阅读说明：本技术 机器人系统的闭锁方法和解锁方法以及机器人系统 (Locking method and unlocking method of robot system and robot system ) 是由 高永昊 顾高明 王雪云 文琪 于 2021-09-29 设计创作，主要内容包括：本发明公开一种机器人系统的闭锁方法和解锁方法以及机器人系统,其中,机器人系统包括行走结构、视觉模块、夹持机械臂、解锁机械臂以及控制模块；其中,视觉模块、夹持机械臂、解锁机械臂以及控制模块均安装于行走结构；行走结构、视觉模块、夹持机械臂以及解锁机械臂均与控制模块电连接；控制模块包括存储器、处理器以及存储在存储器上的机器人系统的控制程序,机器人系统的控制程序在处理器上运行时,执行机器人系统的闭锁方法的步骤或者机器人系统的解锁方法的步骤。如此可以通过机器人系统对挂锁进行闭锁和解锁。(The invention discloses a locking method and an unlocking method of a robot system and the robot system, wherein the robot system comprises a walking structure, a visual module, a clamping mechanical arm, an unlocking mechanical arm and a control module; the vision module, the clamping mechanical arm, the unlocking mechanical arm and the control module are all arranged on the walking structure; the walking structure, the vision module, the clamping mechanical arm and the unlocking mechanical arm are all electrically connected with the control module; the control module comprises a memory, a processor and a control program of the robot system stored on the memory, the control program of the robot system, when running on the processor, performing the steps of the locking method of the robot system or the steps of the unlocking method of the robot system. The padlock can be locked and unlocked through the robot system.)

1. A locking method of a robot system is characterized in that the robot system comprises a walking structure, a vision module, a clamping mechanical arm and a control module, and the locking method of the robot system comprises the following steps:

controlling the walking structure to move to the position of the padlock to be locked, which is indicated by the locking instruction, according to the received locking instruction;

acquiring parameters of a padlock to be locked detected by the vision module, wherein the parameters of the padlock to be locked comprise the type of the padlock to be locked, the position of the padlock to be locked and the posture of the padlock to be locked;

controlling the clamping mechanical arm to operate according to the parameters of the padlock to be locked so as to open a lock head and a lock hook of the padlock to be locked, which is clamped by the clamping mechanical arm;

acquiring the locking ring parameters of the equipment to be locked, which are detected by the visual module, wherein the locking ring parameters of the equipment to be locked comprise a locking ring position, a locking ring size and a locking ring angle;

controlling the clamping mechanical arm to operate according to the shackle parameters of the equipment to be locked so that a shackle of a padlock to be locked penetrates through a shackle of the equipment to be locked;

the relative position of the lock head and the lock hook of the padlock to be locked, which is detected by the vision module, is acquired, and the clamping mechanical arm is controlled to rotate according to the relative position of the lock head and the lock hook of the padlock to be locked, which is detected by the vision module, so that the lock head and the lock hook of the padlock to be locked are aligned;

and controlling the clamping arm to push a lock head of the padlock to be locked for a preset distance according to the type of the padlock to be locked in the parameters of the padlock to be locked, so that the lock head of the padlock to be locked and the lock hook are locked.

2. An unlocking method of a robot system is characterized in that the robot system comprises a walking structure, a vision module, a clamping mechanical arm, an unlocking mechanical arm and a control module, and the operation method of the robot system comprises the following steps:

controlling the walking structure to move to the position of the padlock to be unlocked, which is indicated by the unlocking instruction, according to the received unlocking instruction;

acquiring parameters of the padlock to be unlocked detected by the visual module, wherein the parameters of the padlock to be unlocked comprise the type of the padlock to be unlocked, the position of the padlock to be unlocked and the posture of the padlock to be unlocked;

controlling the clamping arm to operate according to the parameters of the padlock to be unlocked so as to expose a lock hole of the padlock to be unlocked, which is clamped by the clamping mechanical arm, to an identifiable position;

acquiring visually detected key hole parameters of the padlock to be unlocked, wherein the key hole parameters of the padlock to be unlocked comprise a key hole position, a key hole shape and a key hole insertion angle;

controlling the unlocking mechanical arm to operate according to the key hole parameters of the padlock to be unlocked, so that an unlocking head on the unlocking mechanical arm is inserted into the key hole of the padlock to be unlocked;

controlling the unlocking mechanical arm to rotate by a first preset angle according to the type of the padlock to be unlocked in the parameters of the padlock to be unlocked, so that a lock hook of the padlock to be unlocked is separated from a lock hole of the padlock to be unlocked;

and controlling the clamping mechanical arm to rotate by a second preset angle according to the type of the padlock to be unlocked in the parameters of the padlock to be unlocked, so that the lock hook of the padlock to be unlocked is separated from the lock ring of the equipment to be unlocked.

3. A robot system is characterized by comprising a walking structure, a vision module, a clamping mechanical arm, an unlocking mechanical arm and a control module; wherein the content of the first and second substances,

the vision module, the clamping mechanical arm, the unlocking mechanical arm and the control module are all arranged on the walking structure;

the walking structure, the vision module, the clamping mechanical arm and the unlocking mechanical arm are all electrically connected with the control module;

the control module comprises a memory, a processor and a control program of the robot system stored on the memory, which control program of the robot system, when running on the processor, performs the steps of the locking method of the robot system as claimed in claim 1 or the steps of the unlocking method of the robot system as claimed in claim 2.

4. The robotic system as claimed in claim 3, wherein the robotic system further comprises a clamping device, the clamping device comprising two clamping plates and two connecting plates, each clamping plate having a first clamping side and a second clamping side disposed opposite to each other, each first clamping side being provided with a clamping plane and each second clamping side being provided with a clamping arc, each connecting plate being disposed between and connecting the two clamping plates such that the clamping planes or clamping arcs of the two clamping plates clamp the lock cylinder circumference of the padlock together.

5. The robotic system as claimed in claim 4, wherein each of the connecting plates has a threaded hole at an end thereof adjacent to the clamping plate, each of the clamping plates has two mounting holes extending therethrough in a direction from the first clamping side thereof toward the second clamping side thereof, and each of the mounting holes is threadably coupled to a corresponding threaded hole of the corresponding connecting plate by a threaded coupling.

6. The robotic system as claimed in claim 5 wherein the two attachment plates are disposed opposite each other around the periphery of the padlock, the two mounting holes in each of the plates extend in an elongated configuration in a direction toward and away from each other, and the two mounting holes in each of the plates are spaced apart in a direction toward and away from each other.

7. The robotic system as claimed in claim 4, wherein each of the first gripping sides and each of the second gripping sides are recessed with a gripping recess, each of the gripping recesses being adapted to engage with the gripping arm.

8. The robotic system as claimed in claim 7, wherein each of the retaining recesses is formed therethrough in a direction away from the respective connecting plate, and a bottom of each of the retaining recesses is formed with a slip prevention piece.

9. The robotic system as claimed in claim 4, wherein the clamping device further comprises a limiting plate and a limiting block, the limiting plate is connected to the two clamping plates and is configured to limit a side of the lock head of the padlock away from the shackle, and the limiting block is mounted on the clamping plates and is configured to limit a side of the lock head of the padlock adjacent to the shackle.

10. The robotic system as claimed in claim 9, wherein the limiting plate is provided with a plurality of kidney-shaped holes at positions adjacent to the two clamping plates, each kidney-shaped hole is arranged to extend along a direction in which the two clamping plates approach or depart from each other, and each kidney-shaped hole is connected to the corresponding clamping plate by a fastener.

11. The robotic system as claimed in claim 9, wherein the position-limiting plate covers a lock hole of the padlock, the position-limiting plate further has a guiding hole aligned with the lock hole of the padlock, and the inner diameter of the guiding hole gradually increases from an end of the guiding hole adjacent to the lock of the padlock to an end of the guiding hole away from the lock of the padlock.

12. The robotic system as claimed in claim 9, wherein a surface of each of the retaining plates adjacent to the retaining plate is recessed with a fitting hole, the retaining device further comprises two elongated posts, one end of each of the elongated posts is connected to the corresponding fitting hole, the other end of each of the elongated posts is connected to the retaining plate, and a connection length of each of the elongated posts to the corresponding fitting hole is adjustable.

13. The robotic system as claimed in claim 9, wherein the limiting block includes a connecting portion and a limiting portion protruding from a lateral side of the connecting portion, the connecting portion is fixedly connected to the clamping plate, and the limiting portion is configured to limit a side of the lock head of the padlock adjacent to the shackle.

Technical Field

The invention relates to the technical field of robots, in particular to a locking method and an unlocking method of a robot system and the robot system.

Background

The robot is used for completing daily inspection, infrared temperature measurement, equipment state inspection and other work of indoor and outdoor equipment of the transformer substation, and the robot is an important auxiliary means for the inspection of the transformer substation equipment. The existing robot is through independently operating along the fixed route that has set for to expose out the equipment in the environment to the transformer substation indoor and outdoor and detect, to the equipment or the box by mechanical padlock locking, because mechanical padlock has that size structure is various, the unblock state is various, the latch hook is difficult to aim at the scheduling problem, the existing robot is difficult to carry out unblock and shutting to mechanical padlock, consequently, still need the manual work to use the key to open, so just so greatly reduced the practicality of robot.

Disclosure of Invention

The invention mainly aims to provide a locking method and an unlocking method of a robot system and the robot system, aiming at facilitating locking and unlocking of a padlock.

In order to achieve the above object, the present invention provides a locking method for a robot system, where the robot system includes a walking structure, a vision module, a clamping mechanical arm, and a control module, and the locking method for the robot system includes the following steps:

controlling the walking structure to move to the position of the padlock to be locked, which is indicated by the locking instruction, according to the received locking instruction;

acquiring parameters of a padlock to be locked detected by the vision module, wherein the parameters of the padlock to be locked comprise the type of the padlock to be locked, the position of the padlock to be locked and the posture of the padlock to be locked;

controlling the clamping mechanical arm to operate according to the parameters of the padlock to be locked so as to open a lock head and a lock hook of the padlock to be locked, which is clamped by the clamping mechanical arm;

acquiring a lock ring parameter of the equipment to be locked, which is detected by the visual module, wherein the lock ring parameter of the equipment to be locked comprises a lock ring position, a lock ring angle and a lock ring angle;

controlling the clamping mechanical arm to operate according to the shackle parameters of the equipment to be locked so that a shackle of a padlock to be locked penetrates through a shackle of the equipment to be locked;

the relative position of the lock head and the lock hook of the padlock to be locked, which is detected by the vision module, is acquired, and the clamping mechanical arm is controlled to rotate according to the relative position of the lock head and the lock hook of the padlock to be locked, which is detected by the vision module, so that the lock head and the lock hook of the padlock to be locked are aligned;

and controlling the clamping arm to push a lock head of the padlock to be locked for a preset distance according to the type of the padlock to be locked in the parameters of the padlock to be locked, so that the lock head of the padlock to be locked and the lock hook are locked.

The invention provides an unlocking method of a robot system, wherein the robot system comprises a walking structure, a vision module, a clamping mechanical arm, an unlocking mechanical arm and a control module, and the operation method of the robot system comprises the following steps:

controlling the walking structure to move to the position of the padlock to be unlocked, which is indicated by the unlocking instruction, according to the received unlocking instruction;

acquiring parameters of the padlock to be unlocked detected by the visual module, wherein the parameters of the padlock to be unlocked comprise the type of the padlock to be unlocked, the position of the padlock to be unlocked and the posture of the padlock to be unlocked;

controlling the clamping arm to operate according to the parameters of the padlock to be unlocked so as to expose a lock hole of the padlock to be unlocked, which is clamped by the clamping mechanical arm, to an identifiable position;

acquiring visually detected key hole parameters of the padlock to be unlocked, wherein the key hole parameters of the padlock to be unlocked comprise a key hole position, a key hole shape and a key hole insertion angle;

controlling the unlocking mechanical arm to operate according to the key hole parameters of the padlock to be unlocked, so that an unlocking head on the unlocking mechanical arm is inserted into the key hole of the padlock to be unlocked;

controlling the unlocking mechanical arm to rotate by a first preset angle according to the type of the padlock to be unlocked in the parameters of the padlock to be unlocked, so that a lock hook of the padlock to be unlocked is separated from a lock hole of the padlock to be unlocked;

and controlling the clamping mechanical arm to rotate by a second preset angle according to the type of the padlock to be unlocked in the parameters of the padlock to be unlocked, so that the lock hook of the padlock to be unlocked is separated from the lock ring of the equipment to be unlocked.

The invention provides a robot system, which comprises a walking structure, a vision module, a clamping mechanical arm, an unlocking mechanical arm and a control module, wherein the vision module is arranged on the walking structure; wherein the content of the first and second substances,

the vision module, the clamping mechanical arm, the unlocking mechanical arm and the control module are all arranged on the walking structure;

the walking structure, the vision module, the clamping mechanical arm and the unlocking mechanical arm are all electrically connected with the control module;

the control module comprises a memory, a processor and a control program of the robot system stored on the memory, which control program of the robot system, when running on the processor, performs the steps of the locking method of the robot system or the unlocking method of the robot system, for example.

In some embodiments of the present invention, the machine system further includes a clamping device, the clamping device includes two clamping plates and two connecting plates, each of the two clamping plates has a first clamping side and a second clamping side which are oppositely disposed, each of the first clamping sides is provided with a clamping plane, each of the second clamping sides is provided with a clamping arc, and each of the connecting plates is disposed between the two clamping plates and connects the two clamping plates, so that the clamping planes or the clamping arcs of the two clamping plates jointly clamp the lock cylinder periphery of the padlock.

In some embodiments of the present invention, a threaded hole is formed in an end portion of each of the connecting plates adjacent to the clamping plate, two mounting holes are formed through each of the clamping plates in a direction in which the first clamping side of each of the clamping plates is close to the second clamping side of each of the clamping plates, and each of the mounting holes is in threaded connection with a corresponding threaded hole in the corresponding connecting plate through a threaded connector.

In some embodiments of the present invention, the two connecting plates are located on the periphery of the lock head of the padlock and are oppositely disposed, the two mounting holes on each of the clamping plates extend along a direction in which the two connecting plates approach or depart from each other and are disposed in a strip shape, and the two mounting holes on each of the clamping plates are arranged at intervals along a direction in which the two connecting plates approach or depart from each other.

In some embodiments of the present invention, each of the first clamping sides and each of the second clamping sides are recessed with a clamping groove, and each of the clamping grooves is used for cooperating with the clamping mechanical arm.

In some embodiments of the present invention, each of the clamping grooves is disposed to penetrate along a direction in which the two connecting plates are away from each other, and a bottom of each of the clamping grooves is provided with an anti-slip sheet.

In some embodiments of the invention, the clamping device further includes a limiting plate and a limiting block, the limiting plate is connected to the two clamping plates and is used for limiting one side of the lock head of the padlock far away from the lock hook, and the limiting block is installed on the clamping plates and is used for limiting one side of the lock head of the padlock near the lock hook.

In some embodiments of the present invention, the position of the limiting plate adjacent to the two clamping plates is provided with a kidney-shaped hole, each kidney-shaped hole extends along a direction in which the two clamping plates approach or depart from each other, and each kidney-shaped hole is connected with the corresponding clamping plate through a fastener.

In some embodiments of the present invention, the position-limiting plate covers the lock hole of the padlock, the position-limiting plate further penetrates through a guide hole aligned with the lock hole of the padlock, and an inner diameter of the guide hole gradually increases from one end of the guide hole adjacent to the lock head of the padlock to one end of the guide hole away from the lock head of the padlock.

In some embodiments of the present invention, a surface of each of the clamping plates adjacent to the limiting plate is recessed with a fitting hole, the clamping device further includes two extension columns, one end of each of the extension columns is connected to the corresponding fitting hole, the other end of each of the extension columns is connected to the limiting plate, and a connection length of each of the extension columns and the corresponding fitting hole is adjustable.

In some embodiments of the present invention, the limiting block includes a connecting section and a limiting section protruding from a lateral side of the connecting section, the connecting section is fixedly connected to the clamping plate, and the limiting section is used for limiting a side of the lock head of the padlock, which is adjacent to the shackle.

According to the technical scheme, the visual module, the clamping mechanical arm, the unlocking mechanical arm and the control module are arranged on the walking structure of the robot system, and the control module controls the visual module, the clamping mechanical arm and the unlocking mechanical arm to work so as to lock and unlock the padlock.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic diagram of a robot system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a first state of the present invention in which the robotic system performs a lockout of a padlock;

FIG. 3 is a schematic diagram of a second state of the present invention in which the robotic system performs a lockout of the padlock;

FIG. 4 is a schematic view of a third state of the present invention in which the robotic system performs a lockout of the padlock;

FIG. 5 is a schematic diagram of a first state of the invention in which the robot system unlocks the padlock;

FIG. 6 is a schematic diagram of a second state of the invention in which the robot system unlocks the padlock;

FIG. 7 is a schematic diagram of a third state of the invention in which the robot system unlocks the padlock;

FIG. 8 is an exploded view of one embodiment of a clamping device of the robotic system of the present invention;

FIG. 9 is a schematic view of the clamp assembly of FIG. 8 in combination with a padlock;

FIG. 10 is a top view of the assembled clamp and padlock of FIG. 8;

FIG. 11 is a top view of the alternative embodiment of the clamp of FIG. 8 assembled with a padlock;

FIG. 12 is a flowchart illustrating an exemplary latching method of a robotic system of the present invention;

fig. 13 is a flowchart illustrating an embodiment of an unlocking method for a robot system according to the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				1000	Robot system	513	Mounting hole
100	Walking structure	530	Screw joint
				200	Clamping mechanical arm	514	Clamping groove
300	Unlocking mechanical arm	540	Anti-skid sheet
				400	Vision module	550	Limiting plate
500	Clamping device	560	Limiting block
				510	Clamping plate	551	Waist-shaped hole
520	Connecting plate	552	Guide hole
				511	Clamping plane	570	Extension column
512	Clamping arc surface	561	Connecting segment
				521	Threaded hole	562	Spacing section

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1, the present invention provides a robot system 1000, wherein the robot system 1000 includes a walking structure 100, a vision module 400, a holding robot 200, an unlocking robot 300, and a control module.

The walking structure 100 can walk on the ground and is also used for bearing the vision module 400, the clamping mechanical arm 200, the unlocking mechanical arm 300 and the control module, the walking structure 100 generally comprises a bearing shell and a walking module, the shell is used for bearing the vision module 400, the clamping mechanical arm 200, the unlocking mechanical arm 300 and the control module, and the walking module is used for driving the shell to advance on the ground.

This walking module can comprise driving motor and walking wheel, and this walking module also can comprise driving motor and track structure, and this walking module can also comprise driving motor and walking joint, and this walking module can also comprise other structures, does not just list here.

The clamping robot 200 generally includes a multi-degree-of-freedom robot and an electric clamping jaw, one end of the multi-degree-of-freedom robot is connected to the traveling structure 100, the other end of the multi-degree-of-freedom robot is connected to the electric clamping jaw, and the electric clamping jaw is installed at one end of the multi-degree-of-freedom robot far away from the traveling structure 100.

The multi-degree-of-freedom mechanical arm can drive the electric clamping jaw to complete the operations of stretching, rotating, bending, swinging and the like under the cooperative work of a plurality of motors in the multi-degree-of-freedom mechanical arm, and the electric clamping jaw can complete the actions of clamping, releasing and the like under the cooperative work of the motors in the multi-degree-of-freedom mechanical arm.

The unlocking mechanical arm 300 generally comprises a multi-degree-of-freedom mechanical arm and an unlocking head, one end of the multi-degree-of-freedom mechanical arm is connected with the walking structure 100, the multi-degree-of-freedom mechanical arm can drive the unlocking head to complete the operations of stretching, rotating, bending, swinging and the like under the cooperative work of a plurality of motors in the multi-degree-of-freedom mechanical arm, and the unlocking head can also be configured to rotate relative to the multi-degree-of-freedom mechanical arm.

The unlocking head and the multi-degree-of-freedom mechanical arm can be fixedly connected or detachably connected, and when the unlocking head and the multi-degree-of-freedom mechanical arm are detachably connected, the unlocking head can be replaced to adapt to padlocks of different types, so that the robot system 1000 can be adapted to different types.

The unlocking heads can be one or more, when the unlocking heads are multiple, the multiple unlocking heads can be jointly arranged on the rotary table and distributed along the circumferential direction of the rotary table, the rotary table is rotationally connected with the multi-freedom-degree mechanical arm, the rotary table can be driven by the motor to rotate relative to the multi-freedom-degree mechanical arm, so that the unlocking heads on the rotary table can be switched, and the robot system 1000 can be matched with padlocks of different types.

The vision module 400 may be directly or indirectly mounted on the walking structure 100, and when the vision module 400 is indirectly mounted on the walking structure 100, it may be mounted on the clamping mechanical arm 200 or the unlocking mechanical arm 300, considering that the electric clamping claw on the clamping mechanical arm 200 needs to clamp a padlock, and in order to avoid interference of the electric clamping claw, it is preferable to mount the vision module 400 on the unlocking mechanical arm 300.

The vision module 400 is composed of a camera and a data processing module, the vision module 400 is used for shooting a padlock needing to be unlocked or locked, and the vision module 400 can also analyze and process a picture shot by the vision module 400 so as to acquire parameters in the shot picture.

In consideration of the requirement of the shooting angle, the vision module 400 can also be rotatably mounted on the walking structure 100 through the rotating motor, so that the shooting angle can be adjusted through the belt of the rotating motor to obtain a better shooting picture.

This control module and walking structure 100, vision module 400, centre gripping arm 200 and unblock arm 300 are all connected electrically, the mode of electricity connection has two kinds, one is wired connection, this control module passes through wire and walking structure 100 promptly, vision module 400 centre gripping arm 200 and unblock arm 300 electricity are connected, another is wireless connection, control module passes through bluetooth promptly, modes such as WIFI and walking structure 100, vision module 400 centre gripping arm 200 and unblock arm 300 electricity are connected.

The control module may be a single chip microcomputer, a PWM controller, or other devices, may be installed on the walking structure 100, or may be installed at a position other than the walking structure 100, and is not limited specifically herein.

The control module includes a memory, a processor, and a control program of the robotic system 1000 stored on the memory, and the control program of the robotic system 1000, when running on the processor, can control the robotic system 1000 to unlock and lock the padlock.

Referring to fig. 2 to 4 and 12, the locking method of the robot system 1000 includes the following steps:

step S110: and controlling the walking structure to move to the position of the padlock to be locked, which is indicated by the locking instruction, according to the received locking instruction.

The locking instruction can comprise position information of a padlock to be locked, the position information of the padlock to be locked can be space coordinate information, the control module corresponds an environment where the padlock to be locked is located to establish a space coordinate system, the control module searches for a coordinate point matched with the position information of the padlock to be locked, wherein the coordinate point is carried in the locking instruction, and the padlock to be locked can be found.

It should be noted that the control module may also be electrically connected to a navigation module, and the navigation module guides the walking structure 100 to move toward the position of the padlock to be locked, so that the walking module can reach the position of the padlock to be locked indicated by the locking instruction.

Considering that there may be multiple padlocks in the same space, in view of this, the locking instruction may further include identification information of the padlock to be locked, where the identification information may be a two-dimensional code, a barcode, a picture, and the like, and the control module matches the identification information of the padlock detected by the visual module 400 with the identification information of the padlock to be locked carried by the locking instruction, if matching is successful, it indicates that the current padlock is the padlock to be locked, and if matching is failed, it indicates that the current padlock is not the padlock to be locked.

It should be noted that the locking instruction may be sent to the control module through a terminal, where the terminal may be a computer, a mobile phone, an iPad, a remote controller, or other devices capable of sending a remote control signal, which is not limited herein.

Step S120: and acquiring parameters of the padlock to be locked detected by the visual module, wherein the parameters of the padlock to be locked comprise the type of the padlock to be locked, the position of the padlock to be locked and the posture of the padlock to be locked.

The vision module 400 performs panoramic shooting on the padlock to be locked to obtain a picture of the current environment where the padlock to be locked is located, and the vision module 400 analyzes and processes the shot picture to obtain the type, position and posture of the padlock to be locked.

The padlock to be locked can be a cylinder structure type padlock, a blade structure padlock, a magnetic structure padlock and the like, which are not necessarily listed here. The vision module 400 matches the pictures shot by the various padlocks according to the characteristics of the padlocks, and selects one with the highest similarity as a detection result to determine the type of the padlocks to be locked.

The position of the padlock to be locked is the position where the padlock to be locked is placed, the position where the padlock to be locked is placed can be placed in a special storage box, and the padlock to be locked can also be placed on a bearing platform. The vision module 400 determines the current position of the padlock to be locked according to the photographed positions of the padlock to be locked and the carrier carrying the padlock to be locked.

The padlock to be locked is the posture when the padlock to be locked is placed, the padlock to be locked can be vertically placed on the bearing part, the padlock to be locked can be flatly placed on the bearing part, and the padlock to be locked can be obliquely placed on the bearing part. The vision module 400 compares the padlock to be locked in the photographed picture and a horizontal or vertical plane with each other to determine the posture of the padlock to be locked.

Step S130: and controlling the operation of the clamping mechanical arm 200 according to the parameters of the padlock to be locked so as to open the lock head and the lock hook of the padlock to be locked, which is clamped by the clamping mechanical arm 200.

The control module moves the clamping mechanical arm 200 according to the position of the padlock to be locked in the parameters of the padlock to be locked, and the clamping mechanical arm 200 performs actions such as translation, rotation, bending and the like in the operation process, so that the electric clamping claw at the tail end of the clamping mechanical arm 200 moves to the position of a lock head capable of clamping the padlock to be locked.

The control module adjusts the clamping angle of the electric clamping jaw at the tail end of the clamping mechanical arm 200 according to the posture of the padlock to be locked in the parameters of the padlock to be locked, so that the clamping direction of the electric clamping jaw of the clamping mechanical arm 200 is matched with the posture of the padlock to be locked.

The control module controls the electric clamping claw at the tail end of the clamping mechanical arm 200 to be folded according to the type of the padlock to be locked in the parameters of the padlock to be locked so as to clamp the lock head of the padlock to be locked, and simultaneously the control module also controls the clamping mechanical arm 200 to rotate so as to open the lock head and the lock hook of the padlock to be locked.

It should be noted that, when the padlock is stored, the lock head and the shackle of the padlock are usually aligned, and meanwhile, when different types of padlocks are used for locking the shackle, the two lock heads and the shackle are not opened at the same angle, for example, when the lock head and the shackle of the first type of padlock are used for locking the shackle, the lock head and the shackle need to be opened by 30 degrees; when the lock head and the lock hook of the second type padlock lock the lock ring, the lock ring needs to be opened to 45 degrees; this is not to be taken as an example.

It should be noted that the rotation of the clamp robot 200 is performed along the rotation axis of the end of the clamp robot 200, that is, the end of the clamp robot 200 is not positioned in the horizontal direction or the vertical direction.

Step S140: the lock ring parameters of the equipment to be locked, which are detected by the vision module 400, are acquired, and the lock ring parameters of the equipment to be locked comprise a lock ring position, a lock ring size and a lock ring angle.

The vision module 400 performs panoramic shooting on the lock ring of the device to be locked to obtain a picture of the current environment where the lock ring of the device to be locked is located, and the vision module 400 analyzes and processes the shot picture to obtain the position, the size and the angle of the lock ring.

The shackle may be located at any position of the locking device, and preferably, the shackle is mounted at the middle of the locking device, so that the operation of the robot system 1000 may not be affected by other objects around the shackle, and the shackle of the padlock may pass through the shackle conveniently.

The shackle size is the internal diameter size of shackle, and the internal diameter of shackle will be less than the size setting of the latch hook of the padlock of waiting to lock, so set up, can guarantee to wait to lock the latch hook of padlock and tapered end when shutting, can borrow the shackle to carry on spacingly, if the shackle size is greater than the latch hook size of the padlock of waiting to lock, then need change the padlock that the shackle is bigger this moment.

The angle of the locking ring, that is, the orientation of the opening of the locking ring, the opening of the locking ring may be arranged in the up-down direction, the opening of the locking ring may be arranged in the horizontal direction, and the opening of the locking ring may be arranged in the up-down direction in an inclined manner, which is not specifically limited herein.

Step S150: and controlling the operation of the clamping mechanical arm 200 according to the shackle parameters of the equipment to be locked so that the shackle of the padlock to be locked passes through the shackle of the equipment to be locked.

The control module determines the running path of the clamping mechanical arm 200 according to the position of the lock ring, and the clamping mechanical arm 200 can move to the position of the lock ring through actions such as translation, rotation, extension, bending and the like, so that the padlock to be locked is conveyed to the lock ring outlet of the equipment with the lock ring.

The control module also rotates the clamping mechanical arm 200 according to the angle of the lock ring, so that the extension direction of the lock ring of the padlock to be locked is the same as the opening direction of the lock ring of the equipment to be locked;

when the lock hook of the padlock to be locked faces the lock ring of the equipment to be locked, the control module controls the clamping mechanical arm 200 to move, so that the clamping mechanical arm 200 drives the lock hook of the padlock to be locked to translate and penetrate through the lock ring of the equipment to be locked.

Step S160: the relative position of the lock head and the lock hook of the padlock to be locked, which is detected by the vision module 400, is obtained, and the clamping mechanical arm 200 is controlled to rotate according to the relative position of the lock head and the lock hook of the padlock to be locked, which is detected by the vision module 400, so that the lock head and the lock hook of the padlock to be locked are aligned.

The vision module 400 analyzes and processes the picture of the lock head and the lock hook of the padlock waiting to be locked according to the shooting, so as to obtain the relative position between the lock head and the lock hook of the padlock waiting to be locked, particularly, the included angle or the maximum distance between the two is 0, if the included angle or the maximum distance is 0, the lock head and the lock hook of the padlock waiting to be locked are in alignment, if the included angle or the maximum distance is not 0, the lock head and the lock hook of the padlock waiting to be locked are misplaced, the control module controls the clamping mechanical arm 200 to rotate at the moment, so that the lock head and the lock hook of the padlock waiting to be locked are in alignment, namely, the included angle or the maximum distance between the lock head and the lock hook of the padlock waiting to be locked is 0.

Step S170: according to the type of the padlock to be locked in the parameters of the padlock to be locked, the clamping arm is controlled to push the lock head of the padlock to be locked for a preset distance, so that the lock head of the padlock to be locked and the lock hook are locked.

When the lock head and the lock hook of the padlock to be locked are locked, the lock head of the padlock to be locked needs to move towards the direction close to each other, the lock head of the padlock to be locked is clamped by the clamping mechanical arm 200, the lock hook of the padlock to be locked can be handed over with the equipment to be locked or the lock ring of the equipment to be locked, and at the moment, the control module controls the clamping mechanical arm 200 to push the lock head of the padlock to be locked to move towards the direction close to the lock hook of the padlock to be locked by a preset distance, so that locking can be completed.

It is worth noting that the locking strokes between the lock head and the lock hook of different types of padlocks are different, so that different movement strokes need to be set according to different types of padlocks, so as to avoid that the padlocks to be locked are damaged or equipment to be locked is damaged due to unmatched strokes.

Referring to fig. 5 to 7 and 13, the unlocking method of the robot system 1000 includes the following steps:

step S210: and controlling the walking structure to move to the position of the padlock to be unlocked indicated by the unlocking instruction according to the received unlocking instruction.

The unlocking instruction can comprise position information of a padlock to be unlocked, the position information of the padlock to be unlocked can be space coordinate information, the control module corresponds an environment where the padlock to be unlocked is located to establish a space coordinate system, the control module searches for a coordinate point matched with the position information of the padlock to be unlocked, wherein the coordinate point is carried in the unlocking instruction, and therefore the padlock to be unlocked can be found.

It should be noted that the control module may also be electrically connected to a navigation module, and the navigation module guides the walking structure 100 to move toward the position of the padlock to be unlocked, so that the walking module can pass through the position of the padlock to be unlocked indicated by the unlocking instruction.

Considering that a plurality of padlocks may exist in the same space, in view of this, the unlocking instruction may further include identification information of the padlock to be unlocked, where the identification information may be a two-dimensional code, a barcode, a picture, and the like, the control module matches the identification information of the padlock detected by the visual module 400 with the identification information of the padlock to be unlocked carried by the unlocking instruction, if matching is successful, it indicates that the current padlock is the padlock to be unlocked, and if matching is failed, it indicates that the current padlock is not the padlock to be unlocked.

It should be noted that the unlocking instruction may be sent to the control module through a terminal, where the terminal may be a computer, a mobile phone, an iPad, a remote controller, or other devices capable of sending a remote control signal, which is not listed here.

Step S220: acquiring parameters of the padlock to be unlocked detected by the visual module, wherein the parameters of the padlock to be unlocked comprise the type of the padlock to be unlocked, the position of the padlock to be unlocked and the posture of the padlock to be unlocked.

The vision module 400 carries out panoramic shooting on the padlock to be unlocked so as to obtain a picture of the current environment where the padlock to be unlocked is located, and the vision module 400 analyzes and processes the shot picture so as to obtain the type, the position and the posture of the padlock to be unlocked.

The padlock to be unlocked can be a cylinder structure type padlock, a blade structure padlock, a magnetic structure padlock and the like, which are not listed here. The vision module 400 matches the pictures shot by the various padlocks according to the characteristics of the padlocks, and selects one with the highest similarity as a detection result to determine the type of the padlock to be unlocked.

The position of the padlock to be unlocked is the position of the shackle of the locked device, that is, the position of the padlock to be unlocked is determined by the position of the shackle to be locked, generally, the shackle of the locked device is arranged in the middle of the locked device, so that the padlock is conveniently locked, and meanwhile, the interference of objects around the locked device on the operation of the robot system 1000 is also avoided.

The to-be-unlocked padlock posture is the posture of the to-be-unlocked padlock on the lock ring of the locked equipment, the to-be-unlocked padlock can be hung up and down, the to-be-unlocked padlock can also be inverted up and down, and the to-be-unlocked padlock can also be in other postures, so that the to-be-unlocked padlock posture and the to-be-unlocked padlock are not listed in sequence.

Step S230: and controlling the clamping mechanical arm to operate according to the parameters of the padlock to be unlocked so as to enable the lock hole of the padlock to be unlocked, which is clamped by the clamping mechanical arm, to be exposed to an identifiable position.

The control module plans the motion path of the clamping mechanical arm 200 according to the padlock to be unlocked position of the padlock to be unlocked parameters, and the clamping mechanical arm 200 performs a series of actions such as translation, rotation, stretching and bending, so that the electric clamping claw of the clamping mechanical arm 200 moves to the position capable of clamping the lock head of the padlock to be unlocked.

The control module rotates the clamping mechanical arm 200 according to the posture of the padlock to be unlocked of the parameter of the padlock to be unlocked so as to adjust the clamping angle of the electric clamping claw at the tail end of the clamping mechanical arm 200, and the clamping direction of the electric clamping claw of the clamping mechanical arm 200 is matched with the posture of the padlock to be locked.

The control module controls the electric clamping claw of the clamping mechanical arm 200 to fold according to the type of the padlock to be unlocked of the parameter of the padlock to be unlocked so as to clamp the lock head of the padlock to be unlocked; meanwhile, the module also controls the clamping mechanical arm 200 to rotate according to the type of the padlock to be unlocked, so that the key hole of the clamping mechanical arm 200 is exposed at a position which can be identified by the vision module 400.

Obviously, whether the vision module 400 can identify the keyhole of the padlock to be unlocked can be determined by processing the picture taken by the vision module 400, that is, the keyhole of the padlock to be unlocked can be seen in the picture taken by the vision module 400, that is, the rotation angle of the clamping mechanical arm 200 meets the requirement, otherwise, the clamping mechanical arm 200 needs to be rotated continuously.

Step S240: the method comprises the steps of obtaining key hole parameters of the padlock to be unlocked, which are detected by a vision module, wherein the key hole parameters of the padlock to be unlocked comprise the key hole position, the key hole shape and the key hole insertion angle.

The visual module 400 shoots a keyhole of a padlock to be unlocked to obtain a picture of the keyhole of the padlock to be unlocked, the visual module 400 analyzes and processes the picture of the keyhole shot by the visual module to obtain keyhole parameters of the padlock to be unlocked, the keyhole parameters comprise a keyhole position, a keyhole shape and a keyhole insertion angle, the keyhole position is a space coordinate position, the keyhole shape is the maximum cross-sectional shape of a key, and the keyhole shape can be a round hole, a flat hole, a square hole and other shapes, and is not limited specifically herein. The insertion angle of the key hole is the inclined angle of the lock head of the padlock to be unlocked,

step S250: and controlling the unlocking mechanical arm to operate according to the key hole parameters of the padlock to be unlocked, so that the unlocking head on the unlocking mechanical arm is inserted into the key hole of the padlock to be unlocked.

The control module formulates a running path of the unlocking mechanical arm 300 according to the position of the key hole, and the unlocking mechanical arm 300 performs actions such as translation, rotation, bending and the like in the running process, so that the electric clamping claw at the tail end of the unlocking mechanical arm 300 moves to the position of a lock head of a padlock to be locked.

The control module selects an unlocking head matched with the shape of the key hole according to the shape of the key hole, and the scheme that a plurality of unlocking heads are arranged on the unlocking mechanical arm 300 is as described above.

The control module further adjusts the angle of the unlocking mechanical arm 300 according to the insertion angle of the keyhole, so that the extending direction of the unlocking head on the unlocking mechanical arm 300 is matched with the extending direction of the locking head of the padlock to be unlocked, and the control module controls the unlocking head of the unlocking mechanical arm 300 to move towards the locking head close to the padlock to be unlocked and to be inserted into the keyhole of the padlock to be unlocked.

Step S260: according to the type of the padlock to be unlocked in the parameters of the padlock to be unlocked, the unlocking mechanical arm is controlled to rotate by a first preset angle, so that the lock hook of the padlock to be unlocked is separated from the lock hole of the padlock to be unlocked.

It should be noted that different types of padlocks require different rotation angles of the unlocking head during unlocking, for example, the first predetermined rotation angle required for unlocking the first type of padlock is 20 degrees, and the second predetermined rotation angle required for unlocking the second type of padlock is 35 degrees, etc., which are not limited herein.

It should be further noted that the first preset angle is a plane angle, that is, when the unlocking mechanical arm 300 drives the padlock to rotate, the unlocking mechanical arm 300 may rotate along the rotation axis of the end of the unlocking mechanical arm 300, that is, the end of the unlocking mechanical arm 300 does not displace in the horizontal direction or the vertical direction at this time.

The control module stores angles which need to be rotated when various padlocks are unlocked, if the type of the padlock to be unlocked is a first type padlock, the control module searches for the angle which needs to be rotated when the padlock matched with the control module is unlocked according to the type of the padlock to be unlocked, and controls the unlocking mechanical arm 300 to rotate by a limited angle according to a matching result to complete unlocking.

Step S270: and controlling the clamping mechanical arm to rotate by a second preset angle according to the type of the padlock to be unlocked in the parameters of the padlock to be unlocked so as to separate the lock hook of the padlock to be unlocked from the lock ring of the equipment to be unlocked.

It should be noted that, in different types of padlocks, when the padlock is removed from the hanging ring of the locking device, the rotation angle of the padlock with respect to the hanging ring is different, for example, when the first type of padlock is removed from the hanging ring of the locking device, the first type of padlock needs to rotate 30 degrees with respect to the hanging ring, and when the second type of padlock is removed from the hanging ring of the locking device, the second type of padlock needs to rotate 45 degrees with respect to the hanging ring, which is not limited herein.

It should be noted that the second preset angle is a spatial angle, that is, when the holding mechanical arm 200 rotates, the holding mechanical arm 200 rotates along the rotation axis of the end of the unlocking mechanical arm 300, and meanwhile, the holding mechanical arm 200 may also rotate around the joint between the holding mechanical arm and the walking structure 100 as a rotation center, that is, the end of the unlocking mechanical arm 300 may generate displacement in both the horizontal direction and the vertical direction.

The minimum angle of opening between the lock head and the lock hook of the padlock is different when various padlocks are stored in the control module and taken down from the hanging ring of the locking device, if the type of unlocking the padlock to be unlocked is the first type of padlock, the control module searches for the number of degrees of the minimum angle of opening between the lock head and the lock hook of the padlock when the padlock matched with the first type of padlock is taken down from the hanging ring of the locking device according to the type of the padlock to be unlocked, and the control module controls the clamping mechanical arm 200 to rotate by a limited angle according to the matching result so that the padlock to be unlocked can be separated from the lock ring of the device to be unlocked.

According to the technical scheme, the visual module 400, the clamping mechanical arm 200, the unlocking mechanical arm 300 and the control module are arranged on the walking structure 100 of the robot system 1000, and the control module controls the visual module 400, the clamping mechanical arm 200 and the unlocking mechanical arm 300 to work so as to lock and unlock the padlock.

Considering that there are many types of padlocks, which results in the need to adapt the clamping mechanical arm 200 to different types of padlocks, since the structure of the clamping mechanical arm 200 is usually fixed, referring to fig. 8 to 9, the robot system 1000 further includes a clamping device 500, where the clamping device 500 is used to clamp the padlocks, so as to facilitate the clamping mechanical arm 200 to clamp the padlocks.

The clamping device 500 comprises two clamping plates 510 and two connecting plates 520, wherein the two clamping plates 510 are respectively provided with a first clamping side and a second clamping side which are oppositely arranged, and the two connecting plates 520 are arranged between the two clamping plates 510 at intervals and fixedly connect the two clamping plates 510, so that the first clamping side or the second clamping side of the two clamping plates 510 are oppositely arranged.

The first clamping side of each clamping plate 510 is provided with a clamping plane 511, that is, the first clamping side of each clamping plate 510 may be the clamping plane 511, and the first clamping side of each clamping plate 510 may also be a part of the clamping plane 511; the second clamping side of each clamping plate 510 is provided with a clamping arc 512, i.e. the second side of each clamping plate 510 may be the clamping arc 512 entirely, and the second side of each clamping plate 510 may be partially outside the clamping arc 512.

Preferably, the first clamping side of each clamping plate 510 is entirely configured as a clamping plane 511, and the second clamping side of each clamping plate 510 is configured as a clamping arc 512, so as to facilitate the processing of the first clamping side and the second clamping side of the clamping plate 510.

Referring to fig. 10 and 11, since the first clamping sides of the two clamping plates 510 are provided with the clamping planes 511, the second clamping sides of the two clamping plates 510 are provided with the clamping arcs 512, when the clamping planes 511 of the two clamping plates 510 are oppositely arranged, the clamping planes can be used for clamping lock heads of padlocks with two oppositely arranged planes, and when the clamping arcs 512 of the two clamping plates 510 are oppositely arranged, the clamping planes can be used for clamping lock heads of padlocks with two oppositely arranged arcs or cylindrical shapes, so that the clamping mechanical arm 200 can clamp the padlocks fixedly by clamping the clamping device 500.

It should be noted that the two connecting plates 520 of the clamping device 500 may be located on the same side of the periphery of the padlock, the two connecting plates 520 of the clamping device 500 may also be located on two opposite sides of the periphery of the padlock, preferably, the two connecting plates 520 of the clamping device 500 are located on two opposite sides of the periphery of the padlock, at this time, the two connecting plates 520 and the two clamping plates 510 are surrounded to form a "square", the lock head of the padlock is located in the space surrounded by the two connecting plates 520 and the two clamping plates 510, the lock hook of the padlock extends out from one open end of the space surrounded by the two connecting plates 520 and the two clamping plates 510, and the lock hole of the padlock is exposed from the other open end of the space surrounded by the two connecting plates 520 and the two clamping plates 510.

The connection manner of the connection plate 520 and the clamping plate 510 is various, the connection plate 520 and the clamping plate 510 can be fixedly connected by gluing, the connection plate 520 and the clamping plate 510 can also be riveted by rivets, and the connection plate 520 can also be connected by other manners, which are not listed here.

Preferably, the connection plates 520 and the clamping plates 510 are connected by screws 530, specifically, a threaded hole 521 is formed at an end of each connection plate 520 adjacent to the clamping plate 510, a mounting hole 513 is formed through each clamping plate 510 along a direction in which the first clamping side of each clamping plate is close to the second clamping side of each clamping plate, and each mounting hole 513 is in threaded connection with a corresponding threaded hole 521 on the corresponding connection plate 520 by a screw 530.

So set up, not only conveniently with two grip blocks 510 and two connecting plates 520 fixed connection, can also adjust each spiro union piece 530 and the length that corresponds screw hole 521 threaded connection on the connecting plate 520 simultaneously, just so can realize the adjustment of the interval between two grip blocks 510 to make this clamping device 500 can the tapered end of the padlock of centre gripping different width.

Further, the two mounting holes 513 on each clamping plate 510 extend along the direction in which the two connecting plates 520 approach to or depart from each other and are arranged in a long strip shape, and the two mounting holes 513 on each clamping plate 510 are arranged at intervals along the direction in which the two connecting plates 520 approach to or depart from each other.

So, the accessible is adjusted the position of spiro union 530 and is changed the interval between two connecting plates 520 to can guarantee that two clamping plates 510 can the centre gripping tapered end of padlock through the interval that changes two connecting plates 520, and then make two connecting plates 520 and two clamping plates 510 of this clamping device 500 exert the restraint in four directions to the tapered end of padlock, just so can be with the tapered end centre gripping of padlock more firm.

In view of the above, the distance between the two clamping plates 510 and the distance between the two connecting plates 520 can be adjusted, so that the clamping device 500 can clamp padlocks of different sizes, specifically, the two clamping plates 510 of the clamping device 500 are located at two sides of the width direction of the lock head of the padlock, and the two connecting plates 520 of the clamping device 500 are located at two sides of the thickness direction of the lock head of the padlock, at this time, the clamping device 500 can clamp padlocks of different thicknesses and different widths, and further, the clamping device 500 can be adapted to padlocks of different sizes.

Considering that the clamping mechanical arm 200 is clamped by an electric clamping claw, in order to facilitate the clamping of the clamping mechanical arm 200, the first clamping side and the second clamping side of each clamping plate 510 are provided with clamping grooves 514, since the clamping grooves 514 can provide a force point for the clamping mechanical arm 200, the clamping mechanical arm 200 can clamp the clamping device 500 more firmly, and the problem that the clamping device 500 falls off from the clamping mechanical arm 200 is avoided.

The clamping groove 514 may be formed by a concave portion on the first clamping side and the second clamping side of each clamping plate 510, or the clamping groove 514 may be formed by a plurality of convex portions oppositely disposed on the first clamping side and the second clamping side of each clamping plate 510, which is not specifically limited herein.

Because when centre gripping arm 200 and centre gripping recess 514 cooperate, the electronic centre gripping jack catch of centre gripping arm 200 can only stretch into centre gripping recess 514 from the notch of centre gripping recess 514, so not only need the operation of accurate control centre gripping arm 200, still need carry out accurate location to centre gripping recess 514 simultaneously, in view of this, run through the setting with the cell wall of the two offsides of centre gripping recess 514 of first centre gripping side and the second centre gripping side on each grip block 510, that is to say, set up centre gripping recess 514 as logical groove, it stretches into in the centre gripping recess 514 to have the electronic centre gripping jack catch on the centre gripping arm 200 of being convenient for like this.

Further, the bottom of the clamping groove 514 is further provided with an anti-slip sheet 540, and the anti-slip sheet 540 may be made of materials capable of increasing friction force, such as silica gel, rubber, and the like, so that the friction force between the clamping mechanical arm 200 and the bottom of the clamping groove 514 is increased, and the clamping device 500 can be effectively prevented from slipping off the clamping mechanical arm 200; on the other hand, the clamping arm can also play a role of buffering, so that the clamping plate 510 can be effectively protected, and the clamping plate 510 is prevented from being clamped and deformed under the clamping of the clamping mechanical arm 200.

Considering that the clamping device 500 only limits the circumferential side of the lock cylinder of the padlock when clamping the lock cylinder of the padlock, which may cause the padlock to fall off when the robot system 1000 unlocks or locks, in view of this, the clamping device 500 is further provided with a limiting block 560 and a limiting plate 550, the limiting block 560 is installed on the clamping plate 510 and is used for limiting the side of the lock cylinder of the padlock adjacent to the shackle, and the limiting plate 550 is connected with the two clamping plates 510 and is used for limiting the side of the lock cylinder of the padlock away from the shackle. So set up, can the omnidirectional carry on spacingly to the tapered end of padlock to the problem that the padlock drops from clamping device 500 has been avoided appearing.

Considering that the insertion of the unlocking head into the keyhole on the unlocking mechanical arm 300 is affected when the limiting plate 550 limits the side, away from the shackle, of the lock head of the padlock, in view of this, the limiting plate 550 covers the lock hole on the lock head of the padlock, the limiting plate 550 is further provided with a guide hole 552 aligned with the lock hole on the lock head of the padlock in a penetrating manner, and the inner diameter of the guide hole 552 is gradually increased from the end, close to the lock head of the padlock, of the guide hole to the end, away from the lock head of the padlock, of the guide hole. Because the guiding hole 552 is coaxial with the keyhole on the lock head of the padlock, this is equivalent to the keyhole on the lock head of the padlock of the increase of phase change, namely the unlocking head of the unlocking mechanical arm 300 is inserted into the guiding hole 552 on the limiting plate 550, and can be guided and extend into the keyhole on the lock head of the padlock, and then the unlocking of the padlock is facilitated.

Considering that the limiting block 560 interferes with the rotation of the shackle of the padlock, in view of this, the limiting block 560 includes a connecting section 561 and a limiting section 562 protruding laterally from the connecting section 561, that is, the limiting block 560 may be T-shaped, the limiting block 560 may also be L-shaped, the limiting block 560 may also be 7-shaped, the limiting block 560 may also be in other shapes, and in this case, the connecting section 561 is fixedly connected to the clamping plate 510, and the limiting section 562 is used for abutting against a side of the lock head of the padlock adjacent to the shackle.

When the shackle of the padlock is locked with the lock head, the limiting section 562 is positioned on one side of the rotation direction of the shackle of the padlock; when the shackle of the padlock is separated from the locking hole of the lock head, the free end of the shackle of the padlock can rotate around the lock head of the padlock, and at the moment, the shackle rotates in the direction away from the limiting block 560. So set up, not only can carry on spacingly to the tapered end of padlock, can also avoid disturbing the rotation of the latch hook of padlock simultaneously.

It should be noted that when each clamping plate 510 is connected to the corresponding connecting plate 520 through the screw 530, the screw 530 can change the distance between the two clamping plates 510 by adjusting the length of the screw connected to the screw hole 521 of the corresponding connecting plate 520, and therefore, the connection position of the limiting plate 550 and each clamping plate 510 should also be adjustable.

Specifically, the position of the limiting plate 550 adjacent to the two clamping plates 510 is provided with a waist-shaped hole 551 in a penetrating manner, each waist-shaped hole 551 extends along the direction in which the two clamping plates 510 approach to or depart from each other, and each clamping plate 510 is connected with the waist-shaped hole 551 at the corresponding position on the limiting plate 550 through a fastener. So set up for the hookup location of grip block 510 and limiting plate 550 can be adjusted, and then has avoided this limiting plate 550 to influence the adjustment of the interval between two grip blocks 510.

Further, the surface of each clamping plate 510 adjacent to the limiting plate 550 is concavely provided with a mounting hole (not shown), the clamping device 500 further comprises two extension columns 570, one ends of the two extension columns 570 are respectively connected with the mounting holes, the length of the two extension columns 570 matched with the mounting holes can be adjusted, and the other ends of the two extension columns 570 are respectively connected with the limiting plate 550. So set up for spacing adjustment setting between limiting plate 550 and two grip blocks 510 makes this clamping device 500 can the centre gripping padlock of co-altitude not.

It should be noted that there are various connection methods between the two extending posts 570 and the mounting holes, and for the convenience of understanding, the following detailed description is made by specific examples:

for example, the end portions of the two extension columns 570 are provided with threaded holes 521, one side of each clamping plate 510, which is far away from the limiting plate 550, is provided with a through hole communicated with the assembly hole, each through hole is connected with the corresponding threaded hole 521 on the extension column 570 through a bolt, and each waist-shaped hole 551 is also connected with the corresponding threaded hole 521 on the extension column 570 through a bolt, so that the distance between the limiting plate 550 and the clamping plate 510 can be adjusted by adjusting the connection length between the bolt penetrating through the through hole and the extension column 570 and/or the connection length between the bolt penetrating through the waist-shaped hole 551 and the extension column 570.

For another example, the inner wall of the assembly hole of each clamping plate 510 is provided with an internal thread section, the outer peripheral wall of each extension column 570 is provided with an external thread section, the external thread section of each extension column 570 is in threaded connection with the internal thread section of each assembly hole, the connection length of each extension column 570 and each assembly hole can be adjusted according to actual conditions, the extension columns 570 and the limiting plates 550 can be connected through bolts, and then the distance between the limiting plates 550 and the clamping plates 510 can be adjusted.

It is understood that the post 570 may be connected to the mounting hole in other ways, which are not listed here.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.