CN113696768B - Automatic charging device of crawler robot - Google Patents
Automatic charging device of crawler robot Download PDFInfo
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- CN113696768B CN113696768B CN202111202870.3A CN202111202870A CN113696768B CN 113696768 B CN113696768 B CN 113696768B CN 202111202870 A CN202111202870 A CN 202111202870A CN 113696768 B CN113696768 B CN 113696768B
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- 230000001360 synchronised effect Effects 0.000 claims description 22
- 239000000523 sample Substances 0.000 claims description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000006698 induction Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 abstract description 4
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 239000000428 dust Substances 0.000 abstract description 2
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- 230000001276 controlling effect Effects 0.000 description 2
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Classifications
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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
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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
- B60L53/10—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
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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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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; 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 ranging sensors which are arranged in a protective cover; the power receiving assembly comprises a return sensor reflecting window, two Z-axis inductors and two charging contacts, wherein the return sensor reflecting window, the two Z-axis inductors and the two charging contacts are arranged in a protective shell; the device has reasonable design, can realize the self-butt joint of the power receiving assembly positioned on the vehicle-mounted robot and the charging assembly positioned at the charging position, and can be protected by the protective cover in a non-charging state so as to meet the requirements of dust prevention and water prevention; whether the position deviation is quickly adjusted or the protection of the charging electrode is effectively improved, the power supply efficiency is high, the service life is long, and the safety performance is good.
Description
Technical Field
The invention relates to the technical field of automatic charging devices of crawler robots, in particular to an automatic charging device of a crawler 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 the functions of automatic cruising and fixed-point cruising, can realize continuous work for 24 hours, and greatly improves the operation efficiency. Industrial robots are of many kinds and are classified into rail type, foot type, crawler type and the like according to the walking mode. The track type and foot type walking robots have higher requirements on working space and topography, but often have more complex field environments in industrial places, and the track has lower requirements on topography and good adaptability, so when facing some complex working environments, the robots mostly adopt the walking mode of the track. However, due to the influence of the crawler differential structure, the robot cannot be accurately positioned to a designated place when needing to be charged, and the charging work can be completed by repeatedly adjusting the position of the robot, so that the charging efficiency is influenced. In addition, under severe working environments, such as wet working environments or other special conditions, the charging device is prone to form water droplet adhesion or static electricity generation, and the water droplet adhesion and static electricity are prone to cause short circuit or burning loss of the charging device, so that the charging device needs to be effectively protected in dust prevention and water prevention.
Disclosure of Invention
The invention aims to provide an automatic charging device for a crawler robot, which solves the problem that the charging position of the crawler robot cannot be accurately positioned.
For this purpose, the technical scheme of the invention is as follows:
An automatic charging device of 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 ranging sensors which are arranged in a protective cover; the power receiving assembly comprises a return sensor reflecting window, two Z-axis inductors and two charging contacts, wherein the return sensor reflecting window, the two Z-axis inductors and the two charging contacts are arranged in a protective shell;
The theta axis adjusting component comprises a turntable transfer piece, a turntable 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 installing the rotary table; the output end of the turntable motor is connected with the bottom input end of the turntable so as to drive the rotating platform of the turntable to rotate 360 degrees, and the rotating platform is fixed at the center of the bottom surface of the rotating piece in the turntable;
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 a strip-shaped through hole along the long side direction, and is vertically arranged, and the long side edge of one side of the Y-axis moving plate is fixed on a rotating piece in the turntable; the linear guide rail consists of a slide rail and a slide block matched with the slide rail, 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 at the front side plate surface of the Y-axis moving plate;
The Z-axis adjusting assembly 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 mode of being parallel to the Y-axis moving plate, and the back surface of the Z-axis moving plate is fixed on two sliding blocks of the linear guide rail; the locking block is fixed on the back of the Z-axis moving plate, and the toothed 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 is driven by the synchronous belt to reciprocate along the long side direction of the Y-axis moving plate; the two sets of driving mechanisms are symmetrically arranged on the Z-axis moving plate, each set of driving mechanism comprises a plate and a second cylinder, the plate is arranged upside down and is arranged at 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 surface of the Z-axis moving plate in a mode of being perpendicular 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 threaded connection plate, so that the second cylinder drives the 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 the front end of each electrode pushing device is provided with an electrode probe; each electrode probe is arranged in a mode of being perpendicular to the Z-axis moving plate;
The two charging contacts are arranged in a way that the charging access ends of the two charging contacts face outwards; the two Z-axis inductors are respectively arranged at the adjacent sides of the two charging contacts in a mode that the induction ends face to the outer sides, the reflective window of the regression sensor is arranged between the reflective window of the regression sensor and the two charging contacts, and the protective shell is provided with windows which enable the reflective window of the regression sensor, the two Z-axis inductors and the two charging contacts to be communicated with the outside.
Further, the theta axis adjusting assembly further comprises two theta axis limit switches and a theta axis sensing piece; the theta axis induction piece is fixed at a theta axis zero position on the bottom surface of the rotating piece in the rotating 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 piece.
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 side sides of the front face of the Y-axis moving plate, and are sleeved in the synchronous belt so as to realize synchronous rotation; the speed reducer and the positioning wheel driving motor are arranged on the back surface of the Y-axis moving plate through the fixing frame and are arranged on the rear side of the positioning wheel; the output shaft of the positioning wheel driving motor is connected with the input end of the speed reducer, the output shaft of the speed reducer is perpendicular to the Y-axis moving plate, and the shaft end of the speed reducer penetrates through the Y-axis moving plate and is fixed in the central hole of the positioning wheel so as to drive the positioning wheel to rotate.
Further, the belt transmission mechanism further comprises a synchronizing wheel adjusting block which is arranged on the back surface of the Y-axis moving plate and is arranged on the rear side of the synchronizing wheel and used for adjusting the tension of the synchronizing belt.
Further, the Y-axis adjusting assembly further comprises a Y-axis sensing piece and two Y-axis limit switches; the two Y-axis limit switches are respectively fixed at two end sides of a sliding groove arranged on the top surface of the Y-axis moving plate; the Y-axis sensing piece is fixed on the back of the Z-axis moving plate and is at the same height as the Y-axis limit switch.
Further, each set of driving mechanism further comprises a floating joint, two guide sleeves, two shaft sleeves and two guide rods; the rod end of the piston rod of the second cylinder is connected with the plate through a floating joint; the two shaft sleeves are symmetrically arranged in two through holes formed in two sides of the plate, the two guide rods are perpendicular to the 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.
Further, the Z-axis adjusting assembly further comprises a regression sensor fixing piece, a regression sensor fixing frame and a regression sensor; the return sensor fixing piece is simultaneously fixed on the front end faces of the two adjacent guide rods, the return sensor fixing frame is fixed on the return sensor fixing piece, and the return sensor is arranged on the return sensor fixing frame and is positioned at the same height as the return sensor reflecting window.
Further, each electrode pushing device comprises an electrode protecting sleeve, an electrode probe, a sliding shaft, an electrode guiding sleeve, a first adjusting spring, a spring fixing block, a spring guiding sleeve, a second adjusting spring, a telescopic shaft and a linear bearing seat; the rear end of the telescopic shaft is arranged on the plate in a penetrating way through the linear bearing seat and is fixed on the Z-axis moving plate, the front end of the telescopic shaft is connected with a spring fixing block, and the second adjusting spring is sleeved on the outer side of the telescopic shaft in a free state; the spring guide sleeve is connected to 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 propped against the end part of the first adjusting spring, the front end of the sliding shaft is connected with an electrode probe, and the outer side of the electrode probe is provided with an electrode protecting sleeve.
Further, an opening for installing a front door of the outer cover 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 front door of the outer cover 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,
Two vertical through groove type rails are symmetrically arranged at the opening end of the cover body, so that the front door of the cover is inserted into the two vertical through groove type rails;
the outer pulley assembly comprises two long supporting rods vertically and symmetrically arranged at the edge of the front side of the top surface of the cover body, two short supporting rods vertically and symmetrically arranged at the rear sides of the two long supporting rods, two upper cover pulleys respectively arranged at the tops of the two long supporting rods, a second upper cover pulley respectively arranged at the tops of the two short supporting rods and two steel wire ropes;
The inner sliding wheel assembly comprises a first cylinder and a sliding rail which are fixed on the central 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 sliding wheel assembly is perpendicular to the front door of the outer cover, a pulley block fixing block assembled on the sliding rail, two third upper cover pulleys which are symmetrically fixed on two sides of the pulley block fixing block respectively in a mode that the axis is perpendicular to the top plate of the upper cover body, two fifth upper cover pulleys which are arranged below the second upper cover pulleys respectively in a mode that the axis 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 end of each of the two steel wire ropes is fixed at two steel wire rope clamping heads symmetrically arranged on the front door of the outer cover, and the other end of each of the two steel wire ropes sequentially bypasses 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 and then is fixed on two sides of the pulley block fixing block; the pulley block fixed block is connected with the rod end of the push rod of the first cylinder.
Compared with the prior art, the automatic charging device for the crawler robot is reasonable in design, the automatic docking of the power receiving component on the vehicle-mounted robot and the charging component at the charging position can be realized, the automatic charging of the vehicle-mounted robot is realized, and in a non-charging state, the power supply component is protected by the protective cover, so that the dustproof and waterproof requirements of the charging position are met; in addition, the device is through the design of Z axle adjustment subassembly, Y axle adjustment subassembly and theta axle adjustment subassembly to can the fast adjustment position deviation when receiving the power module and charging the subassembly and dock, effectively improve power supply efficiency, and realize the protection to the charging electrode through the design of electrode pushing module, effectively promote device's life and safety in utilization.
Drawings
Fig. 1 is a schematic structural view of an automatic charging device for a crawler robot in a charged state;
FIG. 2 is a schematic view of the structure of the housing of the power supply assembly of the automatic charging device of the tracked robot of the present invention;
FIG. 3 is a schematic illustration of the installation of a slip pulley set within the housing of the power assembly of the automatic track robot charging apparatus of the present invention;
Fig. 4 is a schematic structural view of a power supply assembly of the automatic charging device of the crawler robot according to the present invention;
fig. 5 is a schematic view of the structure of the front left shaft side of the power supply assembly of the automatic charging device for the track robot of the present invention;
FIG. 6 is an enlarged view of a portion of FIG. 4;
fig. 7 is a schematic view of a rear shaft side of a power supply assembly of the automatic charging device for the track robot according to the present invention;
FIG. 8 is a cross-sectional view of an electrode pushing module of the automatic charging device of the tracked robot of the present invention;
fig. 9 is a top partial cutaway view of a powered assembly of the track robot automatic charging device of the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and specific examples, which are in no way limiting.
As shown in fig. 1, the automatic charging device for the tracked robot is composed of a power supply assembly fixed at a charging position and a power receiving assembly fixed on the vehicle-mounted robot; wherein,
The power supply assembly is arranged on the inner side of the protective cover, and the protective cover is composed of a cover body and a pulley assembly as shown in fig. 2; the cover body comprises a bracket 1-1e, a lower cover body 1-1c and an upper cover body 1-1a which are sequentially arranged from bottom to top, and all the components are of steel structures; the pulley assembly consists of an outer pulley assembly and an inner pulley assembly; in particular, the method comprises the steps of,
The upper cover body 1-1a is a hollow box body 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 the opening; two vertical through groove type rails 1-1k are symmetrically arranged at the front side opening end of the upper cover body 1-1a, so that an outer cover front 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 up or down along the rails arranged axially, and the front side 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, and the top end of the lower cover body is welded and fixed on four square tubes 1-1b which are enclosed into a rectangular ring shape and communicated with the inner cavity of the upper cover body 1-1 a; the bracket 1-1e is composed of four supporting legs which are respectively welded and fixed at four vertex angles of the bottom plate 1-1d of the lower cover 1-1 c;
As shown in fig. 2, the outer pulley assembly includes two first upper cover pulleys 1-1f, two second upper cover pulleys 1-1p, two wire ropes 1-1g, two long support rods 1-1h, two short support rods 1-1q and two wire rope chucks 1-1i; specifically, two long support rods 1-1h are vertically and symmetrically arranged at the front side edge 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 sides of the two long support rods 1-1h, and the bottom ends of the two long 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 the front door 1-1j of the outer cover; each steel wire rope 1-1g sequentially bypasses 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 positioned on the same side, and the other end of each steel wire rope passes through a through hole formed in the top plate of the upper cover body 1-1 a; wherein the through hole is arranged on the adjacent side of the short supporting rod 1-1q positioned on 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 or nearly vertical downward manner; as a preferable technical scheme of the embodiment, two through holes on the top plate of the upper cover body 1-1a are provided with waterproof joints;
As shown in fig. 3, the inner slide assembly comprises a first cylinder 1-1L, a pulley block fixed block 1-1m, a guide slide rail 1-1n, two third upper cover pulleys 1-1r, two fourth upper cover pulleys 1-1s and two fifth upper cover pulleys 1-1t; specifically, the first cylinder 1-1L and the guide 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 manner that the axial direction of the first cylinder is perpendicular to the front door 1-1j of the outer cover; the pulley block fixed block 1-1m is assembled on the guide slide rail 1-1n and is connected with the rod end of the push rod of the first cylinder 1-1L, and the pulley block fixed block 1-1m is driven to reciprocate along the axial direction of the guide slide rail 1-1n through the reciprocating telescopic motion of the push rod of the first cylinder 1-1L; the two third upper cover pulleys 1-1r are symmetrically fixed at two sides of the pulley block fixing block 1-1m in a mode that the axes of the two third upper cover pulleys are perpendicular 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 are symmetrically fixed on the inner side surface of the top plate of the upper cover body 1-1a in a mode that the axes of the two fifth upper cover pulleys are 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 into a straight line, and the two upper cover pulleys 1-1s and the fifth upper cover pulleys are respectively and symmetrically fixed on the inner side surface of the top plate of the upper cover body 1-1a in a mode that the axis of the upper cover pulleys is perpendicular 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 the top plate of the upper cover body 1-1a and then sequentially bypass the fifth upper cover pulley 1-1t, the fourth upper cover pulley 1-1s and the third upper cover pulley 1-1r which are positioned on the same side, and then are fixed on the pulley block fixing block 1-1m through steel wire rope clamping heads;
when the vehicle-mounted robot needs to be charged, the push rod of the first air cylinder 1-1L extends outwards to push the pulley block fixing block 1-1m to move towards the front side of the upper cover body 1-1a along the guide sliding rail 1-1n, so that two steel wire ropes 1-1g are pulled to lift the front door 1-1j of the outer cover upwards, and the front opening 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 is retracted inwards, and the two steel wire ropes 1-1g move reversely under the action of gravity of the front door 1-1j of the outer cover, so that the front side opening of the front door 1-1j of the lower outer cover and the front side opening of the upper cover body 1-1a are closed.
In actual application, the distance sensor which can be matched is arranged on the vehicle-mounted robot and the charging assembly and is 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 to 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 ranging sensors 1-6; wherein,
As shown in fig. 4, 5 and 7, the θ -axis adjusting assembly 1-7 includes a turntable intermediate rotary member 1-7a, two θ -axis limit switches 1-7b, a θ -axis sensing piece 1-7c, a turntable 1-7d, a turntable motor 1-7e and a θ -axis fixing plate 1-8;
The theta axis fixing plates 1-8 are horizontally arranged, and a plurality of mounting holes are formed in the plate surfaces on two sides of the theta axis fixing plates, so that the theta axis fixing plates 1-8 are arranged on the top surface of the square tube 1-1b and are fixed on the top surface of the square tube 1-1b through bolts arranged in the mounting holes; the bottom plate opening 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 rotary piece 1-7a of the rotary table is of a flat plate structure, is parallel to the theta axis fixed plate 1-8 and is arranged above the theta axis fixed plate 1-8; a through hole which is matched with the size of the rotary table 1-7d is formed in the center of the theta-axis 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 rotating platform with the top capable of rotating freely is fixed in the center of the bottom surface of the rotary piece 1-7a in the rotary table; specifically, the rotary tables 1-7d employ coaxial servo rotary platforms;
The turntable motor 1-7e is arranged below the theta-axis fixed plate 1-8 in a way that the output shaft of the turntable motor is vertically upwards, and the shaft end of the output shaft of the turntable motor is connected with the bottom input end of the turntable 1-7d, so that the turntable motor 1-7e drives a rotating platform on the turntable 1-7d to rotate;
As shown in fig. 6, the θ -axis sensing pieces 1-7c are fixed at the center line position on the bottom surface of the rotating piece 1-7a in the turntable, and normally, the initial position of the output shaft of the turntable motor 1-7e is set to be the θ -axis zero position, which can be calculated by the interval between the 2 θ -axis limit switches 1-7b in practical application, and the two θ -axis limit switches 1-7b are fixed on the upper surface of the θ -axis fixing plate 1-8 and are respectively located at both sides of the θ -axis sensing pieces 1-7c, 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 switch 1-7b is T-shaped and is a correlation photoelectric sensor with a U-shaped groove, photoelectric signals are correlation propagated in the U-shaped groove, and when the theta axis induction piece 1-7c slides into the U-shaped groove to block the photoelectric signals from being normally received, the sensor can send pulse signals to a PLC (programmable logic controller) for controlling the operation of the whole device, so that the PLC executes a stop or next procedure.
As shown in fig. 5 and 7, the Y-axis adjusting assembly 1-4 comprises 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 1-4k; in particular, the method comprises the steps of,
The Y-axis moving plate 1-4a is a rectangular plate provided with a strip-shaped through hole along the long side direction thereof, is vertically arranged on the rotary piece 1-7a of the rotary table in a manner of being perpendicular to the rotary piece 1-7a of the rotary table, and is fixed on the rotary piece 1-7a of the rotary table through three L-shaped fixed blocks 1-4i which are arranged at intervals at the long side of the bottom side of the back surface of the Y-axis moving plate 1-4 a;
The linear guide rail is composed of a slide rail 1-4c and a slide block 1-4b matched with the slide rail 1-4c, wherein the slide block 1-4b is arranged on the slide rail 1-4c and can reciprocate along the axis direction of the slide rail 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 side sides of the front surface of the Y-axis moving plate 1-4a and rotatably arranged on the Y-axis moving plate 1-4a, and are sleeved in the synchronous belt 1-4e to realize synchronous rotation; the synchronous wheel adjusting block 1-4j is arranged on the back surface of the Y-axis moving plate 1-4a opposite to the synchronous wheel 1-4h so as to adjust the tension of the synchronous belt 1-4 e;
The speed reducer 1-4f and the positioning wheel driving motor 1-4g are arranged on the back surface of the Y-axis moving plate 1-4a through a fixed frame and are arranged on the rear side of the positioning wheel 1-4 d; the output shaft of the positioning wheel driving motor 1-4g is connected with the input end of the speed reducer 1-4f, the output shaft of the speed reducer 1-4f is perpendicular to the Y-axis moving plate 1-4a, and the shaft end passes through the Y-axis moving plate 1-4a and is fixed in the central hole of the positioning wheel 1-4d so as to drive the positioning wheel 1-4d to rotate;
a chute is fixed on the top surface of the Y-axis moving plate 1-4a along the long side direction of the Y-axis moving plate, and two Y-axis limit switches 1-4k are respectively fixed at two end sides of the chute; the Y-axis sensing piece 1-4L is centrally fixed at the same height position as the Y-axis limit switch 1-4k on the Z-axis adjusting component 1-3 positioned at the front side; in the actual use process, the two Y-axis limit switches 1-4k can judge whether the Y-axis is at the zero position or not by sensing the positions of the Y-axis sensing pieces 1-4;
Wherein, the Y-axis induction piece 1-4L adopts a sheet metal workpiece made of SUS304 material; 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 piece 1-4L and the two Y-axis limit switches 1-4k is as follows: the Y-axis limit switch 1-4k is a T-shaped opposite-shooting photoelectric sensor with a U-shaped groove, photoelectric signals are opposite-shooting spread in the U-shaped groove, and when the Y-axis sensing piece 1-4L slides into the U-shaped groove to block the photoelectric signals from being normally received, the sensor sends pulse signals to a PLC (programmable logic controller) for controlling the operation of the whole device, so that the PLC executes a stop or next procedure.
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, a return sensor fixing piece 1-3h, a return sensor fixing frame 1-3i, a return sensor 1-3j, a toothed pressing plate 1-3L and a locking block 1-3k; wherein,
The Z-axis moving plate 1-3a is arranged on the front side of the Y-axis moving plate 1-4a in parallel with 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 along the axial direction of the sliding rail 1-4c relative to the Y-axis moving plate 1-4 a; the Y-axis sensing piece 1-4 is fixed on the back surface of the Z-axis moving plate 1-3a and is at the same height 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; wherein each driving mechanism comprises a T-shaped plate 1-3b, a floating joint 1-3c, a second air cylinder 1-3d, two T-shaped guide sleeves 1-3e, two shaft sleeves 1-3f and two guide rods 1-3g; in particular, the method comprises the steps of,
The T-shaped plates 1-3b are arranged upside down and are arranged on the front sides of the Z-axis moving plates 1-3a in a manner 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 air cylinder 1-3d is arranged on the back surface of the Z-axis moving plate 1-3a in a mode of being perpendicular to the Z-axis moving plate 1-3a, a piston rod of the second air cylinder passes through a through hole formed in the Z-axis moving plate 1-3a and is connected with a floating joint 1-3c which is connected with the back surface of the upper side of the T-shaped plate 1-3b in a threaded manner, and the T-shaped plate 1-3b moves forwards and backwards along the horizontal direction under the driving of the second air cylinder 1-3 d;
The front end faces of the two guide rods 1-3g positioned at adjacent positions on the two driving mechanisms are fixedly provided with a regression sensor fixing piece 1-3h, a regression sensor fixing frame 1-3i is fixed on the regression sensor fixing piece 1-3h through a screw, and a regression sensor 1-3j is arranged on the regression sensor fixing frame 1-3i, and the setting height of the regression sensor fixing frame is consistent with the setting height of a regression sensor reflecting window;
The locking block 1-3k is arranged on the back surface of the Z-axis moving plate 1-3a, the tooth-shaped pressing plate 1-3L is fixed on the locking block 1-3k, and the bottom surface of the tooth-shaped pressing plate is connected with the synchronous belt 1-4e, so that when the synchronous belt 1-4e drives the synchronous wheel 1-4h to synchronously rotate under the action of the synchronous belt 1-4e, the Z-axis moving plate 1-3a is driven by the synchronous belt 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 symmetrically disposed on the front side of the Z-axis moving plate 1-3a in such a manner that the axis thereof is 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 guiding sleeve 1-2f, a first adjusting spring 1-2g, a spring fixing block 1-2h, a spring guiding sleeve 1-2i, a second adjusting spring 1-2j, a telescopic shaft 1-2k and a linear bearing seat 1-2L; in particular, the method comprises the steps of,
The linear bearing seat 1-2L is arranged in a through hole formed in the center of the T-shaped plate 1-3b, the rear end of the telescopic shaft 1-2k is inserted into the center hole of the linear bearing seat 1-2L, and the rear end face of the telescopic shaft is fixed on the Z-axis moving plate 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 is propped against the front end face of the linear bearing seat 1-2L;
The spring fixing block 1-2h is of a cylinder structure with the inner diameter of the upper part being larger than that of the lower part, and an annular step is formed at the reducing part; the lower part of the spring fixing block 1-2h is connected with the front end of the telescopic shaft 1-2k in a threaded manner, so that the front end of the second adjusting spring 1-2j is sleeved on the outer side of the lower part of the spring fixing block 1-2h and abuts against the lower end face of the annular step of the spring fixing block;
The spring guide sleeve 1-2i is of a cylinder structure, and the outer wall of the bottom end of the spring guide sleeve is inwards sunken and is provided with 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 surface of the annular step on the outer wall of the spring guide sleeve is pressed on the top surface 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 is propped against the upper end face of the annular step on the spring fixing block 1-2 h;
The electrode guide sleeve 1-2f is of a cylinder structure with a closed top and an opening at the bottom, and the bottom end of the electrode guide sleeve is sleeved and connected with the outer wall of the top end of the spring fixing block 1-2h in a threaded manner; 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 movement relative to the electrode guide sleeve 1-2f, the top end of the first adjusting spring 1-2g is propped against the end face of the rear end of the electrode guide sleeve 1-2f, and the initial state of the sliding shaft 1-2e is that the sliding shaft completely extends out of the electrode guide sleeve 1-2 f;
The fixed flange 1-2d is fixed at the front end of the sliding shaft 1-2e through shaft sleeve threaded connection, and the connecting block 1-2c is fixed on the front end face of the fixed flange 1-2d through a plurality of bolts arranged in flange holes of the fixed flange 1-2 d; the center of the connecting block 1-2c is provided with an axial through hole, 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 protecting sleeve 1-2a is coaxially arranged at the front end of the connecting block 1-2c and is connected and fixed 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 protecting sleeve 1-2a is flush with the front end of the electrode probe 1-2b or slightly exceeds the electrode probe 1-2b so as to protect the electrode probe 1-2b from damage.
After the two electrode pushing devices 1-2 are structurally designed to achieve the purpose that the distance between each charging and power receiving is not fixed after the robot reaches the charging position, position distance errors possibly existing in the Z-axis direction can be offset between a first adjusting spring and a second adjusting spring on the device and a sliding shaft, the springs are pressed together to achieve buffering and support for a charging chamber so as to keep contact all the time in the charging process, damage to the electrode probes 1-2b is avoided, and meanwhile damage such as arc discharge and the like caused by incomplete contact between electrodes in the charging process is avoided.
As shown in fig. 4 and 5, two ranging sensors 1-6 are symmetrically fixed to 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 assembly includes a return sensor reflection window 2-1, two Z-axis sensors 2-2, and two charging contacts 2-3 disposed in a protective case; in particular, the method comprises the steps of,
The protective shell is fixed on the mounting frame body of the vehicle-mounted robot; the two charging contacts 2-3 are fixed in the protective shell in a way that the charging access ends face to the outer side, 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 on the adjacent sides of the two charging contacts 2-3 in a mode that the sensing ends face to the outer sides so as to sense whether the electrode probes 1-2b are in place or not; the return sensor reflection window 2-1 is arranged between the two charging contacts 2-3 and is matched with the return sensor 1-3j to form a pair of matched components, so that signals sent by the received return sensor 1-3j are transmitted back to the sensor; windows are arranged on a shell of a protective housing provided with a return sensor reflection window 2-1, a Z-axis sensor 2-2 and a charging contact 2-3.
The automatic charging device of the crawler robot has the following working principle:
When the vehicle-mounted robot needs to be charged, the vehicle-mounted robot starts to travel to a charging position, so that the two charging contacts 2-3 of the power receiving assembly are aligned with the two electrode probes of the power supply assembly at the charging position; since the in-vehicle robot generally travels in a straight line in the process of approaching the charging position, therefore,
When the vehicle-mounted robot starts to approach the power supply assembly, the front door 1-1j of the outer cover can be opened, and the orientation and the horizontal position of the electrode pushing assembly are adjusted by driving the turntable motor of the theta axis adjusting assembly 1-7 and the positioning wheel driving motor 1-4g of the Y axis adjusting assembly 1-4 until the reflection window 2-1 of the regression sensor can receive the 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 assembly 1-3 is driven to extend so as to push a T-shaped plate 1-3b to compress a second adjusting spring, so that buffer is realized to protect an electrode probe 1-2b due to too close distance between a power receiving assembly and a power supply assembly possibly caused by distance errors; when the charging assembly and the power receiving assembly are in butt joint, charging can be started; after the charging is completed, the vehicle-mounted robot immediately advances and leaves the working position.
After the vehicle-mounted robot is charged and leaves, the theta axis adjusting component 1-7 and the Y axis adjusting component 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 position can be determined based on the theta axis limit switch 1-7b and one theta axis sensing piece 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 sensing piece 1-4L and the 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 state that the charging assembly can be in butt joint with the power receiving assembly is reached.
In the practical application process, each driving component can be automatically regulated and controlled in a programming mode, so that the vehicle-mounted robot can automatically run to the power receiving assembly to charge.
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 the 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 ranging sensors (1-6) which are arranged in a protective cover; the power receiving assembly comprises a return sensor reflecting window (2-1), two Z-axis inductors (2-2) and two charging contacts (2-3) which are arranged in a protective shell; wherein,
The theta axis adjusting assembly (1-7) comprises a turntable middle rotating piece (1-7 a), a turntable (1-7 d), a turntable motor (1-7 e) 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 installing the rotary table (1-7 d); the output end of the turntable motor (1-7 e) is connected with the bottom input end of the turntable (1-7 d), and the rotating platform is fixed at the center of the bottom surface of the turntable middle rotating piece (1-7 a);
The Y-axis adjusting assembly (1-4) comprises a Y-axis moving plate (1-4 a), two linear guide rails and a belt transmission mechanism; the Y-axis moving plate (1-4 a) is a rectangular plate provided with a strip-shaped through hole along the long side direction, and is vertically arranged, and the long side edge of one side of the Y-axis moving plate is fixed on the rotary piece (1-7 a) in the rotary table; the linear guide rail is composed of a slide rail (1-4 c) and a slide block (1-4 b) matched with the slide rail (1-4 c), and the slide rails (1-4 c) of the two linear guide rails are respectively fixed on two long side sides of the Y-axis moving plate (1-4 a) 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 (1-3 a), two sets of driving mechanisms, a locking block (1-3 k) and a tooth-shaped pressing plate (1-3L); the Z-axis moving plate (1-3 a) is arranged on the front side of the Y-axis moving plate (1-4 a) in a mode of being parallel to the Y-axis moving plate (1-4 a), and the back surface of the Z-axis moving plate is fixed on two sliding blocks (1-4 b) of the linear guide rail; the locking block (1-3 k) is fixed on the back of the Z-axis moving plate (1-3 a), and the toothed pressing plate (1-3L) is fixed on the locking block (1-3 k) and is connected with the synchronous belt (1-4 e) in the belt transmission mechanism; the two sets of driving mechanisms are symmetrically arranged on the Z-axis moving plate (1-3 a), each set of driving mechanism comprises a T-shaped plate (1-3 b) and a second air cylinder (1-3 d), the T-shaped plate (1-3 b) is arranged reversely and is arranged on the front side of the Z-axis moving plate (1-3 a) in a mode of being parallel to the Z-axis moving plate (1-3 a); the second air cylinder (1-3 d) is arranged on the back surface of the Z-axis moving plate (1-3 a) in a mode of being perpendicular to the Z-axis moving plate (1-3 a), and a piston rod of the second air cylinder passes through a through hole formed in the Z-axis moving plate (1-3 a) and is connected with the T-shaped plate (1-3 b) in a threaded connection mode;
The electrode pushing assembly consists of two electrode pushing devices (1-2) which are symmetrically arranged at the front side of the Z-axis moving plate (1-3 a), and the front end of each electrode pushing device (1-2) is provided with a probe (1-2 b) corresponding to the electrode; each electrode probe (1-2 b) is arranged in a manner of being perpendicular to the Z-axis moving plate (1-3 a);
The two charging contacts (2-3) are arranged in a way that the charging access ends of the two charging contacts face to the outer side; 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 face outwards, the regression sensor reflection window (2-1) is arranged between the two charging contacts (2-3), and windows which enable the regression sensor reflection window (2-1), the two Z-axis inductors (2-2) and the two charging contacts (2-3) to be communicated with the outside are formed in the protective shell.
2. The automatic charging device for a tracked robot according to claim 1, wherein the θ -axis adjustment assembly (1-7) further comprises two θ -axis limit switches (1-7 b) and one θ -axis sensing piece (1-7 c); the theta axis induction piece (1-7 c) is fixed at a theta axis zero position on the bottom surface of the rotating piece (1-7 a) in the rotary table, and the two theta axis limit switches (1-7 b) are fixed on the theta axis fixing plate (1-8) and are respectively positioned at two sides of the theta axis induction piece (1-7 c).
3. The automatic charging device of a crawler robot according to claim 1, wherein the belt transmission mechanism comprises a positioning wheel (1-4 d), a timing belt (1-4 e), a decelerator (1-4 f), a positioning wheel driving motor (1-4 g) and a timing wheel (1-4 h); a synchronizing wheel adjusting block (1-4 j); the positioning wheels (1-4 d) and the synchronizing wheels (1-4 h) are symmetrically arranged on two short side sides of the front surface of the Y-axis moving plate (1-4 a), and are sleeved in the synchronous belt (1-4 e) to realize synchronous rotation; the speed reducer (1-4 f) and the positioning wheel driving motor (1-4 g) are arranged on the back surface of the Y-axis moving plate (1-4 a) through a fixed frame and are arranged on the rear side of the positioning wheel (1-4 d); an output shaft of the positioning wheel driving motor (1-4 g) is connected with an input end of the speed reducer (1-4 f), the output shaft of the speed reducer (1-4 f) is perpendicular to the Y-axis moving plate (1-4 a), and the shaft end passes through the Y-axis moving plate (1-4 a) and is fixed in a central hole of the positioning wheel (1-4 d).
4. The automatic charging device for a crawler robot according to claim 3, wherein the belt driving mechanism further comprises a synchronizing wheel adjusting block (1-4 j) installed at the back of the Y-axis moving plate (1-4 a) and provided at the rear side of the synchronizing wheel (1-4 h) for adjusting the tension of the synchronizing belt (1-4 e).
5. The automatic charging device of a tracked robot according to claim 1, wherein the Y-axis adjustment assembly (1-4) further comprises a Y-axis sensing tab (1-4L) and two Y-axis limit switches (1-4 k); two Y-axis limit switches (1-4 k) are respectively fixed at two end sides of a chute arranged on the top surface of the Y-axis moving plate (1-4 a); the Y-axis sensing piece (1-4L) is fixed on the back of the Z-axis moving plate (1-3 a) and is at the same height as the Y-axis limit switch (1-4 k).
6. The automatic charging device of a tracked robot according to claim 1, wherein each set of driving mechanism further comprises a floating joint (1-3 c), two T-shaped guide sleeves (1-3 e), two shaft sleeves (1-3 f), two guide rods (1-3 g); the rod end of a piston rod of the second cylinder (1-3 d) is connected with the T-shaped plate (1-3 b) through a floating joint (1-3 c); the two shaft sleeves (1-3 f) are symmetrically arranged in two through holes formed in two sides of the T-shaped plate (1-3 b), the two guide rods (1-3 g) are perpendicular to the T-shaped plate (1-3 b) and are respectively inserted into the center holes of the two shaft sleeves (1-3 f), and the two T-shaped guide sleeves (1-3 e) are respectively sleeved on the outer sides of the two guide rods (1-3 g) and are fixed on the Z-axis moving plate (1-3 a).
7. The automatic charging device of a crawler robot according to claim 1, wherein the Z-axis adjustment assembly (1-3) further comprises a return sensor mount (1-3 h), a return sensor mount (1-3 i) and a return sensor (1-3 j); the regression sensor fixing piece (1-3 h) is simultaneously fixed on the front end surfaces of two adjacent guide rods (1-3 g), the regression sensor fixing frame (1-3 i) is fixed on the regression sensor fixing piece, and the regression sensor (1-3 j) is arranged on the regression sensor fixing frame (1-3 i) and is positioned at the same height as the regression sensor reflecting window (2-1).
8. The automatic charging device of a crawler robot according to claim 1, wherein each electrode pushing device (1-2) comprises an electrode protecting sleeve (1-2 a), an electrode probe (1-2 b), a sliding shaft (1-2 e), an electrode guiding sleeve (1-2 f), a first adjusting spring (1-2 g), a spring fixing block (1-2 h), a spring guiding sleeve (1-2 i), a second adjusting spring (1-2 j), a telescopic shaft (1-2 k) and a linear bearing block (1-2L); the rear end of the telescopic shaft (1-2 k) is arranged on the T-shaped plate (1-3 b) in a penetrating way through the linear bearing seat (1-2L) and fixed on the Z-axis moving plate (1-3 a), the front end of the telescopic shaft is connected with the spring fixing block (1-2 h), and the second adjusting spring (1-2 j) is sleeved outside the telescopic shaft (1-2 k) in a free state; the spring guide sleeve (1-2 i) is connected to the front end of the spring fixing block (1-2 h) to form a cavity, so that the first adjusting spring (1-2 g) is arranged in the cavity in a free state through the spring guide sleeve (1-2 i); the top of the electrode guide sleeve (1-2 f) is provided with a through hole, the rear end of the sliding shaft (1-2 e) is movably limited in the electrode guide sleeve (1-2 f) and is propped against the end part of the first adjusting spring (1-2 g), the front end of the electrode guide sleeve is connected with the electrode probe (1-2 b), and the outer side of the electrode probe (1-2 b) is provided with the electrode protective sleeve (1-2 a).
9. The automatic charging device for the tracked robot according to claim 1, wherein an opening for installing a front door (1-1 j) of the outer cover is formed in a front cover body of the protective cover at the positions where the Z-axis adjusting assembly (1-3) and the Y-axis adjusting assembly (1-4) are disposed, and the front door (1-1 j) of the outer cover is automatically opened and closed by an outer pulley assembly and an inner pulley assembly respectively disposed on the outer side surface and the inner side surface of the top surface of the cover body; wherein,
Two vertical through groove type rails (1-1 k) are symmetrically arranged at the opening end of the cover body, so that the front door (1-1 j) of the outer cover is inserted into the two vertical through groove type rails (1-1 k);
The outer pulley assembly comprises two long supporting rods (1-1 h) vertically and symmetrically arranged at the edge of the front side of the top surface of the cover body, two short supporting rods (1-1 q) vertically and symmetrically arranged at the rear side of the two long supporting rods (1-1 h), two upper cover pulleys (1-1 f) respectively arranged at the tops of the two long supporting rods (1-1 h), a second upper cover pulley (1-1 p) respectively arranged at the tops of the two short supporting rods (1-1 q), and two steel wire ropes (1-1 g);
The inner slide assembly comprises a first cylinder (1-1L) and a guide slide rail (1-1 n) which are fixed on the central line of the inner side surface of the top plate of the upper cover body (1-1 a) at intervals from back to front in a manner that the axial direction of the inner slide assembly is vertical to the front door (1-1 j) of the outer cover, a pulley block fixing block (1-1 m) which is assembled on the guide slide rail (1-1 n), two third upper cover pulleys (1-1 r) which are symmetrically fixed on two sides of the pulley block fixing block (1-1 m) in a manner that the axial direction of the inner slide block is vertical to the top plate of the upper cover body (1-1 a), two fifth upper cover pulleys (1-1 t) which are respectively arranged below the second upper cover pulleys (1-1 p) in a manner that the axial direction of the inner slide rail is parallel to the top plate of the upper cover body (1-1 a), and two fourth upper cover pulleys (1-1 s) which are respectively arranged behind the two third upper cover pulleys (1-1 r) and can be connected with the two fifth upper cover pulleys (1-1 t) in a straight line;
One end of each of the two steel wire ropes (1-1 g) is fixed at two steel wire rope clamping heads (1-1 i) symmetrically arranged on a front door (1-1 j) of the outer cover, and the other end sequentially bypasses a first upper cover pulley (1-1 f), a second upper cover pulley (1-1 p), a fifth upper cover pulley (1-1 t), a fourth upper cover pulley (1-1 s) and a third upper cover pulley (1-1 r) which are positioned on the same side and then is fixed at two sides of a pulley block fixing block (1-1 m); the pulley block fixed block (1-1 m) is connected with the rod end of the push rod of the first cylinder (1-1L).
Priority Applications (1)
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