CN106981891B - Sliding contact type charging device and inspection robot with same - Google Patents
Sliding contact type charging device and inspection robot with same Download PDFInfo
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- CN106981891B CN106981891B CN201610030403.XA CN201610030403A CN106981891B CN 106981891 B CN106981891 B CN 106981891B CN 201610030403 A CN201610030403 A CN 201610030403A CN 106981891 B CN106981891 B CN 106981891B
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- 238000007689 inspection Methods 0.000 title claims description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 10
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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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
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention belongs to the technical field of charging equipment, and aims to provide a sliding contact type charging device and a patrol robot with the same. In the charging process, the outer end face of the contact element of the contact mechanism can be contacted with the contact plate all the time, the two ends of the contact element are respectively and movably connected with the fixing device, the elastic device is positioned between the fixing device and the contact mechanism, one end of the elastic device is connected with the fixing device, and the other end of the elastic device is connected with the contact mechanism to prepress the contact mechanism, so that the contact element can be regulated independently in two directions.
Description
Technical Field
The invention belongs to the technical field of charging equipment, relates to a charging device, and particularly relates to a sliding contact type charging device and a patrol robot with the same.
Background
Along with the stronger demand of unmanned inspection of cable tunnels, the application of intelligent cable tunnel inspection robots is widely applied. As is well known, the length of a cable tunnel is generally hundreds of meters, the length of the cable tunnel is even tens of kilometers, the existing tunnel robot is generally provided with a storage battery, and charging points are arranged on a robot track every 500-800 m, so that in the intelligent inspection process, when the battery is exhausted and the electric quantity is insufficient, the battery can be charged and stored at the nearest charging point, and obviously, the reliability and the stability of a charging device become the key of whether the inspection robot can run again.
In the prior art, as shown in fig. 1, the charging device related to this aspect mainly comprises a driving motor 10, a driving screw 20, a charging contact 30, a sliding plate frame 40, a fixing seat 50 and a charging seat 60 arranged at a track charging point position, and the main structure and the working principle thereof are as follows: the charging contact 30 is fixed on the sliding plate frame 40, the sliding plate frame 40 is connected with the screw rod through a screw nut, and when the driving motor 10 drives the screw rod to rotate, the screw rod is matched with the screw nut of the sliding plate, so that the sliding plate can do linear reciprocating motion in the rotation process of the screw rod, and the charging contact 30 is driven to be in contact with the contact plate 61 of the charging seat 60, so that charging is realized. When the charging is completed, the driving motor 10 reversely rotates and drives the screw rod to reversely rotate at the same time, so as to drive the charging contact 30 to be separated from the charging touch plate 61, and when the charging contact is retracted to a certain distance, the position sensor is triggered, the motor stops rotating, and the charging circulation action is completed. From the above, the charging device has the following disadvantages:
1) In the charging process, motor control is needed, the requirements on position detection and control programs are high, and corresponding charging control program software needs to be developed, however, once software errors or control program faults occur, charging failure can be caused, so that the reliability is low, and the cost is high;
2) The charging contact lacks independent movement capability, and a certain contact is easy to suspend, so that the reliability of the whole charging device is lower.
Disclosure of Invention
The invention aims to provide a sliding contact type charging device which is simple in structure, high in reliability and stability and realized in a purely mechanical mode, and a patrol robot with the device.
In order to solve the technical problems, the invention adopts the following technical scheme: the sliding contact type charging device comprises a charging seat fixedly connected to a fixing frame and provided with a touch plate; the sliding contact type charging device further comprises a sliding contact device capable of sliding contact with the touch plate, and the sliding contact device comprises a fixing device, a contact mechanism and an elastic device;
the contact mechanism comprises a contact piece, wherein two ends of the contact piece are respectively and movably connected to the fixing device so as to enable the outer end face of the contact piece to be contacted with the touch plate;
the elastic device is positioned between the fixing device and the contact mechanism; one end of the elastic device is connected with the fixing device, and the other end of the elastic device is connected with the contact mechanism to pre-press the contact mechanism.
Further, the contact piece comprises a contact in a triangular shape, the contact plate is provided with a first contact surface and a second contact surface adjacent to the first contact surface, the contact is contacted with the first contact surface and the second contact surface in sequence, and the shape of the first contact surface is adapted to the cross-sectional shape of the contact.
Further, the cross-section of the contact is trapezoidal, semicircular, elliptic, parabolic or hyperbolic.
Further, the contact mechanism further comprises a first adjusting arm and a second adjusting arm, one ends of the first adjusting arm and the second adjusting arm are hinged to the fixing device, the other ends of the first adjusting arm and the second adjusting arm are hinged to the contact piece, and the first adjusting arm and the second adjusting arm are opposite and are arranged in a gap; the elastic device comprises a first elastic piece and a second elastic piece, one end of the first elastic piece is connected to the middle of the first adjusting arm, the other end of the first elastic piece is connected to the fixing device, one end of the second elastic piece is connected to the middle of the second adjusting arm, and the other end of the second elastic piece is connected to the fixing device.
Further, the fixing device comprises a fixing plate and a support which is fixedly connected and insulated on the fixing plate, one ends of the first adjusting arm and the second adjusting arm are hinged to the support, and the other ends of the first elastic piece and the second elastic piece are connected to the support.
Further, the first adjusting arm is any one of L-shaped, straight bar-shaped, pi-shaped, triangle-shaped or T-shaped, and the second adjusting arm is any one of L-shaped, straight bar-shaped, pi-shaped, triangle-shaped or T-shaped.
Further, the first elastic piece is any one of a tension spring, a torsion spring, a tower spring, a leaf spring and a vortex spring, and the second elastic piece is any one of a tension spring, a torsion spring, a tower spring, a leaf spring and a vortex spring.
Further, the contact mechanism is provided with a plurality of contact mechanisms, each contact mechanism is provided with a gap and is arranged side by side along the sliding direction perpendicular to the sliding contact device, and each contact is contacted with the first contact surface and the second contact surface in sequence.
Further, the number of the contact mechanisms is 3.
Compared with the prior art, the sliding contact type charging device provided by the invention has the beneficial effects that:
through the charging seat fixed mounting that will be equipped with the touch panel on mount (like the track) to let smooth touch device and touch panel sliding contact, wherein, this smooth touch device includes fixing device, touch mechanism and resilient means, in the charging process, in order to be convenient for touch the outer terminal surface of the touch piece of mechanism and touch in touch the touch panel all the time, the both ends of touch piece swing joint respectively on fixing device, resilient means is located between fixing device and the touch mechanism, and fixing device is connected to its one end, the other end is connected to touch mechanism with pre-compaction touch mechanism, obviously, this charging device adopts pure mechanical structure and need not the control device, overall simple structure, high reliability, strong adaptability and with low costs.
The invention also provides a patrol robot comprising the sliding contact type charging device.
Compared with the prior art, the inspection robot provided by the invention has the beneficial effects that: the sliding contact type charging device is adopted by the inspection robot, so that the inspection robot is simple in structure, high in reliability of a charging system and low in overall cost.
Drawings
Fig. 1 is a schematic diagram of a structure of a charging device in the prior art;
fig. 2 is a schematic diagram of a sliding contact type charging device in an embodiment of the present invention;
FIG. 3 is a schematic perspective view of the sliding contact device in FIG. 2;
fig. 4 is a schematic perspective exploded view of the trolley of fig. 3.
The reference numerals in the drawings are as follows:
10 driving motors, 20 driving lead screws, 30 charging contacts, 40 sliding plate frames, 50 fixing seats, 60 charging seats and 61 contact plates;
100 charging stand, 110 touch plate, 111 first touch surface, 112 second touch surface;
200 sliding contact devices, 210 fixing devices, 211 fixing plates, 212 supports and 213 insulating plates;
220 contact mechanism, 221 contact piece, 221a contact, 221b connecting block, 222 first adjusting arm, 223 second adjusting arm, 224 pin shaft;
230 elastic means, 231 first elastic member, 232 second elastic member.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The implementation of the present invention is described in detail below with reference to the specific drawings.
It will be noted that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
It should also be noted that in the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus, terms describing the positional relationship in the drawings are merely for exemplary illustration and are not to be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
Fig. 2 to 4 show a sliding contact type charging device and a patrol robot having the same according to a preferred embodiment of the present invention.
As shown in fig. 2, the sliding contact type charging device includes a charging stand 100 fixedly connected to a fixing frame (not shown), wherein a touch plate 110 is disposed on the charging stand 100 for facilitating charging. In particular, in this embodiment, the fixing frame is a rail, and of course, the fixing frame may be another device for fixing.
As shown in fig. 2 to 4, in order to ensure that the sliding contact with the touch panel 110 is always maintained, the sliding contact type charging device further includes a sliding contact device 200, wherein the sliding contact device 200 includes a fixing device 210, a contact mechanism 220 and an elastic device 230. Specifically, as shown in fig. 2 to 4, the contact mechanism 220 includes a contact member 221, and two ends of the contact member 221 are movably connected to the fixing device 210, so that an outer end surface of the contact member 221 contacts the contact plate 110, and further the sliding contact device 200 contacts the contact plate 110. Of course, in order to further ensure the reliability of the contact between the contact 221 and the contact plate 110, the elastic device 230 is located between the fixing device 210 and the contact mechanism 220, and one end of the elastic device 230 is connected to the fixing device 210, and the other end is connected to the contact mechanism 220, so as to preload the contact mechanism 220.
From the above, it can be understood that the charging device respectively pre-presses the contact member 221 from two sides of the contact member 221 through the elastic device 230, so as to realize bidirectional independent adjustment of the contact member 221, that is, the contact member 221 can flexibly realize contact with the touch plate 110 from the left side and the right side, thereby ensuring timely contact with the touch plate 110, and thus ensuring stability and reliability of the charging device. Overall, through the improvement, it can be seen that the charging device adopts a pure mechanical structure without a control device, and has the advantages of simple structure, high reliability and stability and lower cost.
Further, in a preferred embodiment of the present invention, as shown in fig. 2 to 4, the contact 221 includes a contact 221a, wherein the contact 221a is in a triangular shape for further ensuring the contact reliability between the contact mechanism 220 and the contact plate 110 and simplifying the structure of the charging device. As further shown in fig. 2 to 4, in order to further ensure the contact reliability of the contact 221 with the contact plate 110, the contact plate 110 is provided with a first contact surface 111 and a second contact surface 112 adjacent to the first contact surface 111. During charging, the contact 221a contacts the first contact surface 111 and the second contact surface 112 in sequence, and the shape of the first contact surface 111 is adapted to the cross-sectional shape of the contact 221 a.
It should be noted that, in the present embodiment, during the contact process of the contact 221a with the first contact surface 111, which is usually the testing stage of the charging device, the charging stage can only be actually performed when the contact 221a contacts with the second contact surface 112. In addition, as shown in fig. 2, the first contact surface 111 is disposed on both sides of the second contact surface 112, and it can be appreciated that the sliding contact device 200 of the charging device can perform the charging operation as long as it can make contact with the second contact surface 112 of the contact plate 110, no matter which direction is approaching the charging stand 100.
It should be noted that, in the present embodiment, after the charging command is obtained, the sliding contact device 200 approaches the charging stand 100, and makes the side end of the contact 221a contact the first contact surface 111, when the sliding contact device 200 continues to advance, the elastic device 230 is compressed at the side end of the contact 221a contacting the first contact surface 111, so as to be compressed, according to the lever principle, the topmost part of the contact 221a will directly contact the first contact surface 111, and meanwhile, the other side end of the contact 221a gradually contacts the contact plate 110 under the action of the elastic device 230, and through a previous and subsequent contact pressure, a tight coordination of the contact mechanism 220 is achieved, so that reliable contact between the contact 221a and the contact plate 110 is ensured. It will be appreciated that during the period from the contact of the contact 221a with the first contact surface 111 to the contact of the topmost end of the contact 221a with the second contact surface 112, the two side ends of the contact 221a can be independently adjusted under the action of the elastic device 230, so that the contact 221a can be always kept in effective contact with the contact plate 110.
Further, when the sliding contact device 200 is further advanced to make the top of the contact 221a fully contact with the second contact surface 112, the elastic device 230 is fully compressed, and the main charging operation is started. After the charging is completed, the sliding contact device 200 is allowed to move forward to leave the touch plate 110, and in this process, the contact 221a slowly returns to the initial state under the resilience force of the elastic device 230, and when the sliding contact device 200 moves in the reverse direction only at the charging stand 100, the next charging cycle will be started.
Further, in a preferred embodiment of the present invention, as shown in fig. 2 to 4, on the premise that the contact 221a is of a triangular shape, the cross-sectional shape of the contact 221a is trapezoidal, semicircular, elliptical, parabolic or hyperbolic, and of course, the cross-sectional shape of the contact 221a is not limited thereto. In this embodiment, the cross-sectional shape of the contact 221a is preferably trapezoidal, that is, the side end surface of the contact 221a is an inclined surface and the top end surface is a plane, as shown in fig. 2.
Further, in a preferred embodiment of the present invention, as shown in fig. 2 to 4, in order to flexibly and independently adjust the left and right ends of the contact 221, the contact mechanism 220 further includes a first adjusting arm 222 and a second adjusting arm 223, wherein one end of the first adjusting arm 222 is hinged to the fixing device 210, the other end is hinged to the contact 221, one end of the second adjusting arm 223 is hinged to the fixing device 210, the other end is hinged to the contact 221, and the first adjusting arm 222 is opposite to the second adjusting arm 223 with a gap therebetween, and as shown in fig. 2 to 4, the first adjusting arm 222 and the second adjusting arm 223 independently adjust the left end and the right end of the contact 221, respectively.
In this embodiment, as shown in fig. 2 to 4, the contact element 221 further includes a connection block 221b, wherein the connection block 221b is connected to the contact 221a for hinging with the first adjusting arm 222 and the second adjusting arm 223, that is, the other ends of the first adjusting arm 222 and the second adjusting arm 223 are hinged to the connection block 221 b.
It should be noted that, in the present embodiment, the hinge connection between the first adjusting arm 222 and the second adjusting arm 223 and the fixing device 210 is realized through the pin 224, and correspondingly, for simplifying the structure, the hinge connection between the first adjusting arm 222 and the second adjusting arm 223 and the contact piece 221 is also realized through the pin 224.
It should be noted that, the first adjusting arm 222 is any one of L-shape, straight bar-shape, n-shape, triangle-shape or T-shape, and correspondingly, the second adjusting arm 223 is any one of L-shape, straight bar-shape, n-shape, triangle-shape or T-shape. Of course, in practical applications, the first adjusting arm 222 and the second adjusting arm 223 may have other suitable shapes, and in particular, in this embodiment, for simplifying the structure, as shown in fig. 2 to 4, the first adjusting arm 222 and the second adjusting arm 223 are preferably identical in shape and size, and are each in a straight strip shape.
In addition, correspondingly, in order to flexibly and independently adjust the first adjusting arm 222 and the second adjusting arm 223, and further independently adjust the left and right ends of the contact member 221, the elastic device 230 includes a first elastic member 231 and a second elastic member 232, where, as shown in fig. 2 to 4, one end of the first elastic member 231 is connected to the middle portion of the first adjusting arm 222, the other end is connected to the fixing device 210, and correspondingly, one end of the second elastic member 232 is connected to the middle portion of the second adjusting arm 223, and the other end is connected to the fixing device 210.
The first elastic member 231 is any one of a tension spring, a torsion spring, a tower spring, a leaf spring, and a volute spring, and the second elastic member 232 is any one of a tension spring, a torsion spring, a tower spring, a leaf spring, and a volute spring. Of course, in practical applications, the first elastic member 231 and the second elastic member 232 may be other suitable elastic members. In this embodiment as shown in fig. 2 to 4, the first elastic member 231 and the second elastic member 232 are preferably identical in shape and size and are each a tension spring.
Further, in a preferred embodiment of the present invention, as shown in fig. 2 to 4, the fixing device 210 includes a fixing plate 211 and a support 212, wherein the support 212 is fixedly connected to the fixing plate 211, and the support 212 is also insulated from the fixing plate 211 for safety. In the present embodiment, this is achieved specifically by connecting an insulating plate 213 between the holder 212 and the fixing plate 211.
As further shown in fig. 2 to 4, one end of each of the first adjusting arm 222 and the second adjusting arm 223 is hinged to the support 212, and the other end of each of the first elastic member 231 and the second elastic member 232 is connected to the support 212. It will be appreciated that the first adjustment arm 222 and the second adjustment arm 223 are both hinged to the fixing device 210 at one end, and are both hinged to the support 212, specifically, the first adjustment arm 222 is hinged to the left end of the support 212, and the second adjustment arm 223 is hinged to the right end of the support 212. Similarly, the other ends of the first elastic member 231 and the second elastic member 232 are connected to the fixing device 210, and are connected to the support 212.
Further, in a preferred embodiment of the present invention, as shown in fig. 3 and 4, a plurality of the contact mechanisms 220 are provided, wherein each contact mechanism 220 is disposed at a gap and is disposed side by side along a sliding direction perpendicular to the sliding direction of the sliding contact device 200. During the sliding process of the sliding contact device 200 contacting the touch plate 110, each contact 221a is contacted with the first contact surface 111 and the second contact surface 112 sequentially. In this embodiment in particular, preferably, 3 contact mechanisms 220 are provided.
From the above, it can be understood that each contact mechanism 220 is provided with an independent spring for compressing, so that each contact mechanism 220 is independently adjusted, and thus, the adaptive capacity is strong in the contact process, the reliability of contact is well ensured, and the reliability of the charging device is further ensured.
In addition, if the plurality of contact mechanisms 220 includes a detection contact mechanism 220 and a charging contact mechanism 220, in order to ensure the reliability of charging, the distance between the top end of the contact 221a of the detection contact mechanism 220 and the touch pad 110 may be greater than or equal to the distance between the top end of the contact 221a of the charging contact mechanism 220 and the touch pad 110, and in this embodiment, the distances are equal. In the present invention, the principle of distinction and non-distinction is basically the same, and thus, for convenience of explanation, the above description is given in terms of non-distinction.
The invention also provides a patrol robot which comprises the sliding contact type charging device. It should be noted that, in this embodiment, the inspection robot is mainly used in a tunnel inspection process, and of course, in practical application, the inspection robot may be applied to other occasions.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a wiping charging device, is equipped with the charging seat of touch panel, its characterized in that including fixed connection on the mount: the sliding contact type charging device further comprises a sliding contact device capable of sliding contact with the touch plate, and the sliding contact device comprises a fixing device, a contact mechanism and an elastic device;
the contact mechanism comprises a contact piece, wherein two ends of the contact piece are respectively and movably connected to the fixing device so as to enable the outer end face of the contact piece to be contacted with the touch plate;
the elastic device is positioned between the fixing device and the contact mechanism; one end of the elastic device is connected with the fixing device, and the other end of the elastic device is connected with the contact mechanism to pre-press the contact mechanism;
the contact mechanism further comprises a first adjusting arm and a second adjusting arm, one ends of the first adjusting arm and the second adjusting arm are hinged to the fixing device, the other ends of the first adjusting arm and the second adjusting arm are hinged to the contact piece, and the first adjusting arm and the second adjusting arm are opposite and are arranged in a gap; the elastic device comprises a first elastic piece and a second elastic piece, one end of the first elastic piece is connected to the middle of the first adjusting arm, the other end of the first elastic piece is connected to the fixing device, one end of the second elastic piece is connected to the middle of the second adjusting arm, and the other end of the second elastic piece is connected to the fixing device.
2. The trolley charging device as claimed in claim 1, wherein: the contact piece comprises a contact in a triangular shape, the contact plate is provided with a first contact surface and a second contact surface adjacent to the first contact surface, the contact is contacted with the first contact surface and the second contact surface in sequence, and the shape of the first contact surface is adapted to the cross section shape of the contact.
3. The trolley charging device as claimed in claim 2, wherein: the cross section of the contact is trapezoid, semicircular, elliptic, parabolic or hyperbolic.
4. A trolley charging apparatus as claimed in claim 3, wherein: the fixing device comprises a fixing plate and a support which is fixedly connected and insulated on the fixing plate, one ends of the first adjusting arm and the second adjusting arm are hinged to the support, and the other ends of the first elastic piece and the second elastic piece are connected to the support.
5. The trolley charging device as claimed in claim 4, wherein: the first adjusting arm is any one of L-shaped, straight bar-shaped, pi-shaped, triangle-shaped or T-shaped, and the second adjusting arm is any one of L-shaped, straight bar-shaped, pi-shaped, triangle-shaped or T-shaped.
6. The trolley charging device as claimed in claim 4, wherein: the first elastic piece is any one of a tension spring, a torsion spring, a tower spring, a leaf spring and a vortex spring, and the second elastic piece is any one of a tension spring, a torsion spring, a tower spring, a leaf spring and a vortex spring.
7. The trolley charging device as claimed in any one of claims 2 to 6, wherein: the contact mechanisms are provided with a plurality of contact mechanisms, the contact mechanisms are arranged in a gap and side by side mode along the sliding direction perpendicular to the sliding contact device, and the contacts are contacted with the first contact surface and the second contact surface in sequence.
8. The trolley charging device as claimed in claim 7, wherein: the number of the contact mechanisms is 3.
9. Inspection robot, its characterized in that: comprising a trolley charging device as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610030403.XA CN106981891B (en) | 2016-01-18 | 2016-01-18 | Sliding contact type charging device and inspection robot with same |
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| CN201610030403.XA CN106981891B (en) | 2016-01-18 | 2016-01-18 | Sliding contact type charging device and inspection robot with same |
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| CN106981891A CN106981891A (en) | 2017-07-25 |
| CN106981891B true CN106981891B (en) | 2023-08-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110215160A (en) * | 2019-05-15 | 2019-09-10 | 湖南格兰博智能科技有限责任公司 | A kind of charging docking structure of intelligent sweeping machine |
| CN112217066A (en) * | 2019-07-11 | 2021-01-12 | 长春设备工艺研究所 | Electricity taking device for track mobile equipment |
| CN111917271A (en) * | 2020-09-04 | 2020-11-10 | 上海隐冠半导体技术有限公司 | Long-stroke motion system |
| CN112515553A (en) * | 2020-09-30 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Docking station and cleaning system |
| CN113241833B (en) * | 2021-05-11 | 2023-04-14 | 诠航科技有限公司 | Tunnel machine |
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