CN109808529B - Walking unit of unmanned water spraying robot and method thereof - Google Patents
Walking unit of unmanned water spraying robot and method thereof Download PDFInfo
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- CN109808529B CN109808529B CN201910232801.3A CN201910232801A CN109808529B CN 109808529 B CN109808529 B CN 109808529B CN 201910232801 A CN201910232801 A CN 201910232801A CN 109808529 B CN109808529 B CN 109808529B
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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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- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The invention discloses a walking unit of an unmanned water spraying robot, which comprises a walking machine body, wherein crawler wheel units are respectively arranged on two sides of the walking machine body; the tail end wall body of the walking machine body is hollowed with a charging head detection outlet, the inner cavity of the walking machine body is fixedly provided with a rack driving motor, and an output shaft of the rack driving motor is synchronously connected with an output gear; the invention has simple structure, the charging connector can synchronously move outwards along with the guide rail to extend out of the charging head detection port, and after the battery is full, the rack driving motor is restarted, so that the output gear starts to rotate anticlockwise, the charging connector synchronously moves inwards along with the guide rail to retract into the charging head detection port, the charging connector and the charging connector of the charging pile are separated, the charging connector is retracted into the walking machine body, and the unmanned water spraying robot is prevented from wetting the charging connector in the spraying work engineering.
Description
Technical Field
The invention belongs to the field of walking robots.
Background
The unmanned spraying robot using the battery as power often generates a power-off phenomenon in the walking and working processes, and needs to have the function of automatically returning to the preset charging pile for charging.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a walking unit of an unmanned water spraying robot capable of automatically extending out of a charging connector and a method thereof.
The technical scheme is as follows: in order to achieve the above purpose, the walking unit of the unmanned water spraying robot comprises a walking machine body, wherein crawler wheel units are respectively arranged on two sides of the walking machine body; the tail end wall body of the walking machine body is hollowed with a charging head detection outlet, the inner cavity of the walking machine body is fixedly provided with a rack driving motor, and an output shaft of the rack driving motor is synchronously connected with an output gear; the inner cavity of the walking machine body is fixedly provided with a horizontal guide rail groove, a guide rail is movably arranged in the guide rail groove, a rack is integrally connected to the guide rail along the length direction, a tooth body on the rack is meshed with the output gear, one end of the guide rail, which is close to the charging head detection outlet, is connected with a charging connector through an elastic component, and the charging connector can synchronously move outwards along with the guide rail until the charging head detection outlet protrudes.
Further, the automatic charging method of the walking unit of the unmanned water spraying robot can timely inform the spraying work when the situation that the battery is about to be exhausted is encountered in the working process of the walking machine body, and immediately walk to the position of the nearby battery charging pile; then fine-tuning the position of the walking machine body to enable a charging head detection outlet at the tail end of the walking machine body to be aligned with a charging connector socket of a charging pile, then starting a rack driving motor to enable an output gear to start rotating clockwise, at the moment, enabling a tooth body on the rack to move in a meshing mode with the output gear, enabling the rack to drive a guide rail to move along the extending direction of a guide rail groove, enabling a charging connector to synchronously move outwards along with the guide rail until the charging connector detection outlet protrudes out, enabling the charging connector protruding out of the charging head detection outlet to be just inserted into the charging connector of the charging pile, and further achieving a charging effect; after the battery is full, the rack driving motor is restarted, the output gear starts to rotate anticlockwise, the charging connector moves inwards to the inside of the retracted charging head detecting opening along with the guide rail synchronously, the charging connector and the charging connector of the charging pile are separated, the charging connector is retracted to the inside of the walking machine body, and the unmanned water spraying robot is prevented from wetting the charging connector in the spraying work engineering.
Further, the crawler wheel unit comprises a rubber crawler; the outer side of the rubber crawler belt is provided with a plurality of anti-skid protrusions, and the anti-skid protrusions are arrayed at equal intervals along the outline direction of the rubber crawler belt; the middle part of the inner side surface of the rubber track is provided with a plurality of meshing convex sections in an equidistant array along the contour direction; the inner side of the rubber track is provided with a track driving wheel, a tensioning guide wheel, a thrust wheel supporting connecting rod, an elastic shock absorber, a shock absorber support and a support chain wheel; the crawler driving wheel and the tensioning guide wheel are respectively tensioned at the front end and the rear end of the inner side of the rubber crawler, and are meshed with a plurality of meshing convex sections on the inner side surface of the rubber crawler; the support chain wheel is in rolling connection with the lower side surface of the upper section belt of the rubber track; four supporting wheels which are equidistantly arranged along the front-rear direction are connected with the upper side surface of the lower section belt of the rubber track in a rolling way;
each thrust wheel is correspondingly provided with a thrust wheel supporting connecting rod, and the length direction of the thrust wheel supporting connecting rod forms an included angle of 45 degrees with the ground; the upper end of the supporting connecting rod of the supporting wheel is hinged with the side wall of the walking machine body through a tenth hinging piece, and the lower end of the supporting connecting rod of the supporting wheel is coaxially and rotatably connected with the corresponding supporting wheel through a rotating shaft; an eleventh hinging piece is fixedly arranged in the middle of the supporting connecting rod of the supporting wheel; the lower end of the vertical elastic shock absorber is hinged to the eleventh hinging piece, the upper end of the elastic shock absorber is hinged to the shock absorber support, and the shock absorber support is fixedly connected to the side wall of the walking machine body;
the walking machine body is internally provided with a crawler driving motor and a speed reducer, the output end of the crawler driving motor is connected with the power input end of the speed reducer, and the power output end of the speed reducer is in driving connection with the crawler driving wheel through a second coupling.
The beneficial effects are that: the invention has simple structure, the charging connector can synchronously move outwards along with the guide rail to extend out of the charging head detection port, and after the battery is full, the rack driving motor is restarted, so that the output gear starts to rotate anticlockwise, the charging connector synchronously moves inwards along with the guide rail to retract into the charging head detection port, the charging connector and the charging connector of the charging pile are separated, the charging connector is retracted into the walking machine body, and the unmanned water spraying robot is prevented from wetting the charging connector in the spraying work engineering.
Drawings
FIG. 1 is a schematic view of a charging head extending out structure;
FIG. 2 is a schematic view of a charging head, an elastic member, and a rack;
FIG. 3 is a schematic view of the partial structure of FIG. 2;
FIG. 4 is a schematic diagram of the overall structure of the robot;
FIG. 5 is a schematic diagram of the actuator height adjustment mechanism and water spray actuator configuration;
FIG. 6 is a schematic diagram of a water spray actuator configuration;
FIG. 7 is a schematic illustration of FIG. 6 with the drain pipe removed;
FIG. 8 is a first schematic view of the tilt adjustment of the gear rack;
FIG. 9 is a second schematic view of tilt adjustment of the gear rack;
FIG. 10 is a front view of the crawler travel unit;
FIG. 11 is a schematic view of a track wheel unit;
FIG. 12 is a schematic view of the internal structure of the crawler wheel unit with the outer crawler belt hidden;
FIG. 13 is a top view of the crawler travel unit;
fig. 14 is a schematic view of a water supply system.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
For better describing the technical progress of the present invention, the present embodiment is described in conjunction with a robot as a whole, and an unmanned water spraying robot as shown in fig. 1 to 14 includes a crawler-type traveling unit 41, a water tank unit 38 is disposed on the crawler-type traveling unit 41, and a water injection pipe 29 is further disposed on the water tank unit 38; the water spraying device also comprises a water spraying actuator 26, wherein the water outlet end of the water tank unit 38 is connected with the water inlet end of the water spraying actuator 26 through a water supply system; an actuator height adjusting mechanism 27 is also mounted on the upper side of the water tank unit 38, and the water spray actuator 26 is mounted on the actuator height adjusting mechanism 27.
A top platform 101 is fixedly arranged on the upper side of the water tank unit 38; the actuator height adjustment mechanism 27 includes a first lift 66 and a second lift 73; the lower end of the first lifting frame 66 is hinged with the front end of the top platform 101 through a first hinge member 63; the upper end of the first lifting frame 66 is hinged with the lower end of the second lifting frame 73 through a second hinge 71; the water spraying actuator 26 is mounted on the second lifting frame 73;
the water supply system comprises a water tank outlet pipe 43, a high-pressure water pump 46, a lifting pipe 67, a shunt pipe 74, a battery valve 75 and a water outlet pipe 76; the water outlet end of the water tank unit 38 is connected with the water inlet end of the high-pressure water pump 46 through a water tank outlet pipe 43, the water outlet end of the high-pressure water pump 46 is communicated with the water inlet end of the lifting pipe 67, and the water outlet end of the lifting pipe 67 is connected with the water inlet ends of the two shunt pipes 74 in a shunt manner;
the two battery valves 75 are respectively and fixedly installed on the second lifting frame 73 in parallel, and the water outlet ends of the two shunt tubes 74 are respectively communicated with the water inlet ends of the two battery valves 75; the water outlet ends of the two battery valves 75 are respectively communicated with the water inlet ends of the two water outlet pipes 76, and the water outlet ends of the two water outlet pipes 76 are respectively communicated with the water inlet ends of a plurality of high-pressure spray heads 79 on the water spraying actuator 26; the lifting pipe 67 and the water outlet pipe 76 are both of a liquid guide hose structure;
the tail part of the top platform 101 is fixedly provided with a first hinging seat 59, and the first lifting frame 66 is also fixedly provided with a second hinging seat 64; the actuator height adjustment mechanism 27 further includes a first push rod linear motor 60 and a second linear push rod linear motor 69; the tail end of the first push rod linear motor 60 is hinged with the first hinge seat 59 through a third hinge piece 58; the tail end of the first linear push rod 61 of the first push rod linear motor 60 is hinged with the second hinge seat 64 through a fourth hinge piece 62; the tail end of the second linear push rod linear motor 69 is hinged with the second hinge seat 64 through a fifth hinge piece 65; the end of the second linear push rod 70 of the second linear push rod linear motor 69 is hinged to the middle position of the second lifting frame 73 through a sixth hinge component 72.
The water spraying actuator 26 comprises a gear bracket 83 which is obliquely arranged, and the short end of the gear bracket 83 is indirectly connected with the top end of the second lifting frame 73 through a seventh hinging piece 078; a screw motor 92 is fixedly mounted at the top end of the second lifting frame 73, the output end of the screw motor 92 is in driving connection with a screw 94 through a first coupling 93, the second lifting frame further comprises a displacement block 90 perpendicular to the screw 94, a screw threaded hole is formed in the displacement block 90 in a penetrating manner, and the screw 94 is in transmission connection with the screw threaded hole; two guide rods 89 are symmetrically and fixedly connected to two sides of the displacement block 90; two guide grooves 8 are symmetrically arranged in the two side beam bodies of the second lifting frame 73 respectively, the tail ends of the two guide rods 89 respectively extend into the two guide grooves 8 in a movable mode, and the guide rods 89 can slide along the length direction of the guide grooves 8; the lower end of the connecting rod 91 is hinged with the upper end of the displacement block 90 through an eighth hinge 080; the upper end of the connecting rod 91 is hinged with the upper end of the gear bracket 83 through a ninth hinge 079;
a left gear 86 and a right gear 87 are rotatably mounted on the gear bracket 83, respectively, and the left gear 86 and the right gear 87 are meshed with each other; the two sides of the gear bracket 83 further comprise a left driving arm 78 and a right driving arm 84 which are symmetrical to each other, and the root parts of the left driving arm 78 and the right driving arm 84 are respectively and fixedly connected with a left gear 86 and a right gear 87; the two sides of the gear bracket 83 also comprise a left connecting rod arm 77 and a right connecting rod arm 85 which are symmetrical to each other, and the root parts of the left connecting rod arm 77 and the right connecting rod arm 85 are respectively hinged with the gear bracket 83; the gear bracket 83 is also fixedly provided with a gear driving motor 82, and the gear driving motor 82 is in driving connection with the left gear 86 or the right gear 87;
the two sides of the gear bracket 83 are symmetrically provided with a left water spraying seat 81.1 and a right water spraying seat 81.2, the tail ends of the left driving arm 78 and the left connecting rod arm 77 are respectively hinged with the two ends of the left water spraying seat 81.1, and the tail ends of the right driving arm 84 and the right connecting rod arm 85 are respectively hinged with the two ends of the right water spraying seat 81.2; the left water spraying seat 81.1 and the right water spraying seat 81.2 are respectively provided with a plurality of high-pressure spray heads 79, and the spray nozzles 80 of each high-pressure spray head 79 are outwards arranged.
The crawler-type walking unit 41 comprises a walking machine body 3, and the water tank unit 38 is fixed above the walking machine body 3; crawler wheel units 2 are respectively arranged on two sides of the walking machine body 3;
the tail end wall body 17 of the walking machine body 3 of the embodiment is provided with a charging head detection outlet 16 in a hollowed-out manner, a rack driving motor 19 is fixedly arranged in an inner cavity of the walking machine body 3, and an output gear 20 is synchronously connected to an output shaft of the rack driving motor 19; the inner cavity of the walking machine body 3 is also fixedly provided with a horizontal guide rail groove 22, a guide rail 24 is movably arranged in the guide rail groove 22, a rack 50 is integrally connected on the guide rail 24 along the length direction, a tooth body 53 on the rack 50 is meshed with the output gear 20, one end of the guide rail 24, which is close to the charging head detection outlet 16, is connected with a charging connector 15 through an elastic component 54, and the charging connector 15 can synchronously move outwards along with the guide rail 24 until the charging head detection outlet 16 protrudes.
Further, when the running machine body 3 runs into the condition that the battery is about to be exhausted, the spraying work is timely notified, and the running machine body immediately walks to the position of the nearby battery charging pile; then fine-tuning the position of the walking machine body 3 to align the charging head detection opening 16 at the tail end of the walking machine body 3 with a charging connector socket of a charging pile, then starting the rack driving motor 19 to further enable the output gear 20 to start rotating clockwise, at the moment, the tooth body 53 on the rack 50 and the output gear 20 are meshed to move, and further enable the rack 50 to drive the guide rail 24 to move along the extending direction of the guide rail groove 22, and further enable the charging connector 15 to synchronously move outwards along with the guide rail 24 to extend out of the charging head detection opening 16, and further enable the charging connector 15 extending out of the charging head detection opening 16 to be just inserted into the charging connector of the charging pile, and further achieve a charging effect; after the battery is full, the rack driving motor 19 is restarted, the output gear 20 starts to rotate anticlockwise, the charging connector 15 moves inwards to retract to the inside of the charging head detecting opening 16 along with the guide rail 24 synchronously, the charging connector 15 and the charging connector of the charging pile are separated, the charging connector 15 is retracted to the inside of the walking machine body 3, and the unmanned water spraying robot is prevented from wetting the charging connector 15 in the spraying work engineering.
The track wheel unit 2 comprises a rubber track 12; the outer side of the rubber crawler 12 is provided with a plurality of anti-skid protrusions 13, and the anti-skid protrusions 13 are equidistantly arrayed along the contour direction of the rubber crawler 12; the middle part of the inner side surface of the rubber crawler 12 is provided with a plurality of meshing convex sections 11 in an equidistant array along the contour direction; the inner side of the rubber crawler 12 is provided with a crawler driving wheel 1, a tensioning guide wheel 14, a thrust wheel 9, a thrust wheel supporting connecting rod 8, an elastic shock absorber 4, a shock absorber support 5 and a supporting chain wheel 6; the crawler driving wheel 1 and the tensioning guide wheel 14 are respectively tensioned at the front end and the rear end of the inner side of the rubber crawler 12, and the crawler driving wheel 1 and the tensioning guide wheel 14 are meshed with a plurality of meshing convex sections 11 on the inner side surface of the rubber crawler 12; the support chain wheel 6 is in rolling connection with the lower side surface of the upper section belt 14.1 of the rubber crawler 12; four thrust wheels 9 which are equidistantly arranged along the front-rear direction are connected with the upper side surface of the lower section belt 14.2 of the rubber crawler 12 in a rolling way;
each thrust wheel 9 corresponds to one thrust wheel supporting connecting rod 8, and the length direction of the thrust wheel supporting connecting rod 8 forms an included angle of 45 degrees with the ground; the upper end of the supporting connecting rod 8 of the supporting wheel is hinged with the side wall of the walking machine body 3 through a tenth hinging piece 7, and the lower end of the supporting connecting rod 8 of the supporting wheel is coaxially and rotatably connected with the corresponding supporting wheel 9 through a rotating shaft; an eleventh hinging piece 10 is fixedly arranged in the middle of the supporting wheel supporting connecting rod 8; the lower end of the vertical elastic shock absorber 4 is hinged to the eleventh hinging piece 10, the upper end of the elastic shock absorber 4 is hinged to the shock absorber support 5, and the shock absorber support 5 is fixedly connected to the side wall of the walking machine body 3;
the walking machine body 3 is internally provided with a crawler driving motor 39 and a speed reducer 39, the output end of the crawler driving motor 39 is connected with the power input end of the speed reducer 39, and the power output end of the speed reducer 39 is in driving connection with the crawler driving wheel 1 through a second coupling 40.
The third hinge 58 is a, the fourth hinge 62 is B, and the first hinge 63 is C; the fifth hinge 65 is a, the sixth hinge part 72 is b, and the second hinge 71 is c; the triangle formed by the connecting lines between the ABCs is a triangle D, and the triangle formed by the connecting lines between the ABCs is a triangle D; meets the requirement of triangle D and triangle D.
The operation method, the process and the technical progress of the scheme are finished:
if the height of the water spraying actuator 26 needs to be adjusted down or up, the first linear push rod motor 60 and the second linear push rod motor 69 are controlled to synchronously shorten or synchronously lengthen the first linear push rod 61 and the second linear push rod 70, so that the water spraying actuator 26 is lowered or lifted, the height of the water spraying actuator 26 is adjusted down or up, as the first linear push rod 61 and the second linear push rod 70 are synchronously shortened or synchronously elongate, the triangle D formed by the connection line between ABC and the triangle D formed by the connection line between ABC still keeps an equal state, according to the structure of the triangle D, the inclination angle between the second lifting frame 73 and the ground can be kept unchanged all the time as long as the first linear push rod 61 and the second linear push rod 70 are synchronously shortened or synchronously elongate, and the posture of the water spraying actuator 26 is not changed while the height of the water spraying actuator 26 is changed;
the first degree of freedom adjustment method of the water spray actuator 2: the screw rod motor 92 is controlled, so that the screw rod 94 rotates, the screw rod 94 rotates to drive the displacement block 90 to displace along the screw rod 94, and meanwhile, the guide rods 89 on two sides of the displacement block 90 slide in the two guide grooves 8 in an adaptive manner; the movement of the displacement block 90 drives the gear bracket 83 to rotate along the seventh hinging piece 078 through the connecting rod 91, so that the posture of the gear bracket 83 is changed, and the spray angle adjustment of the spray nozzles 80 of each high-pressure spray head 79 is realized;
the second degree of freedom movement method of the water spray actuator 2: the gear driving motor 82 is controlled to drive the left gear 86 or the right gear 87 to perform periodic back and forth meshing motion, so that the nozzle 80 of each high-pressure nozzle 79 swings back and forth to a certain extent, and the injection range and uniformity of the nozzle are increased.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (3)
1. The utility model provides a walking unit of unmanned water spray robot which characterized in that: the crawler wheel type walking machine comprises a walking machine body (3), wherein crawler wheel units (2) are respectively arranged on two sides of the walking machine body (3); a charging head detection outlet (16) is hollowed out on a tail end wall body (17) of the walking body (3), a rack driving motor (19) is fixedly arranged in an inner cavity of the walking body (3), and an output gear (20) is synchronously connected to an output shaft of the rack driving motor (19); the inner cavity of the walking machine body (3) is fixedly provided with a horizontal guide rail groove (22), a guide rail (24) is movably arranged in the guide rail groove (22), a rack (50) is integrally connected to the guide rail (24) along the length direction, a tooth body (53) on the rack (50) is meshed with the output gear (20), one end, close to a charging head detection outlet (16), of the guide rail (24) is connected with a charging joint (15) through an elastic part (54), and the charging joint (15) can synchronously move outwards along with the guide rail (24) until the charging head detection outlet (16) is detected;
the device also comprises a water tank unit (38), a water spraying actuator (26), a top platform (101) and an actuator height adjusting mechanism (27);
the actuator height adjusting mechanism (27) comprises a first lifting frame (66) and a second lifting frame (73); the lower end of the first lifting frame (66) is hinged with the front end of the top platform (101) through a first hinge piece (63); the upper end of the first lifting frame (66) is hinged with the lower end of the second lifting frame (73) through a second hinge (71); the water spraying actuator (26) is arranged on the second lifting frame (73);
the tail part of the top platform (101) is fixedly provided with a first hinging seat (59), and the first lifting frame (66) is also fixedly provided with a second hinging seat (64); the device also comprises a first push rod linear motor (60) and a second push rod linear motor (69); the tail end of the first push rod linear motor (60) is hinged with the first hinge seat (59) through a third hinge piece (58); the tail end of a first linear push rod (61) of the first push rod linear motor (60) is hinged with a second hinge seat (64) through a fourth hinge piece (62); the tail end of the second linear push rod linear motor (69) is hinged with a second hinge seat (64) through a fifth hinge piece (65); the tail end of a second linear push rod (70) of the second linear push rod linear motor (69) is hinged and connected to the middle position of a second lifting frame (73) through a sixth hinge component (72);
the third hinge (58) is A, the fourth hinge (62) is B, and the first hinge (63) is C; the fifth hinge (65) is a, the sixth hinge part (72) is b, and the second hinge (71) is c; the triangle formed by the connecting lines between ABC is triangle D, and the triangle formed by the connecting lines between ABC is triangle D; meets the requirement of triangle D and triangle D.
2. The automatic charging method for the traveling unit of the unmanned water spraying robot according to claim 1, wherein: when the running machine body (3) runs into the condition that the battery is about to run out, the spraying work is timely notified, and the running machine body immediately walks to the position of the nearby battery charging pile; then fine-tuning the position of the walking machine body (3) to enable a charging head detection opening (16) at the tail end of the walking machine body (3) to be aligned with a charging joint socket of a charging pile, then starting a rack driving motor (19) to enable an output gear (20) to start to rotate clockwise, at the moment, a tooth body (53) on a rack (50) and the output gear (20) are meshed to move, and then the rack (50) drives a guide rail (24) to move along the extending direction of a guide rail groove (22), and further a charging joint (15) synchronously moves outwards along with the guide rail (24) to extend out of the charging head detection opening (16), and further the charging joint (15) extending out of the charging head detection opening (16) is just inserted into the charging joint of the charging pile, so that a charging effect is achieved; after the battery is full, the rack driving motor (19) is restarted, the output gear (20) starts to rotate anticlockwise, the charging connector (15) moves inwards to the inside of the retracted charging connector detection opening (16) along with the guide rail (24) synchronously, the charging connector (15) and the charging connector of the charging pile are separated, the charging connector (15) is retracted to the inside of the walking machine body (3), and the unmanned water spraying robot is prevented from wetting the charging connector (15) in the spraying work engineering.
3. The unmanned water spray robot walking unit of claim 1, wherein: the crawler wheel unit (2) comprises a rubber crawler belt (12); the outer side of the rubber crawler (12) is provided with a plurality of anti-skid protrusions (13), and the anti-skid protrusions (13) are equidistantly arrayed along the contour direction of the rubber crawler (12); the middle part of the inner side surface of the rubber track (12) is provided with a plurality of meshing convex sections (11) in an equidistant array along the contour direction; the inner side of the rubber crawler (12) is provided with a crawler driving wheel (1), a tensioning guide wheel (14), a thrust wheel (9), a thrust wheel supporting connecting rod (8), an elastic shock absorber (4), a shock absorber support (5) and a supporting chain wheel (6); the crawler driving wheel (1) and the tensioning guide wheel (14) are respectively tensioned at the front end and the rear end of the inner side of the rubber crawler (12), and the crawler driving wheel (1) and the tensioning guide wheel (14) are meshed with a plurality of meshing convex sections (11) on the inner side surface of the rubber crawler (12); the support chain wheel (6) is in rolling connection with the lower side surface of the upper section belt (14.1) of the rubber crawler belt (12); four thrust wheels (9) which are equidistantly arranged along the front-back direction are connected with the upper side surface of a lower section belt (14.2) of the rubber crawler belt (12) in a rolling way;
each thrust wheel (9) is correspondingly provided with a thrust wheel supporting connecting rod (8), and the length direction of the thrust wheel supporting connecting rod (8) forms an included angle of 45 degrees with the ground; the upper end of the supporting connecting rod (8) of the supporting wheel is hinged with the side wall of the walking machine body (3) through a tenth hinge piece (7), and the lower end of the supporting connecting rod (8) of the supporting wheel is coaxially and rotatably connected with the corresponding supporting wheel (9) through a rotating shaft; an eleventh hinging piece (10) is fixedly arranged in the middle of the supporting wheel supporting connecting rod (8); the lower end of the vertical elastic shock absorber (4) is hinged to the eleventh hinge piece (10), the upper end of the elastic shock absorber (4) is hinged to the shock absorber support (5), and the shock absorber support (5) is fixedly connected to the side wall of the walking machine body (3);
the crawler belt type crawler belt machine is characterized in that a crawler belt driving motor (39) and a speed reducer (39) are further arranged in the walking machine body (3), the output end of the crawler belt driving motor (39) is connected with the power input end of the speed reducer (39), and the power output end of the speed reducer (39) is in driving connection with the crawler belt driving wheel (1) through a second coupling (40).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910232801.3A CN109808529B (en) | 2019-03-26 | 2019-03-26 | Walking unit of unmanned water spraying robot and method thereof |
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| CN201910232801.3A CN109808529B (en) | 2019-03-26 | 2019-03-26 | Walking unit of unmanned water spraying robot and method thereof |
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| CN109808529A CN109808529A (en) | 2019-05-28 |
| CN109808529B true CN109808529B (en) | 2023-10-27 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106020188A (en) * | 2016-05-17 | 2016-10-12 | 杭州申昊科技股份有限公司 | Substation patrol robot autonomous charging method based on laser navigation |
| CN107193277A (en) * | 2017-05-05 | 2017-09-22 | 宁波华狮智能科技有限公司 | Autonomous detects the fire-fighting robot and control method of fire extinguishing automatically |
| CN108598783A (en) * | 2018-03-26 | 2018-09-28 | 浙江大学 | A kind of electric bus charging connector device |
| CN109011276A (en) * | 2018-06-08 | 2018-12-18 | 白社伟 | A kind of building intelligence fire-fighting system and its fire-fighting mode |
| CN109303994A (en) * | 2018-09-28 | 2019-02-05 | 山东阿图机器人科技有限公司 | A kind of fire inspection firefighting robot and its working method |
| CN210000150U (en) * | 2019-03-26 | 2020-01-31 | 西安工业大学 | walking mechanism capable of automatically extending out of charging connector |
-
2019
- 2019-03-26 CN CN201910232801.3A patent/CN109808529B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020188A (en) * | 2016-05-17 | 2016-10-12 | 杭州申昊科技股份有限公司 | Substation patrol robot autonomous charging method based on laser navigation |
| CN107193277A (en) * | 2017-05-05 | 2017-09-22 | 宁波华狮智能科技有限公司 | Autonomous detects the fire-fighting robot and control method of fire extinguishing automatically |
| CN108598783A (en) * | 2018-03-26 | 2018-09-28 | 浙江大学 | A kind of electric bus charging connector device |
| CN109011276A (en) * | 2018-06-08 | 2018-12-18 | 白社伟 | A kind of building intelligence fire-fighting system and its fire-fighting mode |
| CN109303994A (en) * | 2018-09-28 | 2019-02-05 | 山东阿图机器人科技有限公司 | A kind of fire inspection firefighting robot and its working method |
| CN210000150U (en) * | 2019-03-26 | 2020-01-31 | 西安工业大学 | walking mechanism capable of automatically extending out of charging connector |
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| CN109808529A (en) | 2019-05-28 |
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