CN106300528B - A kind of device and tunnel crusing robot of the automatic charging of tunnel crusing robot - Google Patents
A kind of device and tunnel crusing robot of the automatic charging of tunnel crusing robot Download PDFInfo
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- CN106300528B CN106300528B CN201610782233.0A CN201610782233A CN106300528B CN 106300528 B CN106300528 B CN 106300528B CN 201610782233 A CN201610782233 A CN 201610782233A CN 106300528 B CN106300528 B CN 106300528B
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- charging
- electrode
- charging electrode
- fixed
- turnover device
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Classifications
-
- 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
-
- 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
-
- 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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of device of the automatic charging of tunnel crusing robot and tunnel crusing robots, including charging slot, horizontally moving device, turnover device and charging electrode, the charging slot is fixed on the guide rail of crusing robot, charging electrode is fixed on turnover device, and charging electrode is corresponding with charging groove location；The horizontally moving device is connect with turnover device, turnover device provides active force for charging electrode, horizontally moving device pull turnover device overturn, with drive charging electrode charging when with constant pressure crimping in charging slot, or drive charging electrode charging slot is detached from when not charging.The present invention realizes the elastic force-applying of charging electrode and charging electrode sleeve, conducive to good contact between the two in a dynamic environment, the charging electrode sleeve of floating can voluntarily adjusting position state under the pressure of the spring completely, guarantee being normally carried out for the state of charging.
Description
Technical field
The present invention relates to a kind of device of the automatic charging of tunnel crusing robot and tunnel crusing robots.
Background technique
Urban electric power tunnel is widely distributed, for being equipped with the electric tunnel inspection robot of mobile power source, in long range
A certain number of charging units need to set on track, it is feasible at wherein one when needing to charge in robot operational process
Voluntarily charge.For the robot using mobile power source as power source, since robot is higher to charging requirement, charging electrode
It is required to charging slot structure through 30A or more electric current, structure size is more thick and heavy, using sky between robot car body and guide rail
Between it is very limited, further relate to the stroke of charging electrode Yu charging slot clutch, thus to charging slot structure fixation it is more demanding, it is right
The positioning of the structural compactness and charging contravention of charging unit and contact require higher, holding work that just can be safe and reliable
Make state, guarantees to obtain enough electric energy, make to efficiently separate at the end of charging between taking electrode and charging slot again, machine
Device people does not generate interference and collision when leaving.So providing the machine of power for what is run in electric power tunnel with mobile power source
People is guaranteeing the close contact between electrode and charging slot, and can efficiently separate right and wrong at the end of charging in its traveling process
It is often necessary.
Summary of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of filling automatically for tunnel crusing robot
The device of electricity, performance is stablized, compact-sized, and flexible movements are, it can be achieved that charging electrode is in close contact and can efficiently separate with charging.
The present invention also provides a kind of tunnel crusing robot, the device comprising above-mentioned automatic charging, crusing robot is being needed
When charging, can simply and rapidly it be charged by the device of automatic charging, crusing robot guarantees during traveling
It is in close contact, and can be efficiently separated between charging electrode and charging slot at the end of charging, it is ensured that safe and reliable work
State.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of device of the automatic charging of tunnel crusing robot, including charging slot, horizontally moving device, turnover device and
Charging electrode, the charging slot are fixed on the guide rail of crusing robot, and charging electrode is fixed on turnover device, charging electrode
It is corresponding with charging groove location；The horizontally moving device is connect with turnover device, and turnover device provides effect for charging electrode
Power, horizontally moving device pull turnover device to be overturn, to drive charging electrode to exist in charging with constant pressure crimping
In charging slot, or charging electrode is driven to be detached from charging slot when not charging.Horizontally moving device and turnover device are set, and level is moved
Dynamic device can pull turnover device to overturn, and when needing to charge, to a state, the charging electrode on turnover device can for overturning
With, with constant pressure contact, at the end of charging, overturning is to another state, on turnover device with the charging slot on guide rail
Charging electrode and charging slot are detached from.
Preferably, the charging slot includes charging electrode sleeve, and the charging electrode sleeve is slidably fixed on electrode sleeve
In fixing seat.Charging electrode sleeve is set, can be cooperated well with charging electrode, guarantee the charge contact of charging electrode
State.
It is further preferred that charging electrode sleeve rear portion is connect with elastic element.Charging electrode sleeve is adjustable
Position, also allowing for the crimp force between charging electrode and charging electrode sleeve is to float, when the two displacement changes,
Charging electrode still remains constant pressure crimping in charging electrode sleeve.
Further, the turnover device is rotatably fixed on fuselage, and turnover device passes through connecting shaft and moves horizontally
Device connection, the connecting shaft are connect with sliding machine body.Turnover device can be rotated along fuselage, pass through the pulling of horizontally moving device
The sliding of connecting shaft is driven, and then so that turnover device is completed overturning and changes charged state.
Further, the turnover device includes the connecting rod rotatably fixed with fuselage, connects boom end connection electrode
Fixing seat, charging electrode are fixed in electrode fixed seat.
Preferably, torsional spring is equipped between the connecting rod and fuselage.Torsional spring structure is set, and preferably turnover device is realized in cooperation
Rotary movement.
Further, the horizontally moving device includes electric pushrod, and described electric pushrod one end passes through connecting shaft and turns over
Rotary device connection, the electric pushrod other end are connected with electric pushrod fixing seat.By the movement of electric pushrod, connecting shaft is driven
Sliding realizes the switching for filling off-position so that turnover device rotates relative to fuselage.
Further, the electric pushrod fixing seat is connect with sliding machine body, electric pushrod fixing seat tail portion and machine
Elastic element is connected between body.Can be according to the position of Traffic control system electric pushrod, it is also horizontally moving device that elastic element, which is arranged,
The thrust of floating is provided, effect is matched with the crimp force to float with charging electrode sleeve.
Further, the charging electrode has mesoporous, is cased with charging electrode telescopic press head in the mesoporous.Charging electrode
Telescopic press head has certain elasticity, can stretching motion in a certain range, it is more effective in favor of being carried out with charging electrode sleeve
It floats and contacts.
Further, it is further fixed on signal electrode in the electrode fixed seat, is fixed with and believes in electrode sleeve fixing seat
Number corresponding signal electrode sleeve of electrode.Signal electrode effect be for feed back contacted between charging electrode and electrode sleeve whether
In place, and to control unit charging signals are sent.
A kind of tunnel crusing robot, the device including above-mentioned automatic charging.
The operation principle of the present invention is that:
In order to enable charging electrode to guarantee accurately closely to be crimped in electrode sleeve, need to satisfy two conditions:: fill
Accurate positioning of the electrode inside electrode sleeve；Electrode sleeve needs to protect charging electrode always in the crimp force of charging electrode
Constant pressure crimping is held, is had because part displacements variation is also able to maintain the ability of automatic pressure regulation.Since charging electrode is fixed
In car body, and charging electrode sleeve is fixed on guide rail, and the two is dynamic Contact, and associated components position cannot be guaranteed to exist each time
Charged state Shi Doutong in a spacing, due to fixation pressure will not adjust automatically spacing, will cause charging electrode to charging
The excess pressure of electrode and part of damage or charging electrode do not contact charging electrode no pressure, this requires crimp forces
Must float, and cannot be fixed mechanical pressure.The present invention connects electric pushrod using turnover device, makes electric pushrod
Drive turnover device by vertical state, then robot moves closer to electrode sleeve fixing seat, filling on turnover device in parallel
When electrode is crimped in charging electrode sleeve, crimping is kept with the spring force at charging electrode sleeve rear, when charging electrode with
When charging electrode sleeve displacement changes a lot, since spring acts on, brush still remains that constant pressure crimping is charging
In slot.At this point, the crimp force as provided by the spring of charging electrode sleeve can there are deboosts to turnover device, at this moment turn over
Rotary device is mutually resisted therewith by electric pushrod thrust, and device enters charged state at this time.When needing charging electrode and charging electrode set
When cylinder separation, robot pulls back from charging electrode sleeve barrel fixed seat, and electric pushrod movement puts turnover device by vertical state
It puts down to horizontality, robot can have free passage below without interference.
The invention has the benefit that
The charging unit that the device of the invention overcomes electric tunnel inspection robot is complicated, and bulky disadvantage is having
It limits and realizes effective stroke in space.
The present invention realizes the elastic force-applying of charging electrode and charging electrode sleeve, conducive to the two in a dynamic environment it
Between good contact, the charging electrode sleeve of floating can voluntarily adjusting position state under the pressure of the spring completely, guarantee charging
State be normally carried out.
Detailed description of the invention
Fig. 1 engages schematic diagram with electrode sleeve for charging electrode of the present invention；
Fig. 2 is charging electrode of the present invention and electrode sleeve seperated schematic diagram；
In figure, 1, fuselage, 2, horn A, 3, horn B, 4, charging electrode, 5, charging electrode telescopic press head, 6, signal electrode,
7, electrode fixed seat, 8, horn A pin, 9, horn B pin, 10, electric pushrod, 11, electric pushrod ontology, 12, electric pushrod fixes
Seat, 13, fixed seat pin, 14, fixing seat adjustment spring, 15, fixing seat adjusting bolt, 16 horn A torsional springs, 17, the fixed pressure of torsional spring
Plate, 18, stroke limit baffle, 19, guide rail, 20, electrode sleeve fixing seat, 21, charging electrode sleeve, 22, signal electrode sleeve,
23, electrode sleeve pressure spring, 24, pressure spring fixing seat, 25, limit jackscrew.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Embodiment 1:
As Figure 1-Figure 2, that a kind of electric tunnel inspection robot mainly includes horn A2 with automatic charge device；Machine
Arm B 3；Charging electrode 4；Charging electrode telescopic press head 5；Signal electrode 6；Electrode fixed seat 7；Horn A pin 8；Horn B pin 9；Electricity
Dynamic push rod 10；Electric pushrod ontology 11；Electric pushrod fixing seat 12；Fixed seat pin 13；Fixing seat adjustment spring 14；Fixing seat tune
Save bolt 15；Horn A torsional spring 16；Torsional spring fixation clip 17；Stroke limit baffle 18；Guide rail 19；Electrode sleeve fixing seat 20；It fills
Electric electrode sleeve 21；Signal electrode sleeve 22；Electrode sleeve pressure spring 23；Pressure spring fixing seat 24；It limits jackscrew 25 and fastener is total
With composition.Horn A2, electrode fixed seat 7 constitute turnover device, and electric pushrod 10 and the composition of electric pushrod ontology 11 move horizontally
Device.
Charging electrode telescopic press head 5 carries elastic construction, is inserted into the mesoporous of charging electrode 4, and can be in a certain range
Interior stretching motion contacts in favor of more effectively float with charging electrode sleeve 21, a pair of of charging electrode 4 and a pair of of signal
Electrode 6 is mounted on jointly in electrode fixed seat 7, and electrode fixed seat 7 is fixed on again in horn A2 (i.e. connecting rod), horn B
3 (i.e. connecting shafts) are connected among horn A2, and horn A2 is connected to fuselage 1 by horn A pin 8, and can be 1 turn relative to fuselage
Dynamic, horn B 3 is connected to fuselage 1 by horn B pin 9, and can slide back and forth relative to fuselage 1, horn B pin 9 again simultaneously with electricity
The head of dynamic push rod 10 connects, while the tail portion of electric pushrod ontology 11 is connected with electric pushrod fixing seat 12 again, electric pushrod
Fixing seat 12 passes through a pair of of fixing seat adjustment spring 14 and is fixedly connected on the fuselage 1 with a pair of of fixing seat adjusting bolt 15, electronic
Push rod fixing seat 12 passes through fixed seat pin 13 and is connected to fuselage 1, and electric pushrod fixing seat 12 can simultaneously be slided on the fuselage 1.Gu
Reservation adjusts bolt 15 and fixing seat adjustment spring 14 is applied in combination, it is therefore intended that because dynamic connection is relatively more in whole device,
And the stroke of electric pushrod 10 is there is also certain interval, when the position of electric pushrod 10 in assembly there are when deviation, can root
Factually border Traffic control system electric pushrod 10 provides the power for being pushed forward floating in the position of fuselage 1, a pair of of fixing seat adjustment spring 14
Amount makes electric pushrod 10 keep elastic force to push horn B 3 forwards always, and a pair of of fixing seat adjusts bolt 15 and provides adjusting
After accurate to electric pushrod fixing seat 12 fuselage 1 fixed function.
When horn A2 is when in a horizontal state, straight up, horn A torsional spring 16 is in compressive state to charging electrode 4 simultaneously,
Its state is limited by horn A2 and torsional spring fixation clip 17, and electric pushrod 10 is also at the recycling state of push rod, when electronic
When push rod 10 pushes forward, push horn B pin 9 along 1 forward slip of fuselage, so that horn B 3 driven to push horn A2
Intermediate support, driving horn A2 be rotated up with horn A pin 8 for axis, when horn A2 reaches vertical state, charging electrode 4
Level is had been directed to, charging electrode 4 comes into charged state at this time.
Equipment moves forward at this time, i.e., fuselage 1 moves forward, and charging electrode 4 is made to be directed at the electrode that guide rail 19 is installed below
Sleeve barrel fixed seat 20, fuselage 1 continue to move forward, and the conical surface that charging electrode 4 first is pressed through in charging electrode sleeve 21 is positioned, this
When 21 rear of charging electrode sleeve 23 stress of electrode sleeve pressure spring compressed, to make charging electrode sleeve 21 to charging electrode
4 produce thrust, to crimp under the elastic force both realized, both make to realize more adequately contact, when fuselage 1 advances to letter
Number electrode 6 is also achieved with after effectively the crimping of signal electrode sleeve 22, at this point, equipment can brake, i.e., fuselage 1 can be kept quiet
Only, charging electrode 4 is made a retentivity occur for charging electrode sleeve 21, to realize charging electrode 4 and charging electrode set
Effective crimping between cylinder 21.So that charging is smooth.
At the end of charging, fuselage 1 is moved back, and charging electrode sleeve 21 separates certain distance with charging electrode 4, at this point, electric
Dynamic push rod 10 retracts, and drives horn A2 to turn to horizontality by vertical state by horn B 3, at this time 4 direction of charging electrode
Upwards.If fuselage 1 moves forward, when by electrode sleeve 20 lower section of fixing seat, charging electrode 4 and electrode sleeve fixing seat 20 are realized
Evacuation, can with the lower section of safety electrode sleeve fixing seat 20.
Embodiment 2:
A kind of tunnel crusing robot, the device including the automatic charging in embodiment 1.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (6)
1. a kind of device of the automatic charging of tunnel crusing robot, characterized in that including charging slot, horizontally moving device, turn over
Rotary device and charging electrode, the charging slot are fixed on the guide rail of crusing robot, and charging electrode is fixed on turnover device,
Charging electrode is corresponding with charging groove location；The horizontally moving device is connect with turnover device, and turnover device is charging electrode
Active force is provided, horizontally moving device pulls turnover device to be overturn, to drive charging electrode in charging with constant pressure
Power is crimped in charging slot, or charging electrode is driven to be detached from charging slot when not charging；
The charging slot includes charging electrode sleeve, and the charging electrode sleeve is slidably fixed in electrode sleeve fixing seat；
The turnover device is rotatably fixed on fuselage, and turnover device is connect by connecting shaft with horizontally moving device, described
Connecting shaft is connect with sliding machine body；The turnover device includes the connecting rod rotatably fixed with fuselage, connection boom end connection
Electrode fixed seat, charging electrode are fixed in electrode fixed seat；
The horizontally moving device includes electric pushrod, and described electric pushrod one end is connect by connecting shaft with turnover device, electricity
The dynamic push rod other end is connected with electric pushrod fixing seat；The electric pushrod fixing seat is connect with sliding machine body, described electronic to push away
Elastic element is connected between bar fixing seat tail portion and fuselage.
2. the device of automatic charging as described in claim 1, characterized in that charging electrode sleeve rear portion and elastic element
Connection.
3. the device of automatic charging as described in claim 1, characterized in that be equipped with torsional spring between the connecting rod and fuselage.
4. the device of automatic charging as described in claim 1, characterized in that the charging electrode has mesoporous, the mesoporous
Inside it is cased with charging electrode telescopic press head.
5. the device of automatic charging as described in claim 1, characterized in that be further fixed on signal electricity in the electrode fixed seat
Pole is fixed with signal electrode sleeve corresponding with signal electrode in electrode sleeve fixing seat.
6. a kind of tunnel crusing robot, characterized in that the device including the described in any item automatic chargings of claim 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782233.0A CN106300528B (en) | 2016-08-31 | 2016-08-31 | A kind of device and tunnel crusing robot of the automatic charging of tunnel crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782233.0A CN106300528B (en) | 2016-08-31 | 2016-08-31 | A kind of device and tunnel crusing robot of the automatic charging of tunnel crusing robot |
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| Publication Number | Publication Date |
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| CN106300528A CN106300528A (en) | 2017-01-04 |
| CN106300528B true CN106300528B (en) | 2019-04-09 |
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| CN201610782233.0A Active CN106300528B (en) | 2016-08-31 | 2016-08-31 | A kind of device and tunnel crusing robot of the automatic charging of tunnel crusing robot |
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| CN108075315A (en) * | 2017-11-30 | 2018-05-25 | 北京理工华汇智能科技有限公司 | The anti-opening apparatus of robot automatic charging |
| CN108519533A (en) * | 2018-05-25 | 2018-09-11 | 北京方智科技股份有限公司 | A kind of charging pile inspection dedicated track robot |
| CN108832698B (en) * | 2018-08-16 | 2024-03-29 | 江苏省江都水利工程管理处 | Rail-type automatic monitoring device for water conservancy system and automatic charging method thereof |
| CN109407711A (en) * | 2018-12-13 | 2019-03-01 | 四川智鼎盛邦智能科技有限公司 | A kind of rail mounted crusing robot |
| CN109986983A (en) * | 2019-05-08 | 2019-07-09 | 无锡恺韵来机器人有限公司 | It is a kind of that adaptive AGV automatic charge device is adjusted |
| 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 |
| CN111525317B (en) * | 2020-04-27 | 2021-07-23 | 中科开创（广州）智能科技发展有限公司 | Track type intelligent inspection robot charging device and charging method thereof |
| CN112653217B (en) * | 2020-12-22 | 2022-05-24 | 中南大学 | Wall climbing robot is charging system independently |
| CN112999547A (en) * | 2021-03-25 | 2021-06-22 | 国网山东省电力公司电力科学研究院 | Automatic fire extinguishing system and method for cable tunnel |
| CN113161816B (en) * | 2021-04-30 | 2023-01-17 | 广东科凯达智能机器人有限公司 | Full-automatic charging docking device for robot and control method |
| CN113241833B (en) * | 2021-05-11 | 2023-04-14 | 诠航科技有限公司 | Tunnel machine |
| 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 |
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| CN104810896A (en) * | 2015-05-12 | 2015-07-29 | 山东康威通信技术股份有限公司 | Device and method for automatically charging inspection robot of power tunnel |
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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. |