CN113696768A - Automatic charging device of tracked robot - Google Patents

Automatic charging device of tracked robot Download PDF

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Publication number
CN113696768A
CN113696768A CN202111202870.3A CN202111202870A CN113696768A CN 113696768 A CN113696768 A CN 113696768A CN 202111202870 A CN202111202870 A CN 202111202870A CN 113696768 A CN113696768 A CN 113696768A
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China
Prior art keywords
axis
fixed
moving plate
assembly
axis moving
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Granted
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CN202111202870.3A
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Chinese (zh)
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CN113696768B (en
Inventor
张嘉栩
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TIANJIN SANTE ELECTRONICS CO Ltd
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TIANJIN SANTE ELECTRONICS CO Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • 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
    • 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
    • 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
    • Y02T90/12—Electric charging stations
    • 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
    • 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
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an automatic charging device of a crawler robot, which comprises a power supply assembly fixed at a charging position and a power receiving assembly fixed on a vehicle-mounted robot, wherein the power supply assembly is arranged on the power supply assembly; the power supply assembly comprises an electrode pushing assembly, a Z-axis adjusting assembly, a Y-axis adjusting assembly, a theta-axis adjusting assembly and two distance measuring sensors, wherein the electrode pushing assembly, the Z-axis adjusting assembly, the Y-axis adjusting assembly, the theta-axis adjusting assembly and the two distance measuring sensors are arranged in a protective cover; the power receiving assembly comprises a regression sensor reflection window, two Z-axis sensors and two charging contacts, wherein the regression sensor reflection window, the two Z-axis sensors and the two charging contacts are arranged in a protective shell; the device is reasonable in design, can realize the automatic butt joint of the power receiving assembly positioned on the vehicle-mounted robot and the charging assembly positioned at the charging position, and can meet the dustproof and waterproof requirements through the protection of the protective cover in a non-charging state; no matter in quick adjustment position deviation still all obtain effective promotion in the protection of charging electrode, the power supply efficiency is high, long service life, the security performance is good.

Description

Automatic charging device of tracked robot
Technical Field
The invention relates to the technical field of automatic charging devices of tracked robots, in particular to an automatic charging device of a tracked robot.
Background
With the popularization of industrial robots, more and more manual work is replaced by industrial robots, especially in high-risk and high-risk stations. And the industrial robot has automatic endurance and fixed-point endurance functions, can realize 24-hour uninterrupted work, and greatly improves the operating efficiency. Industrial robots are of many types and are classified into rail type, foot type, crawler type and the like according to a walking mode. The robot adopting the rail type and the foot type walking has higher requirements on working space and terrain, but the field environment of an industrial place is more complex, the requirement on the terrain is lower for the crawler belt, and the robot has good adaptability, so that the robot mostly adopts the walking mode of the crawler belt when facing some complex working environments. But because of receiving the influence of track differential structure, the robot then can't accomplish accurate location to appointed place when needs charge, need adjust the robot position repeatedly and just can accomplish the work of charging to influence charge efficiency. In addition, in a severe working environment, such as a humid working environment or other special conditions, the charging device is prone to form water droplets or generate static electricity, and the water droplets and the static electricity are prone to cause short circuit or burning loss of the charging device, so the charging device also needs to be effectively protected in terms of dust prevention and water prevention.
Disclosure of Invention
The invention aims to provide an automatic charging device for a tracked robot, which solves the problem that the charging position of the tracked robot cannot be accurately positioned.
Therefore, the technical scheme of the invention is as follows:
an automatic charging device for a crawler robot comprises a power supply assembly fixed at a charging position and a power receiving assembly fixed on a vehicle-mounted robot; the power supply assembly comprises an electrode pushing assembly, a Z-axis adjusting assembly, a Y-axis adjusting assembly, a theta-axis adjusting assembly and two distance measuring sensors, wherein the electrode pushing assembly, the Z-axis adjusting assembly, the Y-axis adjusting assembly, the theta-axis adjusting assembly and the two distance measuring sensors are arranged in a protective cover; the power receiving assembly comprises a regression sensor reflection window, two Z-axis sensors and two charging contacts, wherein the regression sensor reflection window, the two Z-axis sensors and the two charging contacts are arranged in a protective shell;
the theta axis adjusting component comprises a rotary table transfer piece, a rotary table motor and a theta axis fixing plate; the theta axis fixing plate is horizontally fixed on the inner side of the protective cover, and is provided with an opening for fixedly mounting the rotary table; the output end of the rotary table motor is connected with the bottom input end of the rotary table so as to drive the rotary platform of the rotary table to rotate for 360 degrees, and the rotary platform is fixed at the center of the bottom surface of the rotary piece in the rotary table;
the Y-axis adjusting assembly comprises a Y-axis moving plate, two linear guide rails and a belt transmission mechanism; the Y-axis moving plate is a rectangular plate provided with strip-shaped through holes along the long edge direction of the Y-axis moving plate, the Y-axis moving plate is vertically arranged, and the long edge of one side of the Y-axis moving plate is fixed on the rotary table transfer piece; the linear guide rails are composed of slide rails and slide blocks matched with the slide rails, and the slide rails of the two linear guide rails are respectively fixed on two long side sides of the Y-axis moving plate along the long side direction of the Y-axis moving plate; the belt transmission mechanism is fixed on the front side plate surface of the Y-axis moving plate;
the Z-axis adjusting component comprises a Z-axis moving plate, two sets of driving mechanisms, a locking block and a tooth-shaped pressing plate; the Z-axis moving plate is arranged on the front side of the Y-axis moving plate in a manner of being parallel to the Y-axis moving plate, and the back surface of the Z-axis moving plate is fixed on the two sliders of the linear guide rail; the locking block is fixed on the back of the Z-axis moving plate, and the tooth-shaped pressing plate is fixed on the locking block and connected with a synchronous belt in the belt transmission mechanism, so that the Z-axis moving plate moves in a reciprocating manner along the long edge direction of the Y-axis moving plate under the driving of the synchronous belt; the two sets of driving mechanisms are symmetrically arranged on the Z-axis moving plate, each set of driving mechanism comprises a shaped plate and a second cylinder, and the shaped plates are arranged in an inverted manner and are arranged on the front side of the Z-axis moving plate in a manner of being parallel to the Z-axis moving plate; the second cylinder is arranged on the back of the Z-axis moving plate in a mode of being vertical to the Z-axis moving plate, and a piston rod of the second cylinder penetrates through a through hole formed in the Z-axis moving plate and is connected with the forming plate through threads, so that the second cylinder drives the forming plate to move forwards and backwards;
the electrode pushing assembly consists of two electrode pushing devices which are symmetrically arranged on the front side of the Z-axis moving plate, and an electrode probe is arranged at the front end of each electrode pushing device; each electrode probe is arranged in a mode of moving the plate perpendicularly to the Z axis;
the two charging contacts are arranged in a mode that the charging input ends of the two charging contacts face outwards; two Z axle inductors set up respectively in two adjacent sides of charging contact with the mode that its induction end is towards the outside, return the sensor reflection window set up with two charging contact in the middle of, and set up the window that makes return sensor reflection window, two Z axle inductors and two charging contact and outside intercommunication on the protective housing.
Furthermore, the theta axis adjusting assembly also comprises two theta axis limit switches and a theta axis induction sheet; the theta axis induction sheet is fixed at the zero point position of the theta axis on the bottom surface of the transfer piece in the rotary table, and the two theta axis limit switches are fixed on the theta axis fixing plate and are respectively positioned on two sides of the theta axis induction sheet.
Further, the belt transmission mechanism comprises a positioning wheel, a synchronous belt, a speed reducer, a positioning wheel driving motor and a synchronous wheel; a synchronizing wheel adjusting block; the positioning wheel and the synchronizing wheel are symmetrically arranged on two short sides of the front surface of the Y-axis moving plate and are sleeved in the synchronizing belt to realize synchronous rotation; the speed reducer and the positioning wheel driving motor are arranged on the back of the Y-axis moving plate through the fixing frame and are arranged on the rear side of the positioning wheel; an output shaft of the positioning wheel driving motor is connected with an input end of a speed reducer, the output shaft of the speed reducer is perpendicular to the Y-axis moving plate, and a shaft end penetrates through the Y-axis moving plate and is fixed in a central hole of the positioning wheel so as to drive the positioning wheel to rotate.
Further, the belt transmission mechanism further comprises a synchronous wheel adjusting block, the synchronous wheel adjusting block is installed on the back face of the Y-axis moving plate and arranged on the rear side of the synchronous wheel and used for adjusting the tensity of the synchronous belt.
Furthermore, the Y-axis adjusting assembly also comprises a Y-axis sensing piece and two Y-axis limit switches; two Y-axis limit switches are respectively fixed on the end sides of two ends of a sliding chute on the top surface of the Y-axis moving plate; the Y-axis induction sheet is fixed on the back of the Z-axis moving bottom plate and at the position which is as high as the Y-axis limit switch.
Furthermore, each set of driving mechanism also comprises a floating joint, two type guide sleeves, two shaft sleeves and two guide rods; the rod end of a piston rod of the second cylinder is connected with the shaping plate through a floating joint; the two shaft sleeves are symmetrically arranged in the two through holes formed in the two sides of the shaped plate, the two guide rods are perpendicular to the shaped plate and are respectively inserted into the central holes of the two shaft sleeves, and the two guide sleeves are respectively sleeved on the outer sides of the two guide rods and are fixed on the Z-axis moving plate.
Furthermore, the Z-axis adjusting assembly also comprises a regression sensor fixing part, a regression sensor fixing frame and a regression sensor; the regression sensor fixing piece is simultaneously fixed on the front end faces of the two adjacent guide rods, a regression sensor fixing frame is fixed on the regression sensor fixing piece, and the regression sensor is arranged on the regression sensor fixing frame and is positioned at a position which can be as high as the reflection window of the regression sensor.
Furthermore, each electrode pushing device comprises an electrode protecting sleeve, an electrode probe, a sliding shaft, an electrode guide sleeve, a first adjusting spring, a spring fixing block, a spring guide sleeve, a second adjusting spring, a telescopic shaft and a linear bearing seat; the rear end of the second adjusting spring is sleeved on the outer side of the telescopic shaft in a free state; the spring guide sleeve is connected with the front end of the spring fixing block to form a cavity, so that the first adjusting spring is arranged in the cavity in a free state through the spring guide sleeve; the top of the electrode guide sleeve is provided with a through hole, the rear end of the sliding shaft is movably limited in the electrode guide sleeve and is abutted against the end part and the front end of the first adjusting spring to be connected with an electrode probe, and the outer side of the electrode probe is provided with an electrode protective sleeve.
Furthermore, an opening for installing an outer cover front door is formed in the front side cover body of the protective cover at the arrangement position of the Z-axis adjusting assembly and the Y-axis adjusting assembly, and the outer cover front door is automatically opened and closed through an outer pulley assembly and an inner pulley assembly which are respectively arranged on the outer side surface and the inner side surface of the top surface of the cover body; wherein the content of the first and second substances,
two vertical through groove type rails are symmetrically arranged at the opening end of the cover body, so that the front door of the outer cover is inserted into the two vertical through groove type rails;
the outer pulley component comprises two long support rods which are vertically and symmetrically arranged at the edge of the front side of the top surface of the cover body, two short support rods which are vertically and symmetrically arranged at the rear sides of the two long support rods, two upper cover pulleys which are respectively arranged at the tops of the two long support rods, a second upper cover pulley which is respectively arranged at the tops of the two short support rods, and two steel wire ropes;
the inner pulley assembly comprises a first cylinder and a slide rail which are fixed on the center line of the inner side surface of the top plate of the upper cover body at intervals from back to front in a mode that the axis direction of the inner pulley assembly is vertical to the front door of the outer cover, a pulley block fixing block assembled on the slide rail, two third upper cover pulleys which are symmetrically fixed on two sides of the pulley block fixing block in a mode that the central axis of the third upper cover pulleys is vertical to the top plate of the upper cover body, two fifth upper cover pulleys which are arranged below the second upper cover pulleys in a mode that the central axis of the fifth upper cover pulleys is parallel to the top plate of the upper cover body, and two fourth upper cover pulleys which are arranged behind the two third upper cover pulleys respectively and can be connected with the two fifth upper cover pulleys into a straight line;
one ends of two steel wire ropes are fixed at two steel wire rope clamping heads symmetrically arranged on a front door of the outer cover, and the other ends of the two steel wire ropes are fixed on two sides of a pulley block fixing block after sequentially passing around a first upper cover pulley, a second upper cover pulley, a fifth upper cover pulley, a fourth upper cover pulley and a third upper cover pulley which are positioned on the same side; the pulley block fixed block is connected with the rod end of the push rod of the first air cylinder.
Compared with the prior art, the automatic charging device of the crawler robot is reasonable in design, can realize the automatic butt joint of the power receiving assembly positioned on the vehicle-mounted robot and the charging assembly positioned at the charging position, realizes the automatic charging of the vehicle-mounted robot, and meets the dustproof and waterproof requirements of the charging position by protecting the power supply assembly through the protective cover in the non-charging state; in addition, the device passes through the design of Z axle adjustment subassembly, Y axle adjustment subassembly and theta axle adjustment subassembly to realize receiving the power module and the subassembly that charges and can the quick adjustment position deviation when docking, effectively improved power supply efficiency, and realize the protection to the charging electrode through the design that the electrode pushed the module tightly, effectively promote device's life and safety in utilization performance.
Drawings
Fig. 1 is a schematic structural diagram of an automatic charging device of a tracked robot in a charging state according to the present invention;
fig. 2 is a schematic structural diagram of a housing of a power supply assembly of the automatic charging device for the crawler robot according to the present invention;
FIG. 3 is a schematic view of the installation of a pulley set inside the housing of the power supply assembly of the tracked robot automatic charging device of the present invention;
FIG. 4 is a schematic structural diagram of a power supply assembly of the automatic charging device of the tracked robot according to the present invention;
fig. 5 is a schematic structural view of a front left shaft side of a power supply assembly of the automatic charging device for a crawler robot according to the present invention;
FIG. 6 is an enlarged view of a portion of FIG. 4;
fig. 7 is a schematic structural view of a rear axle side of a power supply assembly of the automatic charging device for a crawler robot according to the present invention;
fig. 8 is a sectional view of an electrode pushing module of the automatic charging device for a crawler robot according to the present invention;
fig. 9 is a top sectional view of a power receiving module of the automatic charging device for a tracked robot according to the present invention.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, which are not intended to limit the invention in any way.
As shown in fig. 1, the automatic charging device for the tracked robot is composed of a power supply component fixed at a charging position and a power receiving component fixed on an on-vehicle robot; wherein the content of the first and second substances,
the power supply assembly is arranged on the inner side of the protective cover, and as shown in fig. 2, the protective cover consists of a cover body and a pulley assembly; the cover body comprises a bracket 1-1e, a lower cover body 1-1c and an upper cover body 1-1a which are arranged in sequence from bottom to top, and all the parts are steel structures; the pulley component consists of an outer pulley component and an inner pulley component; in particular, the amount of the solvent to be used,
the upper cover body 1-1a is a hollow box structure with an opening at the front side, four square tubes 1-1b which are enclosed into a rectangular ring shape are welded and fixed on a bottom plate at the rear side, and the bottom plate of the upper cover body 1-1a positioned in the rectangular ring shape is provided with an opening; two vertical through groove type rails 1-1k are symmetrically arranged at the front opening end of the upper cover body 1-1a, so that a front cover door 1-1j arranged at the opening of the upper cover body 1-1a is inserted into the two vertical through groove type rails 1-1k and can move upwards or downwards along the axially arranged rails, and the front opening of the upper cover body 1-1a is opened or closed;
the lower cover body 1-1c is a hollow box body structure with an opening at the top, the top end of the lower cover body is welded and fixed on four square tubes 1-1b which enclose a rectangular ring shape and is communicated with the inner cavity of the upper cover body 1-1 a; the support 1-1e is composed of four support legs which are respectively welded and fixed at four top corners of a bottom plate 1-1d of the lower cover 1-1 c;
as shown in fig. 2, the outer pulley assembly comprises two first upper cover pulleys 1-1f, two second upper cover pulleys 1-1p, two steel wire ropes 1-1g, two long support rods 1-1h, two short support rods 1-1q and two steel wire rope chucks 1-1 i; specifically, two long support rods 1-1h are vertically and symmetrically arranged at the edge of the front side of the top surface of the upper cover body 1-1a, two short support rods 1-1q are vertically and symmetrically arranged at the rear side of the two long support rods 1-1h, and the bottom ends of the four support rods are welded and fixed on the top plate of the upper cover body 1-1 a; the two upper cover pulleys 1-1f are respectively arranged at the tops of the two long support rods 1-1h, and the two second upper cover pulleys 1-1p are respectively arranged at the tops of the two short support rods 1-1 q; two steel wire rope chucks 1-1i are symmetrically fixed on a front door 1-1j of the outer cover; each steel wire rope 1-1g sequentially rounds a first upper cover pulley 1-1f and a second upper cover pulley 1-1p which are positioned on the same side, one end of each steel wire rope is tied on a steel wire rope clamping head 1-1i which is positioned on the same side, and the other end of each steel wire rope penetrates through a through hole formed in a top plate of the upper cover body 1-1 a; wherein, the through hole is arranged at the adjacent side of the short supporting rod 1-1q positioned at the same side, so that the steel wire rope 1-1g bypassing the second upper cover pulley 1-1p passes through the through hole in a vertical direction or a mode close to the vertical downward direction; as a preferred technical solution of this embodiment, two through holes on the top plate of the upper cover 1-1a are provided with waterproof joints;
as shown in fig. 3, the inner pulley assembly comprises a first cylinder 1-1L, a pulley block fixing block 1-1m, a slide rail 1-1n, two third upper cover pulleys 1-1r, two fourth upper cover pulleys 1-1s and two fifth upper cover pulleys 1-1 t; specifically, the first cylinder 1-1L and the slide rail 1-1n are fixed on the central line of the inner side surface of the top plate of the upper cover body 1-1a at intervals from back to front in a mode that the axial direction of the first cylinder is vertical to the front door 1-1j of the outer cover; the pulley block fixing block 1-1m is assembled on the sliding rail 1-1n and is connected with the rod end of the push rod of the first air cylinder 1-1L, and the pulley block fixing block 1-1m is driven to reciprocate along the axial direction of the sliding rail 1-1n through the reciprocating telescopic motion of the push rod of the first air cylinder 1-1L; the two third upper cover pulleys 1-1r are symmetrically fixed on two sides of the pulley block fixing block 1-1m in a mode that the central axis of each third upper cover pulley is vertical to the top plate of the upper cover body 1-1 a; the two fifth upper cover pulleys 1-1t are respectively arranged at two through holes of the top plate of the upper cover body 1-1a, and the fifth upper cover pulleys and the through holes are symmetrically fixed on the inner side surface of the top plate of the upper cover body 1-1a in a manner that the central axis of the fifth upper cover pulleys is parallel to the top plate of the upper cover body 1-1 a; the two fourth upper cover pulleys 1-1s are respectively arranged behind the two third upper cover pulleys 1-1r and can be connected with the two fifth upper cover pulleys 1-1t to form a straight line, and the two are respectively and symmetrically fixed on the inner side surface of the top plate of the upper cover body 1-1a in a manner that the central axis of the two fourth upper cover pulleys is vertical to the top plate of the upper cover body 1-1 a;
the other ends of the two steel wire ropes 1-1g respectively pass through holes formed in a top plate of the upper cover body 1-1a, then sequentially pass around a fifth upper cover pulley 1-1t, a fourth upper cover pulley 1-1s and a third upper cover pulley 1-1r which are positioned on the same side, and then are fixed on a pulley block fixing block 1-1m through a steel wire rope clamping head;
when the vehicle-mounted robot needs to be charged, a push rod of a first air cylinder 1-1L extends outwards to push a pulley block fixing block 1-1m to move towards the front side of an upper cover body 1-1a along a sliding rail 1-1n, and then two steel wire ropes 1-1g are pulled to lift a front door 1-1j of the upper cover body upwards, so that an opening at the front side of the upper cover body 1-1a is opened; when the vehicle-mounted robot is charged, the push rod of the first air cylinder 1-1L retracts inwards, and under the action of the gravity of the front door 1-1j of the outer cover, the two steel wire ropes 1-1g move reversely, so that the front opening of the front door 1-1j of the outer cover below the front door 1-1j of the outer cover is closed, and the front opening of the upper cover body 1-1a is closed.
In practical application, the distance sensors which can be matched are arranged on the vehicle-mounted robot and the charging assembly and are linked with the first air cylinder 1-1L, so that the front door 1-1j of the outer cover can be automatically opened when the vehicle-mounted robot approaches the charging assembly.
As shown in fig. 4 to 7, the power supply assembly comprises an electrode pushing assembly, a Z-axis adjusting assembly 1-3, a Y-axis adjusting assembly 1-4, a theta-axis adjusting assembly 1-7 and two distance measuring sensors 1-6; wherein the content of the first and second substances,
as shown in fig. 4, 5 and 7, the θ -axis adjusting assembly 1-7 comprises a rotary table middle rotating part 1-7a, two θ -axis limit switches 1-7b, θ -axis induction sheets 1-7c, a rotary table 1-7d, a rotary table motor 1-7e and a θ -axis fixing plate 1-8;
the theta axis fixing plate 1-8 is horizontally arranged, a plurality of mounting holes are formed in the plate surfaces of the two sides of the theta axis fixing plate, so that the theta axis fixing plate 1-8 is arranged on the top surface of the square pipe 1-1b and is fixed on the top surface of the square pipe 1-1b through bolts arranged in the mounting holes; the opening of the bottom plate of the upper cover body 1-1a is fixed on the bottom plate of the upper cover body 1-1a through bolts arranged in the mounting holes;
the rotating part 1-7a in the turntable is of a flat plate structure, is parallel to the theta axis fixing plate 1-8 and is arranged above the theta axis fixing plate 1-8; a through hole with the size matched with that of the rotary table 1-7d is formed in the center of the theta shaft fixing plate 1-8, so that a fixing frame of the rotary table 1-7d is fixed on the wall of the through hole, and a rotary platform with the top end capable of freely rotating is fixed in the center of the bottom surface of a rotary piece 1-7a in the rotary table; specifically, the rotary tables 1 to 7d adopt coaxial type servo rotary platforms;
the rotary table motors 1-7e are arranged below the theta shaft fixing plates 1-8 in a mode that output shafts of the rotary table motors are vertically upward, and shaft ends of the output shafts of the rotary table motors are connected with input ends at the bottoms of the rotary tables 1-7d, so that the rotary platforms on the rotary tables 1-7d are driven to rotate through the rotary table motors 1-7 e;
as shown in fig. 6, the θ -axis sensing pieces 1 to 7c are fixed at the center line position on the bottom surface of the rotating member 1 to 7a in the turntable, and usually, the initial position of the output shaft of the turntable motor 1 to 7e is set as the zero position of the θ -axis, and in practical application, the zero position can be calculated by the distance between 2 θ -axis limit switches 1 to 7b, two θ -axis limit switches 1 to 7b are fixed on the upper surface of the θ -axis fixing plate 1 to 8 and respectively located at two sides of the θ -axis sensing pieces 1 to 7c, and the current position is determined by sensing the rotation angle of the θ -axis;
specifically, in the present embodiment, the θ -axis sensing pieces 1 to 7c are sheet metal workpieces made of SUS 304; the theta axis limit switch adopts a T-shaped photoelectric sensor; in practical application, the working principle of mutual induction between the theta axis induction sheet 1-7c and the two theta axis limit switches 1-7b is as follows: the theta-axis limit switches 1-7b are T-shaped and are opposite photoelectric sensors with U-shaped grooves, photoelectric signals are opposite transmitted in the U-shaped grooves, and when the theta-axis induction sheets 1-7c slide into the U-shaped grooves to block the photoelectric signals from being normally received, the sensors can send pulse signals to a PLC (programmable logic controller) for controlling the whole device to operate, so that the PLC executes a stop or next step program.
As shown in fig. 5 and 7, the Y-axis adjusting assembly 1-4 includes a Y-axis moving plate 1-4a, two linear guide rails, a positioning wheel 1-4d, a synchronous belt 1-4e, a speed reducer 1-4f, a positioning wheel driving motor 1-4g, a synchronous wheel 1-4h, a synchronous wheel adjusting block 1-4j, a Y-axis sensing piece 1-4L, and two Y-axis limit switches 1-4 k; in particular, the amount of the solvent to be used,
the Y-axis moving plate 1-4a is a rectangular plate provided with strip-shaped through holes along the long side direction, is vertically arranged on the rotary table transfer piece 1-7a in a mode of being perpendicular to the rotary table transfer piece 1-7a, and is fixed on the rotary table transfer piece 1-7a through three L-shaped fixed blocks 1-4i arranged at the bottom long side of the back of the Y-axis moving plate 1-4a at intervals;
the linear guide rail is composed of slide rails 1-4c and slide blocks 1-4b matched with the slide rails 1-4c, and the slide blocks 1-4b are arranged on the slide rails 1-4c and can reciprocate along the axial direction of the slide rails 1-4 c; the two slide rails 1-4c are respectively arranged along the long side direction of the Y-axis moving plate 1-4a and are respectively fixed at the upper long side and the lower long side of the front surface of the Y-axis moving plate 1-4a, so that the slide blocks 1-4b arranged on the slide rails 1-4c can reciprocate along the long side direction of the Y-axis moving plate 1-4 a;
the positioning wheels 1-4d and the synchronizing wheels 1-4h are symmetrically arranged on two short sides of the front surface of the Y-axis moving plate 1-4a and can be rotatably arranged on the Y-axis moving plate 1-4a, and the positioning wheels and the synchronizing wheels are sleeved in the synchronizing belts 1-4e to realize synchronous rotation; the synchronous wheel adjusting blocks 1-4j and the synchronous wheels 1-4h are oppositely arranged on the back of the Y-axis moving plate 1-4a so as to adjust the tension degree of the synchronous belts 1-4 e;
the speed reducers 1 to 4f and the positioning wheel driving motors 1 to 4g are arranged on the back of the Y-axis moving plate 1 to 4a through a fixed frame and are arranged on the rear sides of the positioning wheels 1 to 4 d; the output shafts of the positioning wheel driving motors 1-4g are connected with the input ends of the speed reducers 1-4f, the output shafts of the speed reducers 1-4f are arranged perpendicular to the Y-axis moving plates 1-4a, and the shaft ends penetrate through the Y-axis moving plates 1-4a and are fixed in central holes of the positioning wheels 1-4d so as to drive the positioning wheels 1-4d to rotate;
a sliding groove is fixed on the top surface of the Y-axis moving plate 1-4a along the long side direction, and two Y-axis limit switches 1-4k are respectively fixed on the end sides of the two ends of the sliding groove; the Y-axis induction sheets 1-4L are centrally fixed at the positions, which are on the Z-axis adjusting components 1-3 at the front side and have the same height with the Y-axis limit switches 1-4 k; in the actual use process, the two Y-axis limit switches 1-4k can judge whether the Y axis is at the zero point position by sensing the positions of the Y-axis sensing pieces 1-4;
wherein, the Y-axis induction sheet 1-4L is a metal plate workpiece made of SUS 304; the Y-axis limit switch adopts a T-shaped photoelectric sensor; in practical application, the working principle of mutual induction between the Y-axis induction sheets 1-4L and the two Y-axis limit switches 1-4k is as follows: the Y-axis limit switches 1-4k are T-shaped and are provided with the correlation photoelectric sensors with U-shaped grooves, photoelectric signals are transmitted in the U-shaped grooves in a correlation mode, when the Y-axis induction sheets 1-4L slide into the U-shaped grooves to block the photoelectric signals to normally receive, the sensors can send pulse signals to a PLC (programmable logic controller) which controls the whole device to operate, and the PLC is enabled to execute a stop or next step program.
As shown in fig. 4, 5 and 7, the Z-axis adjusting assembly 1-3 comprises a Z-axis moving plate 1-3a, two sets of driving mechanisms, regression sensor fixing members 1-3h, regression sensor fixing frames 1-3i, regression sensors 1-3j, tooth-shaped pressing plates 1-3L and locking blocks 1-3 k; wherein the content of the first and second substances,
the Z-axis moving plate 1-3a is arranged on the front side of the Y-axis moving plate 1-4a in a manner of being parallel to the Y-axis moving plate 1-4a, and the back surface of the Z-axis moving plate is fixed on the two sliding blocks 1-4b, so that the Z-axis moving plate can reciprocate relative to the Y-axis moving plate 1-4a along the axial direction of the sliding rails 1-4 c; the Y-axis induction sheet 1-4 is fixed at the back of the Z-axis moving bottom plate 1-3a and at the position which is as high as the Y-axis limit switch 1-4 k;
the two driving mechanisms are symmetrically arranged on the Z-axis moving plate 1-3 a; each driving mechanism comprises T-shaped plates 1-3b, floating joints 1-3c, a second cylinder 1-3d, two T-shaped guide sleeves 1-3e, two shaft sleeves 1-3f and two guide rods 1-3 g; in particular, the amount of the solvent to be used,
the T-shaped plates 1-3b are arranged in an inverted mode and are arranged on the front sides of the Z-axis moving plates 1-3a in a mode of being parallel to the Z-axis moving plates 1-3 a; the two shaft sleeves 1-3f are symmetrically arranged in two through holes formed in two sides of the T-shaped plate 1-3b, the two guide rods 1-3g are perpendicular to the T-shaped plate 1-3b and are respectively inserted into central holes of the two shaft sleeves 1-3f, and the two T-shaped guide sleeves 1-3e are respectively sleeved on the outer sides of the two guide rods 1-3g and are fixed on the Z-axis moving plate 1-3 a;
the second cylinder 1-3d is arranged on the back of the Z-axis moving plate 1-3a in a mode of being vertical to the Z-axis moving plate 1-3a, a piston rod of the second cylinder penetrates through a through hole formed in the Z-axis moving plate 1-3a and is connected with a floating joint 1-3c which is in threaded connection with the back of the upper side of the T-shaped plate 1-3b, and the T-shaped plate 1-3b moves back and forth along the horizontal direction under the driving of the second cylinder 1-3 d;
the end faces of the front ends of two guide rods 1-3g which are positioned at adjacent positions on the two driving mechanisms are fixedly provided with regression sensor fixing pieces 1-3h, regression sensor fixing frames 1-3i are fixed on the regression sensor fixing pieces 1-3h through screws, regression sensors 1-3j are arranged on the regression sensor fixing frames 1-3i, and the setting heights of the regression sensors are consistent with the setting heights of the regression sensor reflecting windows;
the locking blocks 1-3k are arranged on the back of the Z-axis moving plate 1-3a, the tooth-shaped pressing plates 1-3L are fixed on the locking blocks 1-3k, the bottom surfaces of the tooth-shaped pressing plates are connected with the synchronous belts 1-4e, so that when the positioning wheels 1-4d drive the synchronous wheels 1-4h to synchronously rotate under the action of the synchronous belts 1-4e, the Z-axis moving plate 1-3a is driven by the synchronous belts 1-4e to reciprocate along the long side direction of the Y-axis moving plate 1-4 a.
As shown in fig. 8, the electrode pushing assembly is composed of two electrode pushing devices 1-2, which are symmetrically arranged at the front side of the Z-axis moving plate 1-3a in a manner that the axes of the two electrode pushing devices are perpendicular to the Z-axis moving plate 1-3 a; each electrode pushing device 1-2 comprises an electrode protecting sleeve 1-2a, an electrode probe 1-2b, a connecting block 1-2c, a fixing flange 1-2d, a sliding shaft 1-2e, an electrode guide sleeve 1-2f, a first adjusting spring 1-2g, a spring fixing block 1-2h, a spring guide sleeve 1-2i, a second adjusting spring 1-2j, a telescopic shaft 1-2k and a linear bearing seat 1-2L; in particular, the amount of the solvent to be used,
the linear bearing blocks 1-2L are arranged in through holes formed in the centers of the T-shaped plates 1-3b, the rear ends of the telescopic shafts 1-2k are inserted into the central holes of the linear bearing blocks 1-2L, and the end faces of the rear ends of the telescopic shafts are fixed on the Z-axis moving plates 1-3 a; the second adjusting spring 1-2j is sleeved outside the telescopic shaft 1-2k in a free state, and the rear end of the second adjusting spring abuts against the front end face of the linear bearing seat 1-2L;
the spring fixing block 1-2h is a cylinder structure with the upper inner diameter larger than the lower inner diameter, and an annular step is formed at the diameter-variable position; the lower part of the spring fixing block 1-2h is in threaded connection with the front end of the telescopic shaft 1-2k, so that the front end of the second adjusting spring 1-2j is sleeved outside the lower part of the spring fixing block 1-2h and abuts against the lower end face of the annular step;
the spring guide sleeve 1-2i is of a cylinder structure, the outer wall of the bottom end of the spring guide sleeve is inwards sunken and forms an annular step; the outer diameter of the spring guide sleeve 1-2i is matched with the inner diameter of the upper part of the spring fixing block 1-2h, so that the spring guide sleeve is sleeved on the inner side of the upper part of the spring fixing block 1-2h, and the lower end face of the annular step on the outer wall of the spring guide sleeve is in press fit with the top face of the spring fixing block 1-2 h; the first adjusting spring 1-2g is arranged at the inner side of the spring guide sleeve 1-2i in a free state, and the bottom end of the first adjusting spring abuts against the upper end face of the annular step on the spring fixing block 1-2 h;
the electrode guide sleeve 1-2f is a cylinder structure with a closed top and an opening at the bottom, and the bottom end of the electrode guide sleeve is sleeved on and in threaded connection with the outer wall of the top end of the spring fixing block 1-2 h; an axial through hole is formed in the center of the top surface of the electrode guide sleeve 1-2f, so that the sliding shaft 1-2e can be inserted into the axial through hole; the rear end of the sliding shaft 1-2e is provided with an annular flange, so that the sliding shaft 1-2e is limited in the electrode guide sleeve 1-2f through the annular flange and can perform telescopic motion relative to the electrode guide sleeve 1-2f, the top end of the first adjusting spring 1-2g is abutted against the end surface of the rear end of the electrode guide sleeve 1-2f, and the sliding shaft 1-2e completely extends out of the electrode guide sleeve 1-2f in the initial state;
the fixed flanges 1-2d are fixed at the front ends of the sliding shafts 1-2e through shaft sleeve threads, and the connecting blocks 1-2c are fixed on the end faces of the front ends of the fixed flanges 1-2d through a plurality of bolts arranged in flange holes of the fixed flanges 1-2 d; an axial through hole is formed in the center of the connecting block 1-2c, and the rear end of the electrode probe 1-2b is inserted and fixed in the axial through hole of the connecting block 1-2 c; the electrode protection sleeve 1-2a is coaxially arranged at the front end of the connecting block 1-2c and is fixedly connected with the connecting block 1-2c into a whole through a plurality of screws arranged along the circumferential direction, and the front end of the electrode protection sleeve 1-2a is flush with or slightly exceeds the front end of the electrode probe 1-2b so as to protect the electrode probe 1-2b from being damaged.
After the two electrode pushing devices 1-2 are structurally designed to achieve the purpose that the robot reaches a charging position, because the distance between charging and receiving power at each time is not fixed, position distance errors possibly existing in the Z-axis direction can be offset by utilizing the first adjusting spring, the second adjusting spring and the sliding shaft on the device, the effect of buffering and supporting a charging chamber to keep contact all the time in the charging process is achieved by pressing the springs, damage to the electrode probes 1-2b is avoided, and meanwhile, damage such as arc discharge and the like caused by unrealistic contact between the electrodes cannot occur in the charging process.
As shown in FIGS. 4 and 5, two distance measuring sensors 1-6 are symmetrically fixed on the front surface of the Z-axis moving plate 1-3a near the upper side edge by two L-shaped brackets 1-5.
As shown in fig. 9, the power receiving module includes a retro-reflective sensor window 2-1, two Z-axis sensors 2-2, and two charging contacts 2-3 disposed in a protective case; in particular, the amount of the solvent to be used,
the protective shell is fixed on a mounting frame body of the vehicle-mounted robot; the two charging contacts 2-3 are fixed in the protective shell in a mode that the charging input ends of the two charging contacts face outwards, and the power transmission ends of the two charging contacts are electrically connected with a storage battery on the vehicle-mounted robot; the two Z-axis sensors 2-2 are respectively arranged and fixed at the adjacent sides of the two charging contacts 2-3 in a mode that the sensing ends of the two Z-axis sensors face the outer side so as to sense whether the electrode probes 1-2b are in place or not; the regression sensor reflection window 2-1 is arranged between the two charging contacts 2-3 and is a pair of matched components with the regression sensor 1-3j so as to receive signals sent by the regression sensor 1-3j and transmit the signals back to the sensor; a window is arranged on a protective shell provided with a regression sensor reflection window 2-1, a Z-axis sensor 2-2 and a charging contact 2-3.
The working principle of the automatic charging device for the crawler robot is as follows:
when the vehicle-mounted robot needs to be charged, the vehicle-mounted robot starts to run to a charging position, and two charging contacts 2-3 of the power receiving assembly and two electrode probes of the power supply assembly located at the charging position are aligned in position; since the in-vehicle robot generally travels in a straight line in the process of coming close to the charging position, therefore,
when the vehicle-mounted robot starts to approach the power supply assembly, a front door 1-1j of the outer cover can be opened, the orientation and the horizontal position of the electrode pushing assembly are adjusted by driving a rotary table motor of the theta axis adjusting assembly 1-7 and a positioning wheel driving motor 1-4g of the Y axis adjusting assembly 1-4 to rotate until a reflecting window 2-1 of the regression sensor can receive a signal sent by the regression sensor 1-3j and transmit the signal back to the sensor;
then, a push rod of a second air cylinder 1-3d on the Z-axis adjusting component 1-3 is driven to extend to push a T-shaped plate 1-3b to compress a second adjusting spring so as to deal with the situation that the distance between the power receiving component and the power supply component is too close due to distance errors, buffering is realized, and the electrode probe 1-2b is protected; when the charging component and the power receiving component are in butt joint, charging can be started; after charging is completed, the vehicle-mounted robot immediately moves away from the working position.
After the vehicle-mounted robot is charged and leaves, the theta axis adjusting assembly 1-7 and the Y axis adjusting assembly 1-4 do not need to be restored to the initial state; when the vehicle-mounted robot needs to be charged again, the rotation angle of the current theta-axis adjusting assembly 1-7 relative to the zero point position can be determined based on the theta-axis limit switches 1-7b and one theta-axis induction sheet 1-7c in the theta-axis adjusting assembly 1-7, the current position of the Z-axis moving plate 1-4a is determined by the Y-axis induction sheet 1-4L and two Y-axis limit switches 1-4k in the Y-axis adjusting assembly 1-4, and then the fine adjustment mode and direction are determined until the charging assembly can be in butt joint with the power receiving assembly.
In the practical application process, each driving part can be automatically regulated and controlled in a program design mode, and then the vehicle-mounted robot can automatically run to the power receiving assembly to be charged.

Claims (9)

1. The automatic charging device for the crawler robot is characterized by comprising a power supply assembly fixed at a charging position and a power receiving assembly fixed on a vehicle-mounted robot; the power supply assembly comprises an electrode pushing assembly, a Z-axis adjusting assembly (1-3), a Y-axis adjusting assembly (1-4), a theta-axis adjusting assembly (1-7) and two distance measuring sensors (1-6) which are arranged in a protective cover; the power receiving assembly comprises a regression sensor reflection window (2-1), two Z-axis sensors (2-2) and two charging contacts (2-3) which are arranged in a protective shell; wherein the content of the first and second substances,
the theta axis adjusting component (1-7) comprises a rotary table transfer piece (1-7a), a rotary table (1-7d), a rotary table motor (1-7e) and a theta axis fixing plate (1-8); the theta axis fixing plate (1-8) is horizontally fixed on the inner side of the protective cover, and is provided with an opening for fixedly mounting the rotary table (1-7 d); the output end of the rotary table motor (1-7e) is connected with the bottom input end of the rotary table (1-7d), and the rotary platform is fixed at the center of the bottom surface of the rotary piece (1-7a) in the rotary table;
the Y-axis adjusting assembly (1-4) comprises a Y-axis moving plate (1-4a), two linear guide rails and a belt transmission mechanism; the Y-axis moving plate (1-4a) is a rectangular plate provided with strip-shaped through holes along the long edge direction, the Y-axis moving plate is vertically arranged, and the long edge at one side is fixed on the rotating piece (1-7a) of the rotary table; the linear guide rails are composed of slide rails (1-4c) and slide blocks (1-4b) matched with the slide rails (1-4c), and the slide rails (1-4c) of the two linear guide rails are respectively fixed on two long side sides of the Y-axis moving plate (1-4a) along the long side direction of the Y-axis moving plate (1-4 a); the belt transmission mechanism is fixed on the front side plate surface of the Y-axis moving plate (1-4 a);
the Z-axis adjusting assembly (1-3) comprises a Z-axis moving plate (1-3a), two sets of driving mechanisms, a locking block (1-3k) and a tooth-shaped pressing plate (1-3L); the Z-axis moving plate (1-3a) is arranged on the front side of the Y-axis moving plate (1-4a) in a manner of being parallel to the Y-axis moving plate (1-4a), and the back surface of the Z-axis moving plate is fixed on two sliders (1-4b) of the linear guide rail; the locking blocks (1-3k) are fixed on the back of the Z-axis moving plate (1-3a), and the tooth-shaped pressing plates (1-3L) are fixed on the locking blocks (1-3k) and connected with synchronous belts (1-4e) in the belt transmission mechanism; the two sets of driving mechanisms are symmetrically arranged on the Z-axis moving plate (1-3a), each set of driving mechanism comprises a T-shaped plate (1-3b) and a second cylinder (1-3d), and the T-shaped plates (1-3b) are arranged in an inverted manner and are arranged on the front side of the Z-axis moving plate (1-3a) in a manner of being parallel to the Z-axis moving plate (1-3 a); the second cylinder (1-3d) is arranged on the back of the Z-axis moving plate (1-3a) in a mode of being vertical to the Z-axis moving plate (1-3a), and a piston rod of the second cylinder penetrates through a through hole formed in the Z-axis moving plate (1-3a) and is connected with the T-shaped plate (1-3b) in a threaded connection mode;
the electrode pushing assembly consists of two electrode pushing devices (1-2), the two electrode pushing devices are symmetrically arranged on the front side of the Z-axis moving plate (1-3a), and the front end of each electrode pushing device (1-2) is provided with an electrode probe (1-2 b); each electrode probe (1-2b) is arranged in a manner of moving the plate (1-3a) perpendicular to the Z axis;
the two charging contacts (2-3) are arranged in a manner that the charging input ends of the two charging contacts face outwards; the two Z-axis inductors (2-2) are respectively arranged at the adjacent sides of the two charging contacts (2-3) in a mode that the induction ends of the two Z-axis inductors face the outer side, the reflection window (2-1) of the regression sensor is arranged between the two charging contacts (2-3), and the protection shell is provided with windows which enable the reflection window (2-1) of the regression sensor, the two Z-axis inductors (2-2) and the two charging contacts (2-3) to be communicated with the outside.
2. The automatic charging device for the crawler robot according to claim 1, wherein the theta axis adjustment assembly (1-7) further comprises two theta axis limit switches (1-7b) and one theta axis induction piece (1-7 c); the theta axis induction sheets (1-7c) are fixed at the zero positions of the theta axis on the bottom surfaces of the rotating pieces (1-7a) in the rotary table, and the two theta axis limit switches (1-7b) are fixed on the theta axis fixing plates (1-8) and are respectively positioned at two sides of the theta axis induction sheets (1-7 c).
3. The automatic charging device for the track robot according to claim 1, wherein the belt transmission mechanism comprises a positioning wheel (1-4d), a synchronous belt (1-4e), a speed reducer (1-4f), a positioning wheel driving motor (1-4g) and a synchronous wheel (1-4 h); a synchronizing wheel adjusting block (1-4 j); the positioning wheels (1-4d) and the synchronizing wheels (1-4h) are symmetrically arranged on two short sides of the front surface of the Y-axis moving plate (1-4a), and the positioning wheels and the synchronizing wheels are sleeved in the synchronizing belts (1-4e) to realize synchronous rotation; the speed reducers (1-4f) and the positioning wheel driving motors (1-4g) are arranged on the back of the Y-axis moving plate (1-4a) through the fixed frame and are arranged on the rear sides of the positioning wheels (1-4 d); the output shafts of the positioning wheel driving motors (1-4g) are connected with the input ends of the speed reducers (1-4f), the output shafts of the speed reducers (1-4f) are perpendicular to the Y-axis moving plates (1-4a), and the shaft ends penetrate through the Y-axis moving plates (1-4a) and are fixed in the central holes of the positioning wheels (1-4 d).
4. The automatic charging device for the track robot according to claim 3, wherein the belt transmission mechanism further comprises a timing pulley adjusting block (1-4j) installed on a rear surface of the Y-axis moving plate (1-4a) and provided on a rear side of the timing pulley (1-4h) for adjusting a tension of the timing pulley (1-4 e).
5. The automatic charging device of the track robot as claimed in claim 1, wherein the Y-axis adjusting assembly (1-4) further comprises a Y-axis sensing piece (1-4L) and two Y-axis limit switches (1-4 k); two Y-axis limit switches (1-4k) are respectively fixed on the end sides of two ends of a sliding chute arranged on the top surface of the Y-axis moving plate (1-4 a); the Y-axis induction sheet (1-4L) is fixed at the back of the Z-axis moving bottom plate (1-3a) and at the position with the same height as the Y-axis limit switch (1-4 k).
6. The automatic charging device for the track robot according to claim 1, wherein each set of driving mechanism further comprises a floating joint (1-3c), two T-shaped guide sleeves (1-3e), two shaft sleeves (1-3f) and two guide rods (1-3 g); the rod end of a piston rod of the second cylinder (1-3d) is connected with the T-shaped plate (1-3b) through a floating joint (1-3 c); the two shaft sleeves (1-3f) are symmetrically arranged in two through holes formed in two sides of the T-shaped plate (1-3b), the two guide rods (1-3g) are perpendicular to the T-shaped plate (1-3b) and are respectively inserted into central holes of the two shaft sleeves (1-3f), and the two T-shaped guide sleeves (1-3e) are respectively sleeved on the outer sides of the two guide rods (1-3g) and are fixed on the Z-axis moving plate (1-3 a).
7. The automatic charging device for the track robot according to claim 1, wherein the Z-axis adjusting assembly (1-3) further comprises a regression sensor fixing member (1-3h), a regression sensor fixing frame (1-3i) and a regression sensor (1-3 j); the regression sensor fixing pieces (1-3h) are simultaneously fixed on the front end faces of the two adjacent guide rods (1-3g), regression sensor fixing frames (1-3i) are fixed on the regression sensor fixing pieces, and the regression sensors (1-3j) are arranged on the regression sensor fixing frames (1-3i) and are located at positions which can be as high as the regression sensor reflecting windows (2-1).
8. The automatic charging device for the track robot according to claim 1, wherein each electrode pushing device (1-2) comprises an electrode protecting sleeve (1-2a), an electrode probe (1-2b), a sliding shaft (1-2e), an electrode guide sleeve (1-2f), a first adjusting spring (1-2g), a spring fixing block (1-2h), a spring guide sleeve (1-2i), a second adjusting spring (1-2j), a telescopic shaft (1-2k) and a linear bearing seat (1-2L); wherein, the rear end of the (1-2k) is arranged on the T-shaped plate (1-3b) in a penetrating way through the linear bearing seat (1-2L) and fixed on the Z-axis moving plate (1-3a), the front end is connected with the spring fixing block (1-2h), and the second adjusting spring (1-2j) is sleeved on the outer side of the telescopic shaft (1-2k) in a free state; the spring guide sleeve (1-2i) is connected to the front end of the spring fixing block (1-2h) to form a cavity, so that the first adjusting spring (1-2g) is arranged in the cavity in a free state through the spring guide sleeve (1-2 i); the top of the electrode guide sleeve (1-2f) is provided with a through hole, the rear end of the sliding shaft (1-2e) is movably limited in the electrode guide sleeve (1-2f) and is abutted against the end part of the first adjusting spring (1-2g), the front end of the sliding shaft is connected with an electrode probe (1-2b), and the outer side of the electrode probe (1-2b) is provided with an electrode protection sleeve (1-2 a).
9. The automatic charging device for the crawler robot according to claim 1, wherein an opening for installing a front cover door (1-1j) is formed in a front cover body of the protective cover at the position where the Z-axis adjusting assembly (1-3) and the Y-axis adjusting assembly (1-4) are arranged, and the front cover door (1-1j) is automatically opened and closed through an outer pulley assembly and an inner pulley assembly which are respectively arranged on the outer side surface and the inner side surface of the top surface of the cover body; wherein the content of the first and second substances,
two vertical through groove type rails (1-1k) are symmetrically arranged at the opening end of the cover body, so that the front door (1-1j) of the outer cover is inserted into the two vertical through groove type rails (1-1 k);
the outer pulley component comprises two long support rods (1-1h) which are vertically and symmetrically arranged at the edge of the front side of the top surface of the cover body, two short support rods (1-1q) which are vertically and symmetrically arranged at the rear sides of the two long support rods (1-1h), two upper cover pulleys (1-1f) which are respectively arranged at the tops of the two long support rods (1-1h), second upper cover pulleys (1-1p) which are respectively arranged at the tops of the two short support rods (1-1q), and two steel wire ropes (1-1 g);
the inner pulley component comprises a first cylinder (1-1L) and a slide rail (1-1n) which are fixed on the center line of the inner side surface of the top plate of the upper cover body (1-1a) at intervals from back to front in a mode that the axis direction of the inner pulley component is vertical to the front door (1-1j) of the outer cover, a pulley block fixing block (1-1m) assembled on the slide rail (1-1n), two third upper cover pulleys (1-1r) which are symmetrically fixed on two sides of the pulley block fixing block (1-1m) in a mode that the central axis of the third upper cover pulleys is vertical to the top plate of the upper cover body (1-1a), two fifth upper cover pulleys (1-1t) which are respectively arranged below the second upper cover pulleys (1-1p) in a mode that the central axis of the fifth upper cover pulleys is parallel to the top plate of the upper cover body (1-1a), and two fifth upper cover pulleys (1-1t) which are respectively arranged behind the two third upper cover pulleys (1-1r) and can be connected with the two fifth upper cover pulleys (1-1t) Two fourth upper cover pulleys (1-1s) connected in a straight line;
one end of each of two steel wire ropes (1-1g) is fixed at two steel wire rope clamping heads (1-1i) symmetrically arranged on a front door (1-1j) of the outer cover, and the other end of each of the two steel wire ropes sequentially bypasses a first upper cover pulley (1-1f), a second upper cover pulley (1-1p), a fifth upper cover pulley (1-1t), a fourth upper cover pulley (1-1s) and a third upper cover pulley (1-1r) which are positioned on the same side and then is fixed on two sides of a pulley block fixing block (1-1 m); the pulley block fixing block (1-1m) is connected with the rod end of a push rod of the first air cylinder (1-1L).
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