224209966UCN 224209966 UCN224209966 UCN 224209966UCN-224209966-U

Abstract

The utility model relates to the field of intelligent operation and maintenance of energy storage equipment, and discloses a multifunctional end effector based on a patrol robot, which comprises a base shell, a rotary clamping jaw module, a sucker module, a compression bar module and a conversion mechanism; the rotary clamping jaw module, the sucking disc module and the compression bar module are arranged on the first functional surface of the base shell, the other two positions are oppositely arranged on the output end of the conversion mechanism and are configured as second modules, the conversion mechanism drives the two second modules to turn around the normal direction of the second functional surface, and when one second module turns to be arranged in parallel with the first module, the distance between the output end of the second module and the first functional surface is larger than the distance between the output end of the first module and the first functional surface. The utility model can solve the problems that the existing end execution device has single function and is difficult to execute the inspection task requiring operation.

Inventors

WANG YOUXIANG
YANG HAO
LIU XINRAN
LIU ZHIHAO
ZENG QUAN
LI FENGYANG
LIN BOWEN
SU JUNPING
LONG BIN
WANG SHUIFA

Assignees

厦门城市职业学院(厦门开放大学)

Dates

Publication Date: 20260508
Application Date: 20250613

Claims (7)

1. Multifunctional end effector based on inspection robot, characterized by comprising: The base shell is provided with a first functional surface and a second functional surface which are mutually and perpendicularly connected; The rotary clamping jaw module, the sucking disc module, the pressure bar module and the conversion mechanism are arranged on the second functional surface of the base shell, one of the rotary clamping jaw module, the sucking disc module and the pressure bar module is arranged on the first functional surface of the base shell, the rotary clamping jaw module, the sucking disc module and the pressure bar module is configured as a first module, the other two positions are oppositely arranged on the output end of the conversion mechanism and are configured as second modules, and the conversion mechanism is used for driving the two second modules to turn around the normal direction of the second functional surface; The first module and the second module are respectively provided with an output end used for clamping or contacting a part to be operated, and when one second module is overturned to be arranged parallel to the first module, the distance between the output end of the second module and the first functional surface is larger than that between the output end of the first module and the first functional surface.
2. The inspection robot-based multifunctional end effector as set forth in claim 1, wherein at least one of the second functional surfaces is provided, the conversion mechanisms are the same as the second functional surfaces in number and are arranged in a one-to-one correspondence manner, and each conversion mechanism is used for driving the corresponding second module to turn around the normal direction of the corresponding second functional surface.
3. The inspection robot-based multifunctional end effector of claim 1, further comprising a visual positioning camera disposed on the first functional surface of the base housing and configured to collect positional information of the part to be operated.
4. A multifunctional end effector based on a inspection robot according to any one of claims 1-3, wherein the pressure bar module comprises a pressure bar and a pressure sensor, the pressure sensor being arranged on a free end of the pressure bar, the pressure sensor being arranged to sense a pressure value exerted by the pressure bar on the component to be operated.
5. A multifunctional end effector based on a inspection robot according to any one of claims 1-3, wherein the suction cup module comprises a vacuum suction cup and an elastic telescopic rod, the vacuum suction cup being provided on a free end of the elastic telescopic rod, the vacuum suction cup being adapted to suck or release the part to be operated.
6. A multi-functional end effector based on a inspection robot according to any one of claims 1-3, wherein the rotary jaw module comprises a rotary drive mechanism and a clamping mechanism, an output end of the rotary drive mechanism being connected to the clamping mechanism, the rotary drive mechanism being adapted to drive the clamping mechanism in rotation, the clamping mechanism comprising at least two clamping arms that are relatively openable and closable and being adapted to clamp or unclamp the part to be operated.
7. A multifunctional end effector based on a patrol robot according to any one of claims 1-3, wherein the base housing is further provided with a flange connection for detachable connection with the end of the patrol robot.

Description

Multifunctional end effector based on inspection robot Technical Field The utility model relates to the field of intelligent operation and maintenance of energy storage equipment, in particular to a multifunctional end effector based on a patrol robot. Background Under the large background of the acceleration transformation of the global energy structure, new energy technology is continuously developed, and the daily and monthly progress is achieved. However, new energy power generation has inherent characteristics such as intermittence, volatility and the like, which brings serious challenges to stable operation of a power grid. In order to effectively solve the problems, a large-scale chemical energy storage system is generated, and the system is widely applied to key scenes such as power grid peak regulation and frequency modulation, standby power supply, electric energy quality improvement and the like. The energy storage equipment is used as a core component of a large-scale chemical energy storage system, and the safe and stable operation of the energy storage equipment directly relates to the performance and reliability of the whole energy storage system, so that the safety and stability of a power grid are affected. Therefore, ensuring safe operation of energy storage devices is an important issue to be addressed in the energy field. At present, the intelligent inspection robot has been widely used in the field of energy storage equipment inspection by virtue of the advantages of high efficiency, accuracy, strong repeatability and the like. The inspection robots monitor aspects such as the appearance, the state of an indicator light, the temperature distribution and the like of the energy storage equipment in real time through the image acquisition equipment and the infrared temperature measurement equipment which are carried on the end effector, so that workers can find potential fault hidden dangers such as damage deformation of the surface of the equipment or overheat of the equipment in time. However, in actual inspection operations, in addition to monitoring the status of equipment, operations such as opening and closing a cabinet door, operating a key, unlocking a knob lock, and the like are often required to complete complex inspection tasks such as equipment maintenance and parameter adjustment. The existing end execution device is relatively single in design function, is mostly only focused on information acquisition, lacks operation functions such as pressing, adsorption and grabbing, and the like, so that manual intervention is often needed when the inspection robot faces inspection tasks needing to be operated, the continuity of inspection closed-loop operation is affected, the inspection efficiency is reduced, the automation degree of inspection operation is limited, and the advantages of the intelligent inspection robot cannot be fully exerted. In view of this, it is necessary to develop a multifunctional end effector based on a patrol robot, which better adapts to different operation tasks by integrating multiple functions of pressing, adsorbing, grabbing, and the like. Disclosure of utility model (One) solving the technical problems The utility model provides a multifunctional end effector based on a patrol robot, which at least can solve the technical problems that the existing end effector is single in function and is difficult to execute patrol tasks requiring operation. (II) technical scheme In order to solve the technical problems, the utility model provides the following technical scheme that the multifunctional end effector based on the inspection robot comprises: the base shell is provided with a first functional surface and a second functional surface which are mutually and perpendicularly connected; the rotary clamping jaw module, the sucking disc module, the pressure bar module and the conversion mechanism are arranged on the second functional surface of the base shell, one of the rotary clamping jaw module, the sucking disc module and the pressure bar module is arranged on the first functional surface of the base shell, the rotary clamping jaw module, the sucking disc module and the pressure bar module is configured as a first module, the other two positions are oppositely arranged on the output end of the conversion mechanism and are configured as second modules, and the conversion mechanism is used for driving the two second modules to turn around the normal direction of the second functional surface; The first module and the second module are respectively provided with an output end used for clamping or contacting a part to be operated, and when one second module is overturned to be arranged in parallel with the first module, the distance between the output end of the second module and the first functional surface is larger than that between the output end of the first module and the first functional surface. The second functional surfaces are provided with at least on