CN112850537A

CN112850537A - Maintenance charging dock for track robot

Info

Publication number: CN112850537A
Application number: CN202110216334.2A
Authority: CN
Inventors: 谷湘煜; 李德蔺; 王冬丽; 鲜开义; 彭志远; 徐劲莉
Original assignee: Shenzhen Launch Digital Technology Co Ltd
Current assignee: Shenzhen Launch Digital Technology Co Ltd
Priority date: 2021-02-26
Filing date: 2021-02-26
Publication date: 2021-05-28

Abstract

The invention provides a maintenance charging dock for a track robot, which relates to the technical field of inspection equipment maintenance and comprises a charging system, a lifting system and a supporting system, wherein the charging system comprises a charging rack, a lifting rack and a lifting rack; the charging system is arranged at the same height as the track where the robot is located and can be in butt joint with the robot to realize robot charging; the lifting system is used for conveying the robot between the track and the ground; and the supporting system is used for bearing the charging system and the lifting system and is provided with a climbing mechanism. The charging device aims at solving the technical problems that the robot in the prior art still needs to slide to the ground through a ramp, the occupied space of the ramp is large, the electric power of the robot is wasted, meanwhile, the robot can be maintained and disassembled conveniently, and the mounting and the unloading are smoothly realized.

Description

Maintenance charging dock for track robot

Technical Field

The invention relates to the technical field of inspection equipment maintenance, in particular to a maintenance charging dock for a track robot.

Background

With the development of mobile robot technology, the inspection robot is more and more widely applied to various industries such as electric power industry, security industry and the like. The rail-mounted robot has the advantages of small volume, light weight, high moving speed and high visual field position, so the rail-mounted robot has wide industrial application in the industries of electric power, chemical engineering, petroleum and the like. The rail-mounted robot relies on the overhead track operation to patrol and examine, put out a fire work etc. and need regularly charge, therefore it is very necessary to set up the robot dock that charges at the track end. Along with the development of the industry, the charging dock not only needs to meet the charging requirements of the robot, but also needs to meet various requirements for maintaining the robot in the charging dock, protecting the robot in severe weather and the like.

1. The tradition adopts and sets up in the dock that charges on ground, when the robot returns to charge, descend to ground height through one section slope track, reentrant dock that charges, the benefit of this kind of dock that charges is that the robot stops near ground, the ground personnel of being convenient for maintain, but the robot will descend to ground from high altitude overhead track, need set up very long one section slope track, occupy very big area, stand in the pipeline, the oil of complicacy, be not suitable for among the application environment such as chemical industry factory, the robot charges the back and need climb and just can begin to patrol and examine behind very long one section slope, extravagant partial electric quantity.

2. Traditionally, an overhead charging dock is used, and the height of the charging dock is the same as that of the track. The robot does not need to climb up and down when entering and exiting the charging dock. But it is difficult for ground personnel to board an overhead charging dock to maintain the robot. It is very difficult when it is necessary to unload the robot from the rail to the ground for maintenance or load the robot onto the rail.

Disclosure of Invention

The invention aims to provide a maintenance charging dock for a track robot, and aims to solve the technical problems that in the prior art, the robot needs to slide to the ground through a ramp when being charged, the ramp occupies a large space and wastes the electric power of the robot, and meanwhile, the maintenance and the disassembly of the robot can be very convenient, and the mounting and the unloading can be smoothly realized.

In order to achieve the purpose, the invention adopts the technical scheme that: provided is a service charging dock for a rail robot, including:

the charging system is arranged at the same height as the track where the robot is located and can be in butt joint with the robot to realize robot charging;

a lifting system for transporting the robot between the track and the ground; and

and the supporting system is used for bearing the charging system and the lifting system and is provided with a climbing mechanism.

Further, the charging system comprises a first extension rail which is in butt joint with the robot running rail and a charging device arranged on the first extension rail, and the first extension rail is suspended on the supporting system.

Further, the lifting system comprises a lifting frame and a pulley assembly driving the lifting frame to lift, and the lifting frame is provided with a second extension rail capable of being in butt joint with the first extension rail.

Furthermore, the lifting frame is provided with a positioning frame, a fixing frame is arranged on the supporting system, and when the lifting frame is lifted to a preset height, the positioning frame is inserted into the fixing frame, so that the lifting frame is positioned.

Further, the sheave assembly includes:

the driving winch is arranged on the supporting system;

the fixed pulley is arranged on the supporting system;

at least two movable pulleys are arranged on the lifting frame; and

and the cable is wound on the driving winch, and the winding end of the cable is fixedly connected on the supporting system after sequentially passing around the fixed pulley and the movable pulley.

Further, the support system comprises:

the supporting frame is arranged on the ground;

the house body is arranged on the supporting frame, and the charging system and the lifting system are arranged in the house body; and

climbing mechanism for the cat ladder, connects in support frame one side, extends to the room body from ground.

Further, the house body is composed of wall panels, a roof, a floor and railings, wherein the floor is provided with a flap door which can be opened only upwards.

Further, the second extends rail lug connection or connects through coupling mechanism the below of locating rack, when the crane rises to predetermineeing the height and when fixing a position, first extension rail and second extend the rail automatic alignment, and connect the back, the robot can freely remove between first extension rail and second extension rail, locating rack and coupling mechanism can dodge the robot and extend the rail removal along the second.

Furthermore, the locating rack is provided with a U-shaped part, the fixing rack is U-shaped, and the U-shaped part enters the fixing rack to be inserted and combined and is relatively fixed by means of a bolt.

Furthermore, the second extension rail is provided with a jack, a pin shaft capable of being pulled out and inserted is matched with the jack and used for limiting the movement of the robot, and the first extension rail is connected with the supporting system through a suspension structure.

The overhauling charging dock for the track robot has the advantages that: compared with the prior art, charging system and the operation track of robot are equal high, can avoid the robot to carry out the operation of going up the downhill path when charging, can directly charge at equal height place, avoided setting up slope track occupation space to set up braced system, and have the climbing mechanism, workman's accessible climbing is to predetermined height, maintains the robot, when needing the robot to fall ground, can realize through operating system, has made things convenient for the maintenance of robot greatly.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a service charging dock for a rail robot according to an embodiment of the present invention;

fig. 2 is a schematic view of a connection structure between a service charging dock for a rail robot and a robot rail according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a supporting frame according to an embodiment of the present invention;

fig. 4 is a schematic disassembled structural view of a service charging dock for a rail robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a lifting system according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a charging system according to an embodiment of the present invention.

In the figure: 1. the automatic lifting device comprises a first extension rail, a second extension rail, a lifting frame, a positioning frame, a fixing frame, a driving winch, a fixed pulley, a movable pulley, a cable, a supporting frame, a room body, a ladder stand, a C-shaped plate, a bolt, a pin shaft, a collision avoidance frame, a transverse pipe, a screw rod, a connector and a charging device, wherein the first extension rail is 2, the second extension rail is 3, the lifting frame is 4, the fixing frame is 5, the driving winch is 6, the fixed pulley is 7, the movable pulley is 8, the cable is.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 to 6, the overhauling charging dock for the rail robot provided by the present invention includes a charging system, a lifting system, and a supporting system; the charging system is arranged at the same height as the track where the robot is located and can be in butt joint with the robot to realize robot charging; the lifting system is used for conveying the robot between the track and the ground; the support system is used for bearing the charging system and the lifting system and is provided with a climbing mechanism.

The beneficial effects of this embodiment lie in, compare with prior art, charging system is as high as the orbit of robot, can avoid the robot to carry out the downhill path operation when charging, can directly charge at height, avoided setting up slope track occupation space, and set up braced system, and have climbing mechanism, workman's accessible climbs predetermined height, maintain the robot, when needing the robot to fall ground, can realize through operating system, made things convenient for the maintenance of robot greatly.

Specifically, when the robot needs to charge, just move to the charging system department with the track butt joint, the robot can realize the operation of charging, and the people can reach the department of charging through climbing mechanism to overhaul the robot, when needs fall the robot to ground, accessible operating system realizes.

Referring to fig. 6, as a further preferred embodiment of this embodiment, the charging system includes a first extension rail 1 that is butted with the robot running track, and a charging device 20 disposed on the first extension rail 1, and the first extension rail 1 is suspended on the support system.

The beneficial effects of this embodiment lie in that, because there is first extension rail 1 and the butt joint of robot track, so the robot can directly slide into on first extension rail 1 from the track when the operation, make its mouth that charges and charging device 20's the mouth that charges directly butt joint, realize charging, easy operation convenient and fast.

Specifically, in the present embodiment, the first extension rail 1 and the robot rail have the same cross-sectional shape, and the connection can be directly achieved through seamless docking, and the robot can smoothly run onto the first extension rail 1, specifically, the robot rail is in the shape of a round bar, and then the first extension rail 1 is also in the shape of a round bar, which is not limited herein, because the required rail shapes of different robots may be different.

In addition, the charging device 20 is provided with a charging port that can be inserted into the charging port of the robot after the robot moves. The charging device 20 is a frame-shaped structure with a charging port, and is connected to the first extension rail 1, and a supporting structure for the charging device 20, such as a storage battery, or a wire interface connected to the ground, may be further provided on the supporting system, and is electrically connected to the charging device 20, so that the charging device 20 may be implemented, and the charging device 20 may also be provided with a storage battery, and in any case, the charging mode that can be implemented by those skilled in the art is within the protection scope of the present invention.

As a further preferred embodiment of this embodiment, please refer to fig. 5, the lifting system includes a lifting frame 3 and a pulley assembly for driving the lifting frame 3 to lift, and the lifting frame 3 has a second extension rail 2 capable of being butted with the first extension rail 1.

The beneficial effects of this embodiment lie in, when the robot need descend to ground with the help of operating system, can enter into crane 3, realize through crane 3's lift, the mode that the selected robot of this embodiment got into crane 3 is for sliding into, extend rail 2 and first extension rail 1 butt joint through the second, make the robot move on the second extension rail 2, realized with smooth the sliding into crane 3 department of robot, easy operation is swift convenient, wherein first extension rail 1 and second extension rail 2 can select the hollow tube, then connect both through connector 19, concrete connector 19 can be for both sides diameter equals the extension rail internal diameter, the middle part equals the body that extends the rail external diameter, both sides are pegged graft respectively can.

In addition, the lifting frame 3 is controlled to lift through the pulley assembly, so that the stability is good.

As a further preferred embodiment of this embodiment, please refer to fig. 5, the lifting frame 3 has a positioning frame 4, a fixing frame 5 is disposed on the supporting system, and when the lifting frame 3 is lifted to a preset height, the positioning frame 4 is inserted into the fixing frame 5 to position the lifting frame 3.

Specifically, because the crane 3 is used for ascending and descending in the vertical direction, the position can be changed, so when the height of the robot track is risen, the second extension rail 2 needs to be butted with the first extension rail 1, and at the moment, the crane 3 needs to be positioned, so that the positioning frame 4 is arranged, the position of the positioning frame 4 is limited by inserting the positioning frame 4 into the fixing frame 5, the position of the crane 3 is also limited, and thus, a preset position, namely a preset height, is reached, namely the height just butted with the first extension rail 1 by the second extension rail 2.

Specifically, the fixing frame 5 is suspended on the supporting system in a manner of a rod hanger or the like. Preferably, a transverse pipe 17 is arranged, screw rods 18 are respectively connected to the upper portion and the lower portion of the transverse pipe 17, the screw rod 18 at the lower portion is connected with the fixed frame 5, the screw rod 18 at the upper portion is connected with the supporting system, a nut is screwed after the screw rod 18 penetrates through the transverse pipe 17, and the height of the fixed frame 5 can be adjusted by screwing the nut, so that the positioning height can be adjusted.

The beneficial effects of this embodiment lie in, through the cooperation of locating rack 4 and mount 5, realized crane 3's location, make the second extend rail 2 can realize the butt joint smoothly with first extend rail 1, reached the effect of accurate convenient operation.

As a further preferred embodiment of this embodiment, please refer to fig. 5, in which the pulley assembly includes:

the driving winch 6 is arranged on the supporting system;

the fixed pulley 7 is arranged on the supporting system;

at least two movable pulleys 8 are arranged on the lifting frame 3; and

and the cable 9 is wound on the driving winch 6, and is fixedly connected to the supporting system after sequentially passing around the fixed pulley 7 and the movable pulley 8 at the winding end.

This embodiment specifically provides the preferred embodiment of loose pulley assembly, specifically, drive capstan winch 6 and fixed pulley 7 all connect on braced system through the link, and it is located the top of crane 3, and movable pulley 8 sets up on crane 3, through the rotation of drive capstan winch 6, can realize the rising and the decline of crane 3 to have self-locking function, in order to prevent to rise the in-process robot and fall, movable pulley 8 is two at least, and the interval sets up, the purpose is in order to can hold up crane 3.

The beneficial effects of this embodiment lie in, loose pulley assembly's the form that sets up, the lift of realization crane 3 that can be effectively steady to can realize going up and down with the robot that is on crane 3.

Alternatively, the pulley assembly of the present invention includes, but is not limited to, the present embodiment, and any realizable combination of the fixed pulley 7 and the movable pulley 8 is within the scope of the present invention.

As a further preferred embodiment of this embodiment, referring to fig. 1-4, the supporting system includes:

the support frame 10 is arranged on the ground;

the house body 11 is arranged on the support frame 10, and the charging system and the lifting system are both arranged in the house body 11; and

the climbing mechanism is a ladder stand 12, is connected to one side of the support frame 10 and extends from the ground to the house body 11.

In this embodiment, the effect lies in that, the setting of braced system is in order to reach the orbital height of robot with charging system and operating system, so set up support frame 10 to in order to guarantee the environment that charging system and operating system are located, and set up the room body 11, can keep out the wind and keep out the rain, and climbing mechanism then provides convenient for operating personnel to board on the room body 11, can overhaul etc..

As a further preferred embodiment of this embodiment, the house body 11 is composed of wall panels, a roof, a floor with a flap door that can only be opened upwards, and a railing.

In this embodiment, specifically, the support frame 10 is a frame body formed by connecting a plurality of longitudinal and transverse rod bodies, and the house body 11 is in a modular design and is suitable for routing inspection rails with different heights. The house body 11 includes floor, wall, railing, roof and other structural members.

The floor is provided with a flap door which can be turned up, the flap door is positioned under the lifting system, maintenance personnel can be allowed to enter the charging dock through the ladder stand 12, and meanwhile, the robot is allowed to pass through the floor when the robot is lifted between the ground and the charging dock. After the flap door is closed, a complete space in the dock is formed, and maintenance personnel can have the largest operating space. Because the flap gate can only be opened upwards, the flap gate is difficult to be opened by mistake when operated by personnel, and the flap gate also plays a role in protecting the personnel working aloft.

The wallboard sets up in 11 system both sides in the room body, and is parallel with the track, forms the primary structure of 11 systems in the room body, plays the function of hanging the dock equipment that charges such as block terminal, control box simultaneously.

The railing sets up around 11 systems in the room body, and is perpendicular with the track to only half height of wallboard is used for connecting both sides wallboard and plays the reinforcing effect on the one hand, protects high altitude construction's maintainer on the one hand. While its open upper space allows the robot to freely enter and exit.

The roof is arranged at the top of the 11 system of the house body and plays a role in protecting against rain and snow. Meanwhile, the functions of forming a complete house body 11 structure body, a suspension charging system and a lifting system are also achieved.

As a further preferred embodiment of this embodiment, please refer to fig. 5, the second extension rail 2 is directly connected or connected below the positioning frame 4 through a connection mechanism, when the lifting frame 3 is lifted to a preset height and positioned, the first extension rail 1 and the second extension rail 2 are automatically aligned, and after connection, the robot can freely move between the first extension rail 1 and the second extension rail 2, and the positioning frame 4 and the connection mechanism can avoid the robot to move along the second extension rail 2.

In this embodiment, the extension rail is in the shape of a round bar, the connecting mechanism is a C-shaped plate 13, and the positioning frame 4 is connected through the C-shaped plate 13, which has the effect of avoiding the robot sliding in along the second extension rail 2 without affecting the sliding. When the extension rail adopts other adaptive shapes, a connecting mechanism is not needed, so that the positioning frame 4 does not influence the movement of the robot. For example, when an L-shaped track is used, the vertical section of the L-shaped track is connected to the positioning frame 4, and the horizontal section is used for the movement of the robot.

Alternatively, the C-shaped plate 13 may be in other forms, such as a U-shaped plate, or a frame-shaped plate, which does not interfere with the sliding of the robot.

Referring to fig. 5, as a further preferred embodiment of the present invention, the positioning frame 4 has a U-shaped portion, the fixing frame 5 is U-shaped, and the U-shaped portion enters the fixing frame 5 to be inserted and combined and is relatively fixed by the pin 14.

The embodiment specifically provides a mutual inserting form and shapes of the positioning frame 4 and the fixing frame 5, when the positioning frame 4 rises to a preset height, the U-shaped part of the positioning frame can enter the fixing frame 5 to realize inserting, and the positioning frame and the fixing frame are relatively fixed through the bolt 14 which simultaneously penetrates through the through holes in the positioning frame and the fixing frame.

The device has the advantages of simple and convenient structure and better effect.

As a further preferred embodiment of this embodiment, please refer to fig. 5, the second extension rail 2 is provided with a jack, and is provided with a pin 15 capable of being plugged and unplugged for limiting the movement of the robot, and the first extension rail 1 is connected to the support system through a suspension structure.

In the present embodiment, the suspension structure may be in a suspension form that the fixed frame 5 is suspended on the support system, and in order not to affect the movement of the robot on the first extension rail 1, the suspension structure may be connected to a side portion of the first extension rail 1 through an avoidance frame 16 for avoiding the movement of the robot.

The beneficial effects of this embodiment lie in, when the robot moves to second extension rail 2 on, insert the jack through round pin axle 15 in, can be spacing on the rail with the robot, prevent to continue to slide, then can go up and down, dodge frame 16 and do not influence the robot and remove on first extension rail 1 equally.

The invention has the following beneficial effects: meanwhile, three contradictory requirements of maintaining the robot at high altitude, facilitating the mounting and the unloading of the robot, reducing the occupied area and the like are met. Has the advantages of strong adaptability, simple structure, easy operation and safety.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. Track robot is with overhauing dock that charges, its characterized in that includes:

2. A service charging dock for a rail robot as recited in claim 1, wherein the charging system includes a first extension rail that interfaces with the robot running rail and a charging device disposed on the first extension rail, the first extension rail being suspended from the support system.

3. The service charging dock for a rail robot as recited in claim 2, wherein the lifting system comprises a lifting frame having a second extension rail capable of being docked with the first extension rail, and a pulley assembly for lifting the lifting frame.

4. The overhauling charging dock for the rail robot as set forth in claim 3, wherein the lifting frame has a positioning frame, a fixing frame is provided on the supporting system, and when the lifting frame is lifted to a preset height, the positioning frame is inserted into the fixing frame to position the lifting frame.

5. A service charging dock for a railway robot as recited in claim 3, wherein the pulley assembly comprises:

the driving winch is arranged on the supporting system;

the fixed pulley is arranged on the supporting system;

at least two movable pulleys are arranged on the lifting frame; and

6. A service charging dock for a rail robot as recited in claim 1, wherein the support system comprises:

the supporting frame is arranged on the ground;

7. The service charging dock for a rail robot as recited in claim 6, wherein the room body is comprised of wall panels, a roof, a floor, and a railing, the floor having a flap door that can only be opened upward.

8. The service charging dock for the rail robot as claimed in claim 4, wherein the second extension rail is connected to a position below the positioning frame directly or through a connection mechanism, when the lifting frame is lifted to a predetermined height and positioned, the first extension rail and the second extension rail are automatically aligned, and after the connection, the robot can freely move between the first extension rail and the second extension rail, and the positioning frame and the connection mechanism can prevent the robot from moving along the second extension rail.

9. An access charging dock for a railway robot as recited in claim 4 wherein the locating bracket has a U-shaped portion and the mounting bracket is U-shaped, the U-shaped portion being inserted into the mounting bracket and secured relative thereto by a pin.

10. An overhaul charging dock for a rail robot as claimed in claim 3 wherein the second extension rail is provided with a jack and a pin for limiting movement of the robot, the first extension rail is connected to the support system by a suspension structure.