CN104810896A - Device and method for automatically charging inspection robot of power tunnel - Google Patents
Device and method for automatically charging inspection robot of power tunnel Download PDFInfo
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- CN104810896A CN104810896A CN201510240018.3A CN201510240018A CN104810896A CN 104810896 A CN104810896 A CN 104810896A CN 201510240018 A CN201510240018 A CN 201510240018A CN 104810896 A CN104810896 A CN 104810896A
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Abstract
The invention discloses a device and a method for automatically charging an inspection robot of a power tunnel. The device comprises an electric brush group, a horizontal movement device, a vertical movement device and a charging tank, wherein the charging tank is fixedly arranged on a guide rail of the inspection robot; the electric brush group is fixedly arranged at the lower end of the vertical movement device and corresponds to the position of the charging tank; the horizontal movement device is fixedly arranged on one side of the vertical movement device; the vertical movement device applies vertically-downward pressure to the electric brush group, so that the electric brush group is in pressure connection with the interior of the charging tank under the constant pressure during charging; the horizontal movement device is connected with the vertical movement device, applies horizontal pull to the vertical movement device and drives the vertical movement device to drive the electric brush group to be separated from the charging tank when not in the charging process. According to the device and the method, the problem about elastic force applying of an electric brush and the charging tank is solved, good contact between the electric brush and the charging tank under a dynamic environment is facilitated, and the position state of a floating electric brush can be completely self-adjusted under the pressure of a spring. A charging state can be normally kept.
Description
Technical field
The present invention relates to a kind of automatic charge device and method of electric tunnel inspection robot.
Background technology
Urban electric power tunnel is widely distributed, for the electric tunnel inspection robot being equipped with portable power source, the track of long distance just needs the charging slot arranging some, can walk to a wherein place charge voluntarily in robot running when needs charge.For the robot adopting portable power source as power source, because robot is higher to charging requirement, charging brush and charging slot structure all need by more than 30A electric current, physical dimension is more thick and heavy, space can be utilized between robot car body and guide rail very limited, relate to again the stroke of charging brush and charging slot clutch, so higher to the fixing requirement of charging slot structure, to the structural compactness of charging device, and the location of charging contravention and contact require higher, safe and reliable maintenance operating state can be reached, guarantee obtains enough electric energy, power taking brush is made can be effectively separated at the end of charging with between charging slot again, interference and collision is not produced when robot leaves.
So for what run in electric power tunnel, provide the robot of power with portable power source, in its traveling process, ensure the close contact between brush and charging slot, and at the end of recharging, effective separation is very important.
Summary of the invention
The present invention, in order to solve the problem, proposes a kind of automatic charge device and method of electric tunnel inspection robot, and this device realizes brush and can effectively be separated again with charging slot close contact.
To achieve these goals, the present invention adopts following technical scheme:
A kind of automatic charge device of electric tunnel inspection robot, comprise brush group, horizontally moving device, vertical movement apparatus and charging slot, wherein, charging slot is fixed on the guide rail of crusing robot, brush group is fixed on vertical movement apparatus lower end, corresponding with charging slot position; Horizontally moving device is fixed on the side of vertical movement apparatus; Vertical movement apparatus applies pressure vertically downward to brush group, make brush group charge time with constant pressure crimping in charging slot, horizontally moving device connects vertical movement apparatus, applies horizontal pull to it, departs from charging slot when driving it to drive brush group not charge.
Described horizontally moving device, comprise electronic tie rod fixed head, electronic tie rod and pull bar connector and sliding axle, wherein, electronic tie rod fixed head connects one end of electronic tie rod, electronic tie rod other end cylinder lever connecting rod connector, pull bar connector connects vertical movement apparatus.
Described vertical movement apparatus, comprise X-type spring rushing board mechanism and push pedal guide post, wherein, X-type spring rushing board mechanism comprises push pedal, pushing arm, connecting axle, fixed head and sliding axle, described push pedal lower end fixed brush group, push pedal is fixed with four pushing arms, the centre of every two pushing arms is connected by connecting axle, form X-type support, support two lower extreme points are fixed in push pedal, two upper extreme points of support are fixed on fixed head lower end, two X-type supports are symmetrical arranged, push pedal guide post is provided with between fixed head and push pedal, push pedal guide post is set with thrust spring, and the upper and lower side of thrust spring contacts push pedal and fixed head respectively.
Described push pedal upper and lower side is respectively fixed with two bearing balls, and the process for entering into charging slot in push pedal slips into fixing charging slot by the up and down location of brush group to charging slot.
The end of described push pedal guide post is fixed on fixed head by push pedal guide post hold-down screw.
The junction of described fixed head and X-type support is provided with chute.
Described brush group comprises multiple brush be arranged side by side, and push pedal lower end is fixed on by brush retainer spring in each brush two ends.
The both sides of described brush are respectively provided with hanging hole and are connected with brush retainer spring, and one end of brush retainer spring is hooked in the hanging hole in push pedal, and the other end hangs over brush side.
Described pull bar connector is provided with chute, and outer is provided with push rod pin to electronic tie rod, and push rod pin is connected in the chute of pull bar connector, and slides in chute.
Based on a method of work for above-mentioned charging device, comprise the following steps:
During charging, electronic tie rod release pull bar connector, when making thrust spring drive brush to be crimped in charging slot, crimping is kept with spring force, when brush and charging slot displacement change a lot, due to spring action, brush still remains that constant pressure crimping is in charging slot; At this moment electronic tie rod does not still stop release movement, until discharge certain stroke surplus again after brush crimping, makes brush and charging slot rely on spring force completely and crimps, and now, it is sliding mode that push rod pin is in the chute in pull bar connector;
When needs brush is separated with charging slot, electronic tie rod action, in the stroke surplus effect of initialization phase due to the chute of pull bar connector, electronic tie rod does not apply pulling force to spring rushing board mechanism, by the time after drawing process proceeds to the disappearance of pull bar connector stroke surplus, electronic tie rod starts to apply pulling force to spring rushing board mechanism, and driving spring rushing board mechanism is separated with charging slot.
Operation principle of the present invention is: ensure to enable brush to be accurately crimped in power taking groove closely, demand fulfillment two conditions: the accurate positioning of brush above power taking groove; Brush needs to make brush keep constant pressure crimping all the time at the crimp force of power taking groove, possesses because part displacements changes the ability that can also keep automatic pressure regulation.Because charging device is fixed on car body, and charging slot is fixed on guide rail, both are dynamic Contact, associated components position can not ensure all to coexist in a spacing each time when charged state, because fixation pressure can not adjust spacing automatically, can cause brush to the excess pressure of charging slot part of damage, or brush does not contact without pressure charging slot, this just requires that crimp force must be floating, and can not be fixing mechanical pressure.Mechanism adopts pull bar connector, connect electronic tie rod and X-type spring rushing board mechanism, when making thrust spring drive brush to be crimped in charging slot, crimping is kept with spring force, when brush and charging slot displacement change a lot, due to spring action, brush still remains that constant pressure crimping is in charging slot.When needs brush is separated with charging slot, electronic tie rod action, in the stroke surplus effect of initialization phase due to pull bar connector, electronic tie rod does not apply pulling force to spring rushing board mechanism, by the time after drawing process proceeds to the disappearance of connector stroke surplus, electronic tie rod starts to apply pulling force to spring rushing board mechanism, and driving spring rushing board mechanism is separated with charging slot.As a same reason, when electronic tie rod release travel, spring rushing board mechanism and charging slot are by after released state to contact condition, electronic tie rod does not stop action, but continuation release travel, due to the stroke surplus effect of pull bar connector, brush and charging slot are after contact, just no longer be subject to the pulling force that electronic tie rod applies, but be subject to the pressure of spring thus contact with charging slot, when electronic tie rod stroke is discharged into certain position, action can be stopped, crimping now between brush with charging slot is caused by spring pressure completely, and regulate bonding station voluntarily, thus ensure the steady operation of electricity getting device.
Beneficial effect of the present invention is:
(1) charging device overcoming electric tunnel inspection robot is complicated, and bulky shortcoming, realizes effective stroke in the confined space;
(2) solve the elastic force-applying of brush and charging slot, be beneficial to the good contact therebetween under dynamic environment, floating brush can adjusting position state voluntarily completely under the pressure of the spring.Ensure normally carrying out of the state of charging.
Accompanying drawing explanation
Fig. 1 is that brush of the present invention is separated schematic diagram with charging slot;
Fig. 2 is that brush of the present invention engages schematic diagram with charging slot.
Wherein, 1 brush group; 2 push pedals; 3 fixed heads; 4 brush alignment pins; 5 electronic tie rods; 6 pushing arm A; 7 pushing arm B; 8 pushing arm connecting axles; 9 pushing arm sliding axles; 10 pull bar connectors; 11 thrust springs; 12 bearing balls; 13 brush retainer springs; 14 push pedal guide posts; 15 electronic tie rod bodies; 16 electronic tie rod fixed heads; 17 push rod pins; 18 push pedal guide post hold-down screws; 19 charging slots.
Embodiment:
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
A kind of electric tunnel inspection robot mainly comprise brush group 1 with automatic charge device, push pedal 2, fixed head 3, brush alignment pin 4, push rod, pushing arm A6, pushing arm B7, pushing arm connecting axle 8, pushing arm sliding axle 9, pull bar connector 10, thrust spring 11, bearing ball 12, brush retainer spring 13, push pedal guide post 14, electric pushrod body, electric pushrod fixed head 16, push rod pin 17, push pedal guide post hold-down screw 18, charging slot 19 and securing member form jointly.
Brush group 1 is that four brushes form a line alignment, and be fixed in the location hole of push pedal 2 by respective brush alignment pin 4, now brush is still in rotating free state in push pedal.The both sides of brush respectively have hanging hole to be connected with brush retainer spring 13, one end of brush retainer spring 13 is hooked in the hanging hole in push pedal, the other end hangs over brush side, each brush is held by two brush retainer springs about 13 respectively, brush group 1 can keep straightened condition under effect under the left and right both direction pulling force at brush retainer spring 13 in free state, if have external force to touch or rotate brush group 1, brush group 1 there will be slightly crooked or rotate around brush alignment pin 4 within the scope of certain angle, this enough rocks surplus with regard to providing for the location of brush group 1, but after removing external force, straightened condition can be recovered voluntarily again.This just makes brush group 1 be conducive to inserting the location of charging slot 19.Push pedal 2 is fixed with each two bearing balls 12 up and down, the process that can enter into charging slot 19 in push pedal 2 slips into the structural member of fixing charging slot thus plays the effect of locating up and down of brush group 1 pair of charging slot 19.Push pedal 2 is connected with fixed head 3 by four push pedal guide posts 14, every root push pedal guide post 14 penetrates thrust spring 11, thrust spring 11 is between push pedal 2 and fixed head 3, and the end of push pedal guide post 14 is fixed on fixed head 3 by 4 push pedal guide post hold-down screws 18.Push pedal 2 just can be slided on four push pedal guide posts 14, the X-type mechanism be jointly made up of the two pushing arm A 6 be arranged on above them and pushing arm B 7 during the action of push pedal 2 drives, pushing arm A 6 is connected with pushing arm connecting axle 8 with in the middle of pushing arm B 7, wherein one end is connected with the chute in push pedal 2 and fixed head 3 respectively separately, like this when X-type mechanism carries out compressed action, the push pedal 2 be connected with X-type mechanism is also retracted thereupon, when X-type mechanism deploying, then can promote push pedal and protract.In this structure, electronic tie rod body 15 is fixed on electronic tie rod fixed head 16, when electronic tie rod 5 action, pull bar connector 10 can be pulled, pull bar connector 10 can pull X-type mechanism to compress, in compression process, overcome the pressure of thrust spring 11, until Overstroke, now whole mechanism is all in tension.
Ensure to enable brush to be accurately crimped in power taking groove closely, demand fulfillment two conditions: the accurate positioning of brush above power taking groove; Brush needs to make brush keep constant pressure crimping all the time at the crimp force of power taking groove, possesses because part displacements changes the ability that can also keep automatic pressure regulation.Because charging device is fixed on car body, and charging slot is fixed on guide rail, both are dynamic Contact, associated components position can not ensure all to coexist in a spacing each time when charged state, because fixation pressure can not adjust spacing automatically, can cause brush to the excess pressure of charging slot part of damage, or brush does not contact without pressure charging slot, this just requires that crimp force must be floating, and can not be fixing mechanical pressure.Mechanism adopts a kind of connector of special pull bar, connect electronic tie rod 5 and X-type spring rushing board mechanism, when making spring rushing board mechanism drive brush to be crimped in charging slot, crimping is kept with spring force, when brush and charging slot displacement change a lot, due to spring action, brush still remains that constant pressure crimping is in charging slot.When needs brush is separated with charging slot, electronic tie rod 5 action, in the stroke surplus effect of initialization phase due to pull bar connector 10, electronic tie rod 5 does not apply pulling force to spring rushing board mechanism, by the time after drawing process proceeds to the disappearance of connector stroke surplus, electronic tie rod 5 starts to apply pulling force to spring rushing board mechanism, and driving spring rushing board mechanism is separated with charging slot.As a same reason, when electronic tie rod 5 release travel, spring rushing board mechanism and charging slot are by after released state to contact condition, electronic tie rod 5 does not stop action, but continuation release travel, due to the stroke surplus effect of pull bar connector 10, brush and charging slot are after contact, just no longer be subject to the pulling force that electronic tie rod 5 applies, but be subject to the pressure of spring thus contact with charging slot, when electronic tie rod 5 stroke is discharged into certain position, action can be stopped, crimping now between brush with charging slot is caused by spring pressure completely, and regulate bonding station voluntarily, thus ensure the steady operation of electricity getting device.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. the automatic charge device of an electric tunnel inspection robot, it is characterized in that: comprise brush group, horizontally moving device, vertical movement apparatus and charging slot, wherein, charging slot is fixed on the guide rail of crusing robot, brush group is fixed on vertical movement apparatus lower end, corresponding with charging slot position; Horizontally moving device is fixed on the side of vertical movement apparatus; Vertical movement apparatus applies pressure vertically downward to brush group, make brush group charge time with constant pressure crimping in charging slot, horizontally moving device connects vertical movement apparatus, applies horizontal pull to it, departs from charging slot when driving it to drive brush group not charge.
2. the automatic charge device of a kind of electric tunnel inspection robot as claimed in claim 1, it is characterized in that: described horizontally moving device, comprise electronic tie rod fixed head, electronic tie rod and pull bar connector and sliding axle, wherein, electronic tie rod fixed head connects one end of electronic tie rod, electronic tie rod other end cylinder lever connecting rod connector, pull bar connector connects vertical movement apparatus.
3. the automatic charge device of a kind of electric tunnel inspection robot as claimed in claim 1, it is characterized in that: described vertical movement apparatus, comprise X-type spring rushing board mechanism and push pedal guide post, wherein, X-type spring rushing board mechanism comprises push pedal, pushing arm, connecting axle, fixed head and sliding axle, described push pedal lower end fixed brush group, push pedal is fixed with four pushing arms, the centre of every two pushing arms is connected by connecting axle, form X-type support, support two lower extreme points are fixed in push pedal, two upper extreme points of support are fixed on fixed head lower end, two X-type supports are symmetrical arranged, push pedal guide post is provided with between fixed head and push pedal, push pedal guide post is set with thrust spring, and the upper and lower side of thrust spring contacts push pedal and fixed head respectively.
4. the automatic charge device of a kind of electric tunnel inspection robot as claimed in claim 1, it is characterized in that: described push pedal upper and lower side is respectively fixed with two bearing balls, the process for entering into charging slot in push pedal slips into fixing charging slot by the up and down location of brush group to charging slot.
5. the automatic charge device of a kind of electric tunnel inspection robot as claimed in claim 1, is characterized in that: the end of described push pedal guide post is fixed on fixed head by push pedal guide post hold-down screw.
6. the automatic charge device of a kind of electric tunnel inspection robot as claimed in claim 1, is characterized in that: the junction of described fixed head and X-type support is provided with chute.
7. the automatic charge device of a kind of electric tunnel inspection robot as claimed in claim 1, is characterized in that: described brush group comprises multiple brush be arranged side by side, and push pedal lower end is fixed on by brush retainer spring in each brush two ends.
8. the automatic charge device of a kind of electric tunnel inspection robot as claimed in claim 1, it is characterized in that: the both sides of described brush are respectively provided with hanging hole and are connected with brush retainer spring, one end of brush retainer spring is hooked in the hanging hole in push pedal, and the other end hangs over brush side.
9. the automatic charge device of a kind of electric tunnel inspection robot as claimed in claim 1, it is characterized in that: described pull bar connector is provided with chute, outer is provided with push rod pin to electronic tie rod, and push rod pin is connected in the chute of pull bar connector, and slides in chute.
10. based on a method of work for the charging device according to any one of claim 1-9, it is characterized in that: comprise the following steps:
During charging, electronic tie rod release pull bar connector, when making thrust spring drive brush to be crimped in charging slot, crimping is kept with spring force, when brush and charging slot displacement change a lot, due to spring action, brush still remains that constant pressure crimping is in charging slot; At this moment electronic tie rod does not still stop release movement, until discharge certain stroke surplus again after brush crimping, makes brush and charging slot rely on spring force completely and crimps, and now, it is sliding mode that push rod pin is in the chute in pull bar connector;
When needs brush is separated with charging slot, electronic tie rod action, in the stroke surplus effect of initialization phase due to the chute of pull bar connector, electronic tie rod does not apply pulling force to spring rushing board mechanism, by the time after drawing process proceeds to the disappearance of pull bar connector stroke surplus, electronic tie rod starts to apply pulling force to spring rushing board mechanism, and driving spring rushing board mechanism is separated with charging slot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510240018.3A CN104810896B (en) | 2015-05-12 | 2015-05-12 | Device and method for automatically charging inspection robot of power tunnel |
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| CN201510240018.3A CN104810896B (en) | 2015-05-12 | 2015-05-12 | Device and method for automatically charging inspection robot of power tunnel |
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| CN104810896A true CN104810896A (en) | 2015-07-29 |
| CN104810896B CN104810896B (en) | 2017-02-22 |
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Cited By (10)
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| CN106300528A (en) * | 2016-08-31 | 2017-01-04 | 山东康威通信技术股份有限公司 | The device of the automatic charging of a kind of tunnel crusing robot and tunnel crusing robot |
| CN106981891A (en) * | 2016-01-18 | 2017-07-25 | 深圳市朗驰欣创科技股份有限公司 | Slide-contact-type charging device and the crusing robot with the device |
| CN108092077A (en) * | 2017-11-21 | 2018-05-29 | 北京特种机械研究所 | A kind of automatic guide safety charging device and charging method |
| CN109693566A (en) * | 2019-01-31 | 2019-04-30 | 宁波诠航机械科技有限公司 | A kind of method of supplying power to for rail type mobile device |
| CN110429430A (en) * | 2019-08-27 | 2019-11-08 | 宁波诠航机械科技有限公司 | A kind of chargeable inspection mechanism |
| CN112217066A (en) * | 2019-07-11 | 2021-01-12 | 长春设备工艺研究所 | Electricity taking device for track mobile equipment |
| CN112590585A (en) * | 2021-01-12 | 2021-04-02 | 刘威 | Charging base station convenient for new energy automobile parking |
| CN114050443A (en) * | 2021-11-09 | 2022-02-15 | 新疆天池能源有限责任公司 | Automatic charging pile for mining walking trolley |
| CN114317196A (en) * | 2020-09-29 | 2022-04-12 | 江苏恒顺醋业股份有限公司 | Fermented grain overturning and distributing system, uniform distributing method and automatic fermented grain overturning method |
| CN114776972A (en) * | 2022-06-22 | 2022-07-22 | 天津滨电电力工程有限公司 | Split type inspection robot for full-angle image acquisition inside power distribution station |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106981891B (en) * | 2016-01-18 | 2023-08-22 | 深圳市朗驰欣创科技股份有限公司 | Sliding contact type charging device and inspection robot with same |
| CN106981891A (en) * | 2016-01-18 | 2017-07-25 | 深圳市朗驰欣创科技股份有限公司 | Slide-contact-type charging device and the crusing robot with the device |
| CN106300528B (en) * | 2016-08-31 | 2019-04-09 | 山东康威通信技术股份有限公司 | A kind of device and tunnel crusing robot of the automatic charging of tunnel crusing robot |
| CN106300528A (en) * | 2016-08-31 | 2017-01-04 | 山东康威通信技术股份有限公司 | The device of the automatic charging of a kind of tunnel crusing robot and tunnel crusing robot |
| CN108092077A (en) * | 2017-11-21 | 2018-05-29 | 北京特种机械研究所 | A kind of automatic guide safety charging device and charging method |
| CN108092077B (en) * | 2017-11-21 | 2019-09-27 | 北京特种机械研究所 | A kind of automatic guide safety charging device and charging method |
| CN109693566A (en) * | 2019-01-31 | 2019-04-30 | 宁波诠航机械科技有限公司 | A kind of method of supplying power to for rail type mobile device |
| CN112217066A (en) * | 2019-07-11 | 2021-01-12 | 长春设备工艺研究所 | Electricity taking device for track mobile equipment |
| CN110429430A (en) * | 2019-08-27 | 2019-11-08 | 宁波诠航机械科技有限公司 | A kind of chargeable inspection mechanism |
| CN114317196A (en) * | 2020-09-29 | 2022-04-12 | 江苏恒顺醋业股份有限公司 | Fermented grain overturning and distributing system, uniform distributing method and automatic fermented grain overturning method |
| CN112590585A (en) * | 2021-01-12 | 2021-04-02 | 刘威 | Charging base station convenient for new energy automobile parking |
| CN114050443A (en) * | 2021-11-09 | 2022-02-15 | 新疆天池能源有限责任公司 | Automatic charging pile for mining walking trolley |
| CN114776972A (en) * | 2022-06-22 | 2022-07-22 | 天津滨电电力工程有限公司 | Split type inspection robot for full-angle image acquisition inside power distribution station |
| CN114776972B (en) * | 2022-06-22 | 2022-09-30 | 天津滨电电力工程有限公司 | Split type inspection robot for full-angle image acquisition in power distribution station |
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Address after: 250101 A203, block F, entrepreneurship square, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee after: Conway Communication Technology Co., Ltd Address before: 250101 Qilu Software Park, No. 1 Shunhua Road, Jinan High-tech Development Zone, Shandong Province, A 203 Patentee before: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. |