CN116690612B - Inspection robot with automatic charging function - Google Patents
Inspection robot with automatic charging function Download PDFInfo
- Publication number
- CN116690612B CN116690612B CN202310981661.6A CN202310981661A CN116690612B CN 116690612 B CN116690612 B CN 116690612B CN 202310981661 A CN202310981661 A CN 202310981661A CN 116690612 B CN116690612 B CN 116690612B
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- Prior art keywords
- mounting frame
- inspection robot
- charging
- automatic charging
- assembly
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- 238000007689 inspection Methods 0.000 title claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims description 36
- 238000009434 installation Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 11
- 241000282472 Canis lupus familiaris Species 0.000 description 48
- 238000000034 method Methods 0.000 description 10
- 210000001503 joint Anatomy 0.000 description 9
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 2
- 206010014357 Electric shock Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
- H01R13/6315—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only allowing relative movement between coupling parts, e.g. floating connection
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/639—Additional means for holding or locking coupling parts together, after engagement, e.g. separate keylock, retainer strap
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to the technical field of inspection robots, in particular to an inspection robot with an automatic charging function, which is carried on a mechanical dog body, wherein a first mounting frame is arranged on the mechanical dog body, and a charging hole is formed in the first mounting frame; the inspection robot further comprises a clamping and positioning device, wherein the clamping and positioning device comprises a sliding rod, a telescopic structure and a linear driving assembly, and the sliding rod and the telescopic structure are provided with two parts; the slide bar slidable mounting is on first mounting bracket, and splint are installed to the tip that keeps away from first mounting bracket of slide bar, and extending structure's both ends are connected with slide bar and sharp drive assembly respectively, and sharp drive assembly installs on first mounting bracket. According to the invention, the function of stably connecting the charging hole and the charging pile is realized through the mechanical dog body, the first mounting frame and the clamping and positioning device, the effect of stably and automatically charging while the movement flexibility of the mechanical dog body is maintained is achieved, and the problem that the traditional inspection device cannot be stably docked with the charging device is solved.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an inspection robot with an automatic charging function.
Background
Nowadays, the development of robot technology is rapid, and many works with higher repetition rate are replaced by robots; particularly, the substation inspection task is inspected through the inspection robot, the inspection robot is usually provided with a battery nowadays, when the electric quantity of the battery is exhausted, the robot needs to be charged through a charging pile, and in order to improve the intelligence of the inspection robot, an automatic charging technology is usually realized by adopting positioning equipment, but when the automatic charging is performed, the situation that the voltage is unstable due to unstable contact and the normal charging cannot be realized easily occurs.
For this reason, chinese patent CN217823336U discloses a wheeled inspection robot charging device, and its charging device can adapt to the inconsistent condition of automobile body berth position in the error range, and the effective area of conducting column and the contact of receiving electrode board is big, and charge reliability is high, and hidden conducting column can avoid the electric shock risk.
However, this is only applicable to wheeled robots, and when using four-legged mechanical dogs, the movement track is complex, and it is difficult to align the four-legged mechanical dogs with the charging device, and thus the automatic charging technology cannot operate stably.
Disclosure of Invention
Aiming at the problems, the inspection robot with the automatic charging function is provided to solve the problem that the traditional inspection robot cannot be stably docked with a charging device.
In order to solve the problems in the prior art, the invention adopts the following technical scheme:
the inspection robot with the automatic charging function is carried on a mechanical dog body, a first mounting frame is mounted on the mechanical dog body, and a charging hole is formed in the first mounting frame; the inspection robot further comprises a clamping and positioning device, wherein the clamping and positioning device comprises a sliding rod, a telescopic structure and a linear driving assembly, and the sliding rod and the telescopic structure are provided with two parts; the slide bar slidable mounting is on first mounting bracket, and splint are installed to the tip that keeps away from first mounting bracket of slide bar, and extending structure's both ends are connected with slide bar and sharp drive assembly respectively, and sharp drive assembly installs on first mounting bracket.
Preferably, the telescopic structure comprises a transverse sliding rail, a longitudinal sliding rail, a first hinging seat, a second hinging seat, a connecting rod, a fixed sliding rail and a third hinging seat; the transverse sliding rail and the longitudinal sliding rail are arranged on the first installation frame, and the first hinging seat and the second hinging seat are respectively and slidably arranged on the transverse sliding rail and the longitudinal sliding rail; the second articulated seat is equipped with two, and the connecting rod is equipped with two and its both ends and intermediate position all have seted up the through-hole, and the middle part through-hole of two connecting rods is connected with the second articulated seat, and fixed slide rail is connected with the slide bar, and the third articulated seat is equipped with two and slidable mounting on fixed slide rail, and one of them one end of two connecting rods articulates with two second articulated seats respectively, and the other end of two connecting rods articulates with two third articulated seats respectively, and the second articulated seat is connected with the transmission of sharp drive assembly.
Preferably, the linear drive assembly comprises a first rotary drive, a first screw and a second screw; the first rotary driver is arranged on the first mounting frame, the first screw rod and the second screw rod are rotatably arranged on the longitudinal sliding rail, the first screw rod and the second screw rod are coaxially and fixedly connected, the screw thread rotation directions of the first screw rod and the second screw rod are opposite, and the first screw rod is connected with the driving end of the first rotary driver; the first screw rod and the second screw rod are respectively in threaded connection with the two third hinging seats.
Preferably, the clamping plate is rotatably provided with a roller.
Preferably, the mechanical dog body is provided with a second mounting frame, and the inspection system further comprises a supporting device, wherein the supporting device comprises a support column, a driving control assembly and a transmission assembly; the pillar is equipped with two at least, and pillar slidable mounting is on the second mounting bracket, and drive control assembly installs on the second mounting bracket, and drive assembly's both ends are connected with pillar and drive control assembly transmission respectively.
Preferably, the transmission assembly comprises a rotary shaft and a rack; the rotation axis is equipped with two, and two rotation axis rotation are installed on the second mounting bracket, have cup jointed rotary gear on every rotation axis, and the gear engagement is connected between two rotary gears, and drive control assembly is connected with one of them rotation axis transmission, and the rack is installed on the pillar, and rotary gear is connected with rack transmission.
Preferably, the drive control assembly includes a second rotary drive, a worm gear, and a worm; the second rotary driver is installed on the second mounting bracket, and the worm wheel cup joints on one of them rotation axis, and the worm rotates to be installed on the second mounting bracket, and the worm wheel is connected with worm drive, and the drive end and the worm drive of second rotary driver are connected.
Preferably, the bottom of the support post is provided with a support rubber pad.
Preferably, the first mounting frame is provided with a protection plate.
Preferably, the second mounting frame is provided with a level sensor.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the function of stably connecting the charging hole and the charging pile is realized through the mechanical dog body, the first mounting frame and the clamping and positioning device, the effect of stably and automatically charging while the movement flexibility of the mechanical dog body is maintained is achieved, and the problem that the traditional inspection device cannot be stably docked with the charging device is solved.
2. According to the invention, the function of driving the sliding rod to slide is realized through the transverse sliding rail, the longitudinal sliding rail, the first hinging seat, the second hinging seat, the connecting rod, the fixed sliding rail and the third hinging seat, so that the auxiliary positioning effect of the control clamping plate is achieved.
3. According to the invention, the function of supporting the mechanical dog body in the charging process is realized through the support column, the driving control assembly and the transmission assembly, so that the effect of improving the charging stability is achieved.
Drawings
Fig. 1 is a perspective view of a patrol robot having an automatic charging function;
fig. 2 is a perspective view of a clamping and positioning device in an unfolded state in an inspection robot with an automatic charging function;
FIG. 3 is a perspective view of a single-sided clamping and positioning device in an extended state in an inspection robot with an automatic charging function;
fig. 4 is a front view of the inspection robot with an automatic charging function in a state of being unfolded with the clamping and positioning device;
FIG. 5 is a schematic perspective view of a slide bar, a telescopic structure and a first linear drive assembly in an inspection robot with an automatic charging function;
fig. 6 is a schematic perspective view of a support device in the inspection robot with an automatic charging function;
FIG. 7 is an enlarged partial schematic view at A in FIG. 6;
FIG. 8 is a schematic perspective view of a drive control assembly and a transmission assembly in an inspection robot with an automatic charging function;
fig. 9 is a perspective view of a clamping and positioning device in a contracted state in an inspection robot with an automatic charging function.
The reference numerals in the figures are:
1-a mechanical dog body;
11-a first mounting frame; 111-charging holes; 112-guard plates; 113-limiting plates;
12-a second mounting frame; 121-a level sensor;
2-clamping and positioning devices;
21-a slide bar; 211-clamping plates; 212-a roller;
22-telescoping structure; 221-a transverse slide rail; 222-longitudinal slide rail; 223-a first hinge seat; 224-a second hinge mount; 225-connecting rods; 226-fixing the sliding rail; 227-a third hinge seat;
23-a first linear drive assembly; 231-a first rotary drive; 232-a first screw; 233-a second screw; 234-a first synchronization belt;
3-supporting means;
31-a pillar; 311-supporting rubber cushion; 312-limiting blocks;
32-a drive control assembly; 321-a second rotary drive; 322-worm gear; 323-worm; 324-sleeve; 325-a second timing belt;
33-a transmission assembly; 331-a rotation axis; 332-rotating a gear; 333-racks;
4-charging pile.
Detailed Description
The invention will be further described in detail with reference to the drawings and the detailed description below, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.
Referring to fig. 1-2: the inspection robot with the automatic charging function comprises a mechanical dog body 1, wherein a first mounting frame 11 is arranged on the mechanical dog body 1, and a charging hole 111 is formed in the first mounting frame 11; the inspection robot further comprises a clamping and positioning device 2, wherein the clamping and positioning device 2 comprises a slide bar 21, a telescopic structure 22 and a linear driving component, and the slide bar 21 and the telescopic structure 22 are provided with two; the slide bar 21 slidable mounting is on first mounting bracket 11, and splint 211 is installed to the tip that keeps away from first mounting bracket 11 of slide bar 21, and the both ends of extending structure 22 are connected with slide bar 21 and sharp drive assembly respectively, and sharp drive assembly installs on first mounting bracket 11.
According to the invention, the function of stably connecting the charging hole 111 and the charging pile 4 is realized through the mechanical dog body 1, the first mounting frame 11 and the clamping and positioning device 2, the effect of stably and automatically charging while the movement flexibility of the mechanical dog body 1 is maintained is achieved, and the problem that the traditional inspection device cannot be stably docked with the charging device is solved. The linear driving assembly and the mechanical dog body 1 are electrically connected with the controller; the operator starts the mechanical dog body 1, drives the inspection device to move through the mechanical dog body 1, and executes the inspection task. When the electric quantity of the mechanical dog body 1 is insufficient, the mechanical dog body automatically moves to the position of the charging pile 4 according to navigation information, then the controller sends a signal to the linear driving assembly, the linear driving assembly drives the two sliding rods 21 to slide in the direction away from the first mounting frame 11, the sliding rods 21 drive the clamping plates 211 to move, then the mechanical dog body continues to approach the charging pile 4 until the first mounting frame 11 is in contact with the charging pile 4, at the moment, the controller sends a signal to the linear driving assembly again, the linear driving assembly drives the two sliding rods 21 to slide in the direction close to the first mounting frame 11, the clamping plates 211 are contacted with the charging pile 4 to drive the mechanical dog body 1 to adjust the posture, after the two clamping plates 211 are reset, the clamping plates are stably matched with the charging pile 4, then the mechanical dog body 1 adjusts the height of the first mounting frame 11, and the charging holes 111 are aligned with the charging pile 4 to perform automatic charging.
Referring to fig. 1-5: the telescopic structure 22 comprises a transverse sliding rail 221, a longitudinal sliding rail 222, a first hinge seat 223, a second hinge seat 224, a connecting rod 225, a fixed sliding rail 226 and a third hinge seat 227; the transverse sliding rail 221 and the longitudinal sliding rail 222 are mounted on the first mounting frame 11, and the first hinge seat 223 and the second hinge seat 224 are respectively slidably mounted on the transverse sliding rail 221 and the longitudinal sliding rail 222; the second hinging seat 224 is provided with two, the connecting rod 225 is provided with two and both ends and intermediate position thereof are all offered the through-hole, the middle part through-hole of two connecting rods 225 is connected with the second hinging seat 224, fixed slide rail 226 is connected with slide bar 21, third hinging seat 227 is provided with two and slidable mounting on fixed slide rail 226, one of them one end of two connecting rods 225 articulates with two second hinging seats 224 respectively, the other end of two connecting rods 225 articulates with two third hinging seats 227 respectively, second hinging seat 224 is connected with the transmission of sharp drive assembly.
Two limiting strips for limiting the moving range of the fixed sliding rail 226 are respectively arranged at two ends of the first mounting frame 11.
According to the invention, the function of driving the sliding rod 21 to slide is realized through the transverse sliding rail 221, the longitudinal sliding rail 222, the first hinging seat 223, the second hinging seat 224, the connecting rod 225, the fixed sliding rail 226 and the third hinging seat 227, so that the auxiliary positioning effect of the control clamping plate 211 is achieved. When the electric quantity of the mechanical dog body 1 is insufficient, the mechanical dog body automatically moves to the position of the charging pile 4 according to the navigation information, then the controller sends a signal to the linear driving assembly, the linear driving assembly drives the two second hinging seats 224 to slide along the longitudinal sliding rail 222, the two second hinging seats 224 respectively pull the two connecting rods 225 to move, further the other ends of the connecting rods 225 drive the two third hinging seats 227 to move, the third hinging seats 227 push the fixed sliding rail 226 to move, the two fixed sliding rails 226 drive the two sliding rods 21 to slide in the direction away from the first mounting frame 11, the sliding rods 21 drive the clamping plates 211 to move, then the clamping plates continue to approach the charging pile 4 until the first mounting frame 11 is contacted with the charging pile 4, at the moment, the controller sends a signal to the linear driving assembly again, the linear driving assembly drives the two sliding rods 21 to slide in the direction close to the first mounting frame 11, after the clamping plates 211 are contacted with the charging pile 4, the mechanical dog body 1 is driven to adjust the gesture, after the two clamping plates 211 are reset, the clamping plates are stably matched with the charging pile 4, then the mechanical dog body 1 adjusts the height of the first mounting frame 11, and the charging hole 111 is aligned with the charging pile 4, and automatic charging is performed.
Referring to fig. 1-5: the linear driving assembly includes a first rotary driver 231, a first screw 232, and a second screw 233; the first rotary driver 231 is installed on the first installation frame 11, the first screw rod 232 and the second screw rod 233 are rotatably installed on the longitudinal sliding rail 222, the first screw rod 232 and the second screw rod 233 are coaxially and fixedly connected, the screw threads of the first screw rod 232 and the second screw rod 233 rotate in opposite directions, and the first screw rod 232 is connected with the driving end of the first rotary driver 231; the first screw 232 and the second screw 233 are respectively screwed with the two third hinge seats 227.
The linear driving assembly further comprises a first synchronous belt 234, and two ends of the first synchronous belt 234 are respectively sleeved on the first screw 232 of the longitudinal slide rails 222 at two sides.
The present invention realizes the function of driving the third hinge base 227 to move by the first rotary driver 231, the first screw 232, and the second screw 233. The first rotary driver 231 is preferably a servo motor, and the servo motor is electrically connected with the controller; when the charging action is performed, the controller firstly sends a signal to the first rotary driver 231, the first rotary driver 231 drives the first screw rod 232 to rotate, the first screw rod 232 drives the second screw rod 233 to synchronously rotate, the first screw rod 232 and the second screw rod 233 respectively drive the two second hinging seats 224 in threaded connection with the first screw rod 232 and the second screw rod 233 to move, the clamping plates 211 are pushed to move through the connecting rods 225, then the mechanical dog body 1 drives the first mounting frame 11 to move, the first mounting frame 11 is in contact with the charging pile 4, and then the two clamping plates 211 are driven to mutually approach through the first rotary driver 231, so that the auxiliary positioning function is completed.
Referring to fig. 1-3: the clamping plate 211 is rotatably provided with a roller 212.
The invention realizes the function of avoiding the severe abrasion between the clamping plate 211 and the charging pile 4 through the roller 212, and achieves the effect of replacing the sliding friction between the clamping plate 211 and the charging pile 4 by utilizing the rolling friction between the roller 212 and the charging pile 4. When carrying out assistance-localization real-time through centre gripping positioner 2, through the mutual being close to of two splint 211, the extrusion fills electric pile 4 and drives mechanical dog body 1 and remove, adjust the position of first mounting bracket 11 and align charging hole 111 and fills electric pile 4, in this process, can take place great extrusion effect between splint 211 and the electric pile 4, in order to avoid filling electric pile 4 and taking place violent friction between splint 211, designed gyro wheel 212 on splint 211, when splint 211 extrudeed electric pile 4, gyro wheel 212 takes place to roll along filling electric pile 4, and then replace the sliding friction between electric pile 4 and the splint 211, the wearing and tearing of part have been reduced by a wide margin.
Referring to fig. 1 and 6: the mechanical dog body 1 is provided with a second mounting frame 12, the inspection system further comprises a supporting device 3, and the supporting device 3 comprises a support column 31, a driving control assembly 32 and a transmission assembly 33; the support column 31 is provided with at least two, and support column 31 slidable mounting is on second mounting bracket 12, and drive control assembly 32 is installed on second mounting bracket 12, and drive control assembly 32 is connected with support column 31 and drive respectively at the both ends of drive assembly 33.
The invention realizes the function of supporting the mechanical dog body 1 in the charging process through the support column 31, the driving control component 32 and the transmission component 33, and achieves the effect of improving the charging stability. When needs charge, mechanical dog body 1 makes the accurate butt joint of charging hole 111 and electric pile 4 under the cooperation of centre gripping positioner 2, then rethread controller send signal for drive control assembly 32, drive control assembly 32 drives a plurality of pillars 31 simultaneously along vertical direction downwardly sliding through the transmission of drive assembly 33, then will support the dog and prop up, support through pillar 31 can make mechanical dog body 1 keep the gesture stable in the charging process, avoid the in-process dislocation of charging hole 111 and electric pile 4 of follow-up charging, and support through pillar 31 can make the highly controllable and the fixed of mechanical dog body 1, further improve the butt joint accuracy of charging hole 111.
Referring to fig. 1, 6, 7 and 8: the transmission assembly 33 includes a rotation shaft 331 and a rack 333; the rotation shafts 331 are provided with two, the two rotation shafts 331 are rotatably arranged on the second mounting frame 12, each rotation shaft 331 is sleeved with a rotation gear 332, the two rotation gears 332 are connected in a gear meshing manner, the drive control assembly 32 is in transmission connection with one of the rotation shafts 331, the rack 333 is arranged on the support column 31, and the rotation gears 332 are in transmission connection with the rack 333.
Two rotary gears 332 are sleeved on each rotary shaft 331, four support columns 31 are arranged, each support column 31 is provided with a rack 333, the four rotary gears 332 are respectively connected with the four racks 333 in a transmission mode, and the rotary gears 332 are connected with the rotary gears 332 on the adjacent rotary shafts 331 in a transmission mode.
The present invention realizes a function of controlling the sliding of the column 31 by the rotation shaft 331, the rotation gear 332 and the rack 333. When needs charge, mechanical dog body 1 makes the accurate butt joint of charging hole 111 and electric pile 4 under the cooperation of centre gripping positioner 2, then rethread controller sends the signal for drive control assembly 32, drive behind the drive control assembly 32 signal and rotate rather than the rotation axis 331 that the transmission is connected, rotation axis 331 drives rotation gear 332 and rotates, rotation gear 332 drives adjacent rotation gear 332 who is connected rather than the transmission and rotates, rotation gear 332 drives rack 333 that is connected rather than the transmission and removes, drive pillar 31 through rack 333 and slide downwards along vertical direction, then prop up the support dog, can make mechanical dog body 1 keep the gesture stable in the charging process through the support of pillar 31, avoid charging hole 111 and electric pile 4 dislocation in the follow-up charging process, and through the support of pillar 31, can make the highly controllable and the fixed of mechanical dog body 1, further improve the butt joint precision of charging hole 111.
Referring to fig. 1, 6, 7 and 8: the drive control assembly 32 includes a second rotary driver 321, a worm gear 322, and a worm 323; the second rotary driver 321 is installed on the second mounting frame 12, the worm wheel 322 is sleeved on one of the rotating shafts 331, the worm 323 is rotatably installed on the second mounting frame 12, the worm wheel 322 is in transmission connection with the worm 323, and the driving end of the second rotary driver 321 is in transmission connection with the worm 323.
The driving control assembly 32 further comprises two sleeves 324 and a second synchronous belt 325, wherein the two sleeves 324 are respectively sleeved on the driving end of the second rotary driver 321 and the worm 323, and two ends of the second synchronous belt 325 are respectively sleeved on the two sleeves 324.
The invention realizes the function of driving the rotation shaft 331 to rotate through the second rotation driver 321, the worm wheel 322 and the worm 323, and achieves the function of driving the strut 31 to slide through the transmission component 33. The second rotary driver 321 is preferably a servo motor, and the servo motor is electrically connected with the controller; when charging is needed, the mechanical dog body 1 is matched with the clamping and positioning device 2 to enable the charging hole 111 to be in accurate butt joint with the charging pile 4, then a signal is sent to the second rotary driver 321 through the controller, the second rotary driver 321 drives the worm 323 to rotate through the synchronous belt after the signal is sent, the worm 323 drives the worm wheel 322 in transmission connection with the worm wheel to rotate, the worm wheel 322 drives the rotating shaft 331 to rotate, the rotating shaft 331 drives the rotating gear 332 to rotate, the rotating gear 332 drives the adjacent rotating gear 332 in transmission connection with the rotating gear 332 to rotate, the rotating gear 332 drives the rack 333 in transmission connection with the rotating gear to move, the rack 333 drives the support column 31 to slide downwards along the vertical direction, then the support dog is supported, the mechanical dog body 1 can keep stable in the charging process through the support of the support column 31, dislocation between the charging hole 111 and the charging pile 4 in the subsequent charging process is avoided, the height of the mechanical dog body 1 can be controllable and fixed through the support of the support column 31, and the accuracy of the butt joint of the charging hole 111 is further improved; the self-locking capability of the worm wheel 322 and the worm 323 can prevent the second mounting frame 12 from self-descending during the charging process.
Referring to fig. 1, 6, 7 and 8: the bottom end of the pillar 31 is mounted with a support cushion 311.
The present invention realizes the function of preventing the strut 31 from slipping by the support rubber pad 311. Because fill electric pile 4 mostly setting in indoor, and indoor ground is comparatively level and smooth relatively, in order to avoid pillar 31 to skid, lead to mechanical dog body 1 to collide with fill electric pile 4, install support cushion 311 in the bottom of pillar 31, avoid pillar 31 and ground to skid through support cushion 311, further improve charging stability.
Referring to fig. 1 and 9: the first mounting frame 11 has a shielding plate 112 mounted thereon.
The invention realizes the function of avoiding collision between the charging pile 4 and the telescopic structure 22 through the protection plate 112, and achieves the effect of protecting the telescopic structure 22. The telescopic structure 22 is located between the first mounting frame 11 and the protection plate 112, the mechanical dog body 1 moves to the charging pile 4, then the controller sends a signal to the linear driving assembly, the linear driving assembly drives the sliding rod 21 to extend, then the mechanical dog body 1 continues to drive the first mounting frame 11 to move until the protection plate 112 contacts with the charging pile 4, then the controller sends a signal to the linear driving assembly again, the linear driving assembly drives the sliding rod 21 to shrink, and then the clamping plate 211 assists in positioning of the first mounting frame 11, so that the charging hole 111 is in butt joint with the charging pile 4 to charge.
Referring to fig. 1, 6 and 8: the second mounting frame 12 is mounted with a level sensor 121.
The invention realizes the function of detecting the horizontal state of the second mounting frame 12 through the horizontal sensor 121, and achieves the effect of automatically adjusting the posture of the mechanical dog body 1 according to the ground. The level sensor 121 is electrically connected with the controller; when the charging hole 111 is in butt joint with the charging pile 4, the horizontal sensor 121 senses the horizontal state of the second mounting frame 12 and feeds a signal back to the controller, the controller adjusts the horizontal state of the second mounting frame 12 according to the signal fed back by the horizontal sensor 121, so that the second mounting frame 12 keeps horizontal, then the controller sends a signal to the driving control assembly 32, and the driving control assembly 32 drives the support posts 31 to descend, so that the support posts 31 can be in contact with the ground simultaneously. If the posture of the mechanical dog body 1 is uneven, the second mounting frame 12 is inclined, so that the side support column 31 contacts the ground before the ground, and the balance of the mechanical dog body 1 is destroyed, and the mechanical dog body 1 is unbalanced and falls down.
The foregoing examples merely illustrate one or more embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. The inspection robot with the automatic charging function comprises a mechanical dog body (1), wherein a first mounting frame (11) is mounted on the mechanical dog body (1), and a charging hole (111) is formed in the first mounting frame (11);
the inspection robot is characterized by further comprising a clamping and positioning device (2), wherein the clamping and positioning device (2) comprises a sliding rod (21), a telescopic structure (22) and a linear driving assembly, and the sliding rod (21) and the telescopic structure (22) are provided with two parts;
the sliding rod (21) is slidably arranged on the first mounting frame (11), a clamping plate (211) is arranged at the end part, far away from the first mounting frame (11), of the sliding rod (21), two ends of the telescopic structure (22) are respectively connected with the sliding rod (21) and the linear driving assembly, and the linear driving assembly is arranged on the first mounting frame (11);
the mechanical dog body (1) is provided with a second mounting frame (12), the inspection system further comprises a supporting device (3), and the supporting device (3) comprises a support column (31), a driving control assembly (32) and a transmission assembly (33);
the two support posts (31) are at least arranged, the support posts (31) are slidably arranged on the second mounting frame (12), the driving control assembly (32) is arranged on the second mounting frame (12), and two ends of the transmission assembly (33) are respectively connected with the support posts (31) and the driving control assembly (32) in a transmission manner;
the transmission component (33) comprises a rotating shaft (331) and a rack (333);
the rotation shafts (331) are provided with two, the two rotation shafts (331) are rotatably arranged on the second installation frame (12), each rotation shaft (331) is sleeved with a rotation gear (332), the two rotation gears (332) are connected in a gear meshing manner, the driving control assembly (32) is in transmission connection with one of the rotation shafts (331), the rack (333) is arranged on the support column (31), and the rotation gears (332) are in transmission connection with the rack (333).
2. The inspection robot with automatic charging function according to claim 1, wherein the telescopic structure (22) comprises a transverse slide rail (221), a longitudinal slide rail (222), a first hinge seat (223), a second hinge seat (224), a connecting rod (225), a fixed slide rail (226) and a third hinge seat (227);
the transverse sliding rail (221) and the longitudinal sliding rail (222) are arranged on the first mounting frame (11), and the first hinging seat (223) and the second hinging seat (224) are respectively and slidably arranged on the transverse sliding rail (221) and the longitudinal sliding rail (222);
the second articulated seat (224) is equipped with two, connecting rod (225) are equipped with two and its both ends and intermediate position all have seted up the through-hole, the middle part through-hole of two connecting rods (225) is connected with second articulated seat (224), fixed slide rail (226) are connected with slide bar (21), third articulated seat (227) are equipped with two and slidable mounting on fixed slide rail (226), one of them one end of two connecting rods (225) articulates with two second articulated seats (224) respectively, the other end of two connecting rods (225) articulates with two third articulated seats (227) respectively, second articulated seat (224) are connected with sharp drive assembly transmission.
3. The inspection robot with an automatic charging function according to claim 1, wherein the linear driving assembly comprises a first rotary driver (231), a first screw (232) and a second screw (233);
the first rotary driver (231) is arranged on the first mounting frame (11), the first screw rod (232) and the second screw rod (233) are rotatably arranged on the longitudinal sliding rail (222), the first screw rod (232) and the second screw rod (233) are coaxially and fixedly connected, the rotation directions of threads of the first screw rod (232) and the second screw rod (233) are opposite, and the first screw rod (232) is connected with the driving end of the first rotary driver (231); the first screw (232) and the second screw (233) are respectively in threaded connection with the two third hinging seats (227).
4. The inspection robot with automatic charging function according to claim 1, wherein the clamping plate (211) is rotatably provided with rollers (212).
5. A patrol robot with an automatic charging function according to claim 1, characterized in that the drive control assembly (32) comprises a second rotary drive (321), a worm wheel (322) and a worm (323);
the second rotary driver (321) is arranged on the second mounting frame (12), the worm wheel (322) is sleeved on one of the rotating shafts (331), the worm (323) is rotatably arranged on the second mounting frame (12), the worm wheel (322) is in transmission connection with the worm (323), and the driving end of the second rotary driver (321) is in transmission connection with the worm (323).
6. The inspection robot with the automatic charging function according to claim 1, wherein a support rubber pad (311) is mounted at the bottom end of the support column (31).
7. The inspection robot with automatic charging function according to claim 1, wherein the first mounting frame (11) is provided with a protection plate (112).
8. The inspection robot with automatic charging function according to claim 1, wherein the second mounting frame (12) is provided with a level sensor (121).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310981661.6A CN116690612B (en) | 2023-08-07 | 2023-08-07 | Inspection robot with automatic charging function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310981661.6A CN116690612B (en) | 2023-08-07 | 2023-08-07 | Inspection robot with automatic charging function |
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| CN116690612A CN116690612A (en) | 2023-09-05 |
| CN116690612B true CN116690612B (en) | 2023-10-20 |
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| CN114227758A (en) * | 2021-12-28 | 2022-03-25 | 北京理工大学前沿技术研究院 | Robot and intelligent storehouse of robot body |
| CN114997359A (en) * | 2022-05-17 | 2022-09-02 | 哈尔滨工业大学 | Complete set of technical equipment for embankment dangerous case patrol based on bionic machine dog |
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| CN1299083A (en) * | 1999-10-29 | 2001-06-13 | 索尼公司 | Robot and charging system, charging station searching method, connector and electric connection structure |
| KR20110120057A (en) * | 2010-04-28 | 2011-11-03 | 씨엔로봇(주) | Recharge cradle device for four foot walking robot |
| KR20170134840A (en) * | 2016-05-26 | 2017-12-07 | 전자부품연구원 | Distribution transport robot and charging system for the same |
| CN111371136A (en) * | 2019-12-30 | 2020-07-03 | 天津木牛流马科技发展股份有限公司 | Foot type robot maintenance station |
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|---|---|
| CN116690612A (en) | 2023-09-05 |
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