CN114006435B - Intelligent charging robot for port ship and charging method thereof - Google Patents
Intelligent charging robot for port ship and charging method thereof Download PDFInfo
- Publication number
- CN114006435B CN114006435B CN202111295339.5A CN202111295339A CN114006435B CN 114006435 B CN114006435 B CN 114006435B CN 202111295339 A CN202111295339 A CN 202111295339A CN 114006435 B CN114006435 B CN 114006435B
- Authority
- CN
- China
- Prior art keywords
- shore power
- butt joint
- robot
- ship
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 210000001503 joint Anatomy 0.000 claims abstract description 60
- 238000003032 molecular docking Methods 0.000 claims description 44
- 230000000007 visual effect Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 9
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/639—Additional means for holding or locking coupling parts together, after engagement, e.g. separate keylock, retainer strap
Abstract
The invention provides an intelligent charging robot for a port ship and a charging method thereof, and the technical scheme is as follows: the system comprises a universal shore power pile, a shore power socket, a shore power plug, a ship cable and a power supply robot, wherein the power supply robot comprises a walking robot module, a main butt joint module and an auxiliary butt joint module; the charging method comprises the following steps: the method comprises the following steps: the remote control power supply robot walks to the ship cable, and the position of the main butt joint module is adjusted; step two: adjusting the height of the fixing plate; step three: the main butt joint module is used for positioning a ship cable and a shore power plug; step four: re-positioning the ship cable; step five: the remote control power supply robot is connected with the shore power socket to supply power. The invention has the beneficial effects that: the degree of universalization is high, can match all bank electricity piles and use, and the butt joint is efficient, only works in bank electricity pile department when bank electricity cable uses, and intelligent design, all parameters and butt joint real-time picture can all convey the backstage in the robot operation in-process.
Description
Technical Field
The invention relates to the technical field of ship shore power, in particular to an intelligent charging robot for a port ship and a charging method thereof.
Background
In recent years, the economic development of China is rapid, so that the shipping business is rapidly developed, the number density of ships in ports is greatly increased, meanwhile, a self-contained diesel generator is used for supplying power during the ships in ports, a large amount of harmful pollutants can be discharged, the environment pollution to port areas is caused, and the development of the ships on shore power by saving resources is urgent. At present internal bank electricity is connected and is mainly accomplished through the mode of artifical operation that drags, and this kind of operation mode needs pier operation personnel and the cable-unlaying personnel to mutually support just can accomplish, and the operation amount of labour is big, efficiency is not high and the operation environment is comparatively abominable, causes the waste of a large amount of manpower and materials. In order to solve the problems, an intelligent shore power robot is developed along with the intelligent shore power robot, and the intelligent shore power robot basically aims at a specially-transformed ship and a specially-designed shore power supply pile.
The existing intelligent shore power robot needs to greatly reform the ground of a port shore power pile, the number of grooves formed in the ground is increased, the robot has the function of conveying the shore power pile to a ship body, the personnel on the ship body is needed to be butted, and the robot needs to be kept at a ship in the charging process, so that the intelligent shore power robot is inconvenient to use.
Based on the above, the invention provides an intelligent charging robot for a port ship and a charging method thereof, so as to solve the technical problems.
Disclosure of Invention
In order to solve the problems that in the existing intelligent shore power robot, a person needs to modify the ground of a port shore power pile in a large amount, the number of grooves formed in the ground by the robot is increased, the function of the robot is realized that the shore power pile is conveyed to a ship body, the person on the ship body needs to be butted, and the robot needs to be kept at a ship in the charging process and is inconvenient to use, the invention provides the intelligent charging robot for the port ship and the charging method thereof.
The invention provides an intelligent charging robot for port ships, which comprises a general shore power pile, a shore power socket, a shore power plug, a ship cable and a power supply robot, wherein the shore power socket is connected to the shore power pile and used for being connected with the shore power plug on the ship cable to supply power, the power supply robot further comprises a mobile ship cable walking robot module, a main butt joint module and an auxiliary butt joint module, the main butt joint module and the auxiliary butt joint module are used for respectively connecting the shore power plug and the shore power socket, the main butt joint module is connected to the walking robot module, and the auxiliary butt joint module is positioned on two sides of the shore power pile and matched with the main butt joint module to connect the shore power plug and the shore power socket.
Furthermore, the walking robot module comprises a laser radar, a mechanical arm, a robot shell, an audible and visual alarm, a mechanical arm electric control box, a mechanical arm control rod, a moving chassis, a moving structure and a cylinder, wherein the laser radar and the audible and visual alarm are connected to the robot shell, a rotating shaft penetrates through the top end of the robot shell in a rotating mode, the side wall of the rotating shaft is connected with a mounting plate, the cylinder is mounted on the mounting plate, a piston rod is arranged in the cylinder in a moving mode, the top end of the rotating shaft is connected with a concave frame, the mechanical arm is rotatably mounted on the concave frame and consists of an upper portion connected with the piston rod and a lower portion in rotating fit with the concave frame, a rotating rod is in rotating fit with the end of the mechanical arm, the bottom end of the rotating rod is connected with an auxiliary arm, the mechanical arm electric control box is arranged on the side face of the auxiliary arm, the mechanical arm control rod is connected with the auxiliary arm, the moving chassis is connected to the bottom end of the robot shell, the moving structure is arranged at the lower part of the moving chassis.
Furthermore, the moving structure comprises a crawler belt, driving wheels, upper driving wheels, lower driving wheels, V-shaped reinforcing rods and connecting plates, wherein the driving wheels are located on two sides in the crawler belt, the upper driving wheels are installed on the upper wall of an inner cavity of the crawler belt, the lower driving wheels are installed on the lower wall of the inner cavity of the crawler belt, the V-shaped reinforcing rods are arranged between the two adjacent sets of the lower driving wheels, and the connecting plates are installed between the upper driving wheels and the lower driving wheels.
Further, main butt joint module is installed in removing the chassis side, main butt joint module includes automatic butt joint platform, lower anchor clamps, sharp module, frame, motor, vision camera and connector link, automatic butt joint platform installation is on the frame top, anchor clamps, sharp module, motor and vision camera are installed down the frame bottom, the connector link is connected by anchor clamps down, it has the connecting piece to remove chassis side threaded connection, the connecting piece tip is provided with the fixed plate, the fixed plate top is equipped with the installing frame, installing frame side normal running fit has the bracing piece, installing frame inner chamber upper wall rotates connects the gag lever post, the locating plate is installed to frame bilateral symmetry.
Furthermore, the mounting frames are four groups and are arranged at the center of the top end of the fixing plate at equal intervals, the bottom ends of the limiting rods are in smooth contact with the top end of the fixing plate, and the positioning plates are symmetrically arranged on two sides of the top end of the frame.
Further, vice butt joint module includes bank electric pile leading truck, connecting square pipe, cooperation board and location knot, bank electric pile leading truck is total two sets of and the symmetry sets up at connecting square pipe side both ends, the cooperation board is installed on bank electric pile leading truck top, cooperation board and locating plate cooperation link to each other main butt joint module and vice butt joint module, the location is detained and is connected at the cooperation board.
Further, the main butt joint module is still including preventing the structure of falling, prevent that the structure of falling includes a spout, a screw rod, a slider and a servo motor, a spout is total two sets of and the symmetry sets up between two sets of installing frames of fixed plate top center both sides, a screw rod rotates and runs through the fixed plate side at a spout both ends and rotation, a slider slides in a spout, a screw rod screw thread runs through a slider, servo motor installs and fixes at fixed plate side and output and a screw rod tip.
Further, the main butt joint module still includes the inclination and adjusts the structure, the inclination is adjusted the structure and is included regulating plate, No. two spouts, No. two screw rods, No. two sliders and No. two servo motor, connecting piece end fixing has the regulating plate, regulating plate and fixed plate fixed coordination, No. two spouts have been seted up to regulating plate side symmetry, No. two spout both ends are rotated and are had No. two screw rods, slide in No. two spouts and have No. two sliders, No. two screw rod threads run through No. two sliders, No. two screw rods rotate and run through the regulating plate bottom and be connected with No. two servo motor.
Furthermore, the auxiliary butt joint module further comprises a clamping structure, the clamping structure comprises a slide rail groove, a slide rail screw rod and a slide rail block, the slide rail groove is formed in the side face of the connecting square pipe, the slide rail screw rod is rotated in the slide rail groove, the slide rail block is slid in the slide rail groove, the slide rail block is in threaded fit with the slide rail screw rod, and the shore power pile guide frame is fixed to the side face of the slide rail block.
In order to better achieve the aim of the invention, the invention also provides a charging method for the intelligent charging robot of the port ship, which comprises the following specific steps:
the method comprises the following steps: the power supply robot is remotely controlled, the power supply robot is controlled to walk to a position where a cable is placed down from a ship by using a moving structure, and a mechanical arm is controlled by a mechanical arm control lever to adjust the position of the main butt joint module;
step two: the height of the fixing plate is controlled and adjusted by using the inclination adjusting structure, so that the connection of a ship cable is facilitated;
step three: positioning a ship cable and a shore power plug by using a main docking module, driving an automatic docking platform to translate by using a mechanical arm, placing the shore power plug on a lower clamp of the automatic docking platform, and clamping the shore power plug by using the automatic docking platform;
step four: the anti-falling structure is utilized to adjust the spacing between the limiting rods, so that the ship cable is positioned again, and the cable is prevented from falling off due to overweight;
Step five: remote control power supply robot utilizes the mobile structure control power supply robot to walk to bank electricity stake department, under the cooperation of main butt joint module and vice butt joint module, both zonulae occludens, then automatic butt joint platform promotes the bank electricity plug and moves ahead, is connected with bank electricity socket, carries out power supply for boats and ships.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention uses universal shore power piles, shore power sockets, ship cables and shore power plugs, has high generalization degree, can be matched with all shore power piles for use, and under the coordination of the walking robot module, the main docking module and the auxiliary docking module, in the operation process, the robot is moved to the ship cable position through remote control by the moving chassis, the robot arm is driven by the robot arm operating rod to translate the automatic docking platform to the side, the ship cable lowering shore power plug is firstly placed on the lower clamp of the automatic docking platform, the automatic docking platform clamps the shore power plug, the power supply robot is controlled to move to the shore power piles by utilizing the moving structure, under the coordination of the main docking module and the auxiliary docking module, the automatic docking platform is tightly connected with the main docking module and the auxiliary docking module, then the automatic docking platform pushes the shore power plug to move forwards and is connected with the shore power sockets, so as to supply power to ships, the docking efficiency is high, and the operation is only carried out at the shore power piles when the shore power cables are used, and the next operation site can be reached after the butt joint is finished, the whole intelligent design is realized, and all parameters and the butt joint real-time picture in the operation process can be transmitted to the background by using the visual camera.
2. According to the ship cable positioning device, the anti-falling structure and the inclination adjusting structure are utilized, when the ship cable is positioned by utilizing the main butt joint module, the first servo motor can be started, the position of the first sliding block is adjusted under the threaded matching of the first screw rod and the first sliding block, so that the positions of the mounting frames on two sides are adjusted, the ship cable between the first and second sliding blocks is positioned again, the cable is prevented from falling off due to overweight, before the ship cable is further positioned, the second servo motor is started, the height of the second sliding block is adjusted by utilizing the threaded matching of the second screw rod and the second sliding block, so that the height of the fixing plate is adjusted, the height of the mounting frames is further controlled, and the shore power plug at the end part of the ship cable is conveniently connected with the lower clamp.
3. The sliding rail groove, the sliding rail blocks and the sliding rail screw rod in the clamping structure are utilized, before the clamping structure is used, the sliding rail screw rod is rotated, the distance between the two groups of sliding rail blocks is adjusted by utilizing the threaded fit of the sliding rail screw rod and the sliding rail blocks, the distance between the two groups of shore power pile guide frames is further adjusted and controlled, and the two sides of the shore power piles are clamped and fixed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the main docking module of the present invention.
Fig. 3 is a schematic structural diagram of a walking robot module according to the present invention.
Fig. 4 is a first structural diagram of the secondary docking module of the present invention.
Fig. 5 is a second structural diagram of the secondary docking module of the present invention.
Figure 6 is a schematic view of the drop placement structure of the present invention.
Fig. 7 is a schematic cross-sectional view of the fall arrest structure of the present invention.
Fig. 8 is a structural view illustrating a slope adjusting structure according to the present invention.
FIG. 9 is a cross-sectional view of the slope adjustment structure of the present invention.
Fig. 10 is a schematic cross-sectional view of the connecting square tube of the present invention.
Wherein the reference numerals are:
1. a laser radar; 2. a mechanical arm; 3. a robot housing; 4. an audible and visual alarm; 5. a mechanical arm electric cabinet; 6. a mechanical arm operating lever; 7. an automatic docking platform; 8. shore power piles; 9. a shore power pile guide frame; 10. a shore power socket; 11. a shore power plug; 12. moving the vessel cable; 13. moving the chassis; 14. a lower clamp; 15. a linear module; 16. a frame; 17. a motor; 18. a vision camera; 19. a connecting buckle; 20. a rotating shaft; 21. mounting a plate; 22. a cylinder; 23. a piston rod; 24. a concave frame; 25. a rotating rod; 26. an auxiliary arm; 27. a crawler belt; 28. a driving wheel; 29. an upper drive wheel; 30. a lower drive wheel; 31. a V-shaped reinforcing rod; 32. a connecting plate; 33. a connecting member; 34. a fixing plate; 35. installing a frame; 36. a support bar; 37. a limiting rod; 38. positioning a plate; 39. connecting the square tubes; 40. a mating plate; 41. positioning buckles; 42. a first chute; 43. a first screw rod; 44. a first sliding block; 45. a first servo motor; 46. an adjusting plate; 47. a second chute; 48. a second screw; 49. a second sliding block; 50. a second servo motor; 51. a slide rail groove; 52. a slide rail screw; 53. a slide rail block.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments are further detailed. Of course, the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
Referring to fig. 1, 2, 3, 4 and 5, an intelligent charging robot for port ships comprises a general shore power pile 8, a shore power socket 10, a shore power plug 11, a ship cable 12 and a power supply robot, wherein the shore power socket 10 is connected to the shore power pile 8 and used for being connected with the shore power plug 11 on the ship cable 12 for supplying power, the power supply robot further comprises a walking robot module for moving the ship cable 12, and a main butt joint module and an auxiliary butt joint module which are respectively butt-jointed with the shore power plug 11 and the shore power socket 10, the main butt joint module is positioned on the walking robot module, and the auxiliary butt joint module is connected to two sides of the shore power pile 8 and matched with the main butt joint module for connecting the shore power plug 11 and the shore power socket 10;
referring to fig. 1, 2 and 3, the walking robot module comprises a laser radar 1, a mechanical arm 2, a robot housing 3, an audible and visual alarm 4, a mechanical arm electric cabinet 5, a mechanical arm control rod 6, a moving chassis 13, a moving structure and a cylinder 22, wherein the laser radar 1 and the audible and visual alarm 4 are connected to the robot housing 3, a rotating shaft 20 is rotatably penetrated at the top end of the robot housing 3, the side wall of the rotating shaft 20 is connected with a mounting plate 21, the cylinder 22 is mounted on the mounting plate 21, a piston rod 23 is movably arranged in the cylinder 22, the top end of the rotating shaft 20 is connected with a concave frame 24, the mechanical arm 2 is rotatably mounted on the concave frame 24 and consists of an upper part connected with the piston rod 23 and a lower part rotatably matched with the concave frame 24, a rotating rod 25 is rotatably matched at the end part of the mechanical arm 2, an auxiliary arm 26 is connected with the bottom end of the rotating rod 25, the electrical cabinet 5 is arranged at the side of the auxiliary arm 26, the mechanical arm control rod 6 is connected with the auxiliary arm 26, the mobile chassis 13 is connected to the bottom end of the robot shell 3, the mobile structure is arranged at the lower part of the mobile chassis 13, and under the electric control of the mechanical arm electric cabinet 5 and the rotation cooperation of the rotating shaft 20 under the telescopic action of the air cylinder 22, the mechanical arm 2 and the rotating rod 25 are controlled by the mechanical arm operating rod 6 to adjust the position of the main butt joint module;
Referring to fig. 1, the moving structure comprises caterpillar tracks 27, driving wheels 28, upper driving wheels 29, lower driving wheels 30, V-shaped reinforcing rods 31 and connecting plates 32, wherein the driving wheels 28 are located on two sides in the caterpillar tracks 27, the upper driving wheels 29 are installed on the upper wall of the inner cavity of the caterpillar tracks 27, the lower driving wheels 30 are installed on the lower wall of the inner cavity of the caterpillar tracks 27, the V-shaped reinforcing rods 31 are arranged between two adjacent sets of the lower driving wheels 30, and the connecting plates 32 are installed between the upper driving wheels 29 and the lower driving wheels 30, and the power supply robot is controlled to travel to the ship cable 12 in a caterpillar track mode through the cooperation of the caterpillar tracks 27, the driving wheels 28, the upper driving wheels 29 and the lower driving wheels 30.
Referring to fig. 1, 2 and 3, a main docking module is installed on the side of a mobile chassis 13, the main docking module comprises an automatic docking platform 7, a lower clamp 14, a linear module 15, a frame 16, a motor 17, a visual camera 18 and a connecting buckle 19, the automatic docking platform 7 is installed on the top end of the frame 16, the lower clamp 14, the linear module 15, the motor 17 and the visual camera 18 are installed on the bottom end of the frame 16, the connecting buckle 19 is connected beside the lower clamp 14, the side of the mobile chassis 13 is in threaded connection with a connecting piece 33, a fixing plate 34 is arranged at the end of the connecting piece 33, a mounting frame 35 is arranged at the top end of the fixing plate 34, four groups of the mounting frames 35 are arranged at equal intervals at the center of the top end of the fixing plate 34, a support rod 36 is rotatably matched on the side of the mounting frame 35, a limit rod 37 is rotatably connected to the upper wall of an inner cavity of the mounting frame 35, the bottom end of the limit rod 37 is in smooth contact with the top end of the fixing plate 34, positioning plates 38 are symmetrically installed on two sides of the frame 16, the positioning plates 38 are symmetrically positioned on two sides of the top end of the frame 16, the mechanical arm 2 is driven by the mechanical arm operating rod 6 to drive the automatic docking platform 7 to move aside, the shore power plug 11 is placed on the lower clamp 14 of the automatic docking platform 7, the automatic docking platform 7 is moved to the lower clamp 14, the shore power plug and the shore power plug are connected, and the shore power plug 11 is clamped by the automatic docking platform 7.
Referring to fig. 4 and 5, the auxiliary butt joint module comprises a shore power pile guide frame 9, a connecting square tube 39, matching plates 40 and positioning buckles 41, the two groups of shore power pile guide frames 9 are symmetrically arranged at two ends of the side face of the connecting square tube 39, the matching plates 40 are arranged at the top end of the shore power pile guide frame 9, the matching plates 40 and the positioning plates 38 are matched to connect the main butt joint module and the auxiliary butt joint module, and the positioning buckles 41 are connected to the matching plates 40.
Referring to fig. 6 and 7, the main docking module further includes an anti-falling structure, the anti-falling structure includes a first sliding groove 42, a first screw 43, a first sliding block 44 and a first servo motor 45, the first sliding groove 42 includes two sets of mounting frames 35 symmetrically disposed on two sides of the center of the top end of the fixing plate 34, the first screw 43 rotates at two ends of the first sliding groove 42 and rotatably penetrates through the side surface of the fixing plate 34, the first sliding block 44 slides in the first sliding groove 42, the first screw 43 is threaded through the first sliding block 44, the first servo motor 45 is mounted on the side surface of the fixing plate 34 and has an output end fixed to the end of the first screw 43, the first servo motor 45 is started to drive the first screw 43 to rotate, the first sliding block 44 is driven to slide in the first sliding groove 42 by the threaded cooperation of the first screw 43 and the first sliding block 44, so as to adjust the space between the limiting rods 37 and further position the cable ship 12, prevent that the cable is overweight to lead to droing, the in-process carries out auxiliary stay to boats and ships cable 12 under the effect of bracing piece 36.
Referring to fig. 8 and 9, the main docking module further includes a slope adjusting structure, the slope adjusting structure includes an adjusting plate 46, a second sliding slot 47, a second screw 48, a second slider 49 and a second servo motor 50, the end of the connecting member 33 is fixed with the adjusting plate 46, the adjusting plate 46 is fixedly matched with the fixing plate 34, the side surface of the adjusting plate 36 is symmetrically provided with the second sliding slot 47, two ends of the second sliding slot 47 are rotated with the second screw 48, the second sliding slot 47 is internally slid with the second slider 49, the second screw 48 is threaded through the second slider 49, the second screw 48 is rotated and threaded through the bottom end of the adjusting plate 46 to be connected with the second servo motor 50, the second servo motor 50 is started to drive the second screw 48 to rotate, the second slider 49 is driven to move in the second sliding slot 47 under the threaded matching of the second screw 48 and the second slider 49, the height of the fixing plate 34 is adjusted, so as to adjust the heights of the mounting frame 35 and the limiting rod 37 on the fixing plate 34, the inclination angle of the ship cable 12 can be adjusted when the ship cable 12 is positioned, so that the ship cable 12 can be conveniently connected.
Referring to fig. 10, the auxiliary docking module further includes a clamping structure, the clamping structure includes a slide rail groove 51, a slide rail screw 52, and a slide rail block 53, the slide rail groove 51 is formed in the side surface of the connection square pipe 39, the slide rail screw 52 is rotated in the slide rail groove 51, the slide rail block 53 is slid in the slide rail groove 51, the slide rail block 53 is in threaded fit with the slide rail screw 52, the shore power pile guide frame 9 is fixed on the side surface of the slide rail block 53, and the shore power pile guide frames 9 symmetrically arranged on both sides of the shore power pile 8 can be adjusted in relative positions under the threaded fit of the slide rail screw 52 and the slide rail block 53, so that the docking is facilitated according to the size of the shore power pile 8 and the distance between the shore power plugs 11 on the ship cable 12.
In order to better achieve the purpose of the invention, the invention also provides an operation method of the intelligent shore power supply robot, which comprises the following specific steps:
the method comprises the following steps: the remote control power supply robot controls the power supply robot to walk to a ship cable 12 by adopting a crawler belt mode through the matching of a crawler belt 27, a driving wheel 28, an upper driving wheel 29 and a lower driving wheel 30 under the action of a moving structure, and controls the mechanical arm 2 and the rotating rod 25 to adjust the position of a main butt joint module through a mechanical arm operating rod 6 under the electric control of a mechanical arm electric cabinet 5 and the rotating matching of a rotating shaft 20 under the telescopic action of an air cylinder 22;
step two: the height of the fixing plate 34 is controlled and adjusted by using the inclination adjusting structure, the second servo motor 50 is started to drive the second screw rod 48 to rotate, the second sliding block 49 is driven to move in the second sliding groove 47 under the threaded fit of the second screw rod 48 and the second sliding block 49, the height of the fixing plate 34 is adjusted, and therefore the heights of the mounting frame 35 and the limiting rod 37 on the fixing plate 34 are adjusted, the inclination angle of the ship cable 12 can be adjusted when the ship cable 12 is positioned, and the ship cable 12 can be conveniently connected;
step three: positioning of a ship cable 12 and a shore power plug 11 is carried out by using a main docking module, a mechanical arm 2 drives an automatic docking platform 7 to move aside through a mechanical arm operating rod 6, the shore power plug 11 is firstly placed on a lower clamp 14 of the automatic docking platform 7, the automatic docking platform 7 is moved to the lower clamp 14 and connected with the lower clamp 14, and the shore power plug 11 is clamped by the automatic docking platform 7;
Step four: by using the anti-falling structure, the first servo motor 45 is started to drive the first screw 43 to rotate, and the first screw 43 and the first slide block 44 are matched through threads to drive the first slide block 44 to slide in the first sliding groove 42, so that the distance between the limiting rods 37 is adjusted, the ship cable 12 is positioned again, the cable is prevented from falling off due to overweight, and the ship cable 12 is supported in an auxiliary manner under the action of the supporting rod 36 in the process;
step five: under the action of a moving structure, the power supply robot is controlled to walk in a caterpillar track mode through the cooperation of a caterpillar track 27, a driving wheel 28, an upper driving wheel 29 and a lower driving wheel 30 to drive a mechanical arm 2 and an automatic butt-joint platform 7 and drag a ship cable 12, a shore power plug 11 walks to a shore power pile 8, the automatic butt-joint platform 7 moves to a shore power pile guide frame 9 through a mechanical arm operating rod 6 and the mechanical arm 2 again, the automatic butt-joint platform 7 is tightly connected with the shore power pile guide frame 9, after the automatic butt-joint platform 7 is connected with the shore power pile guide frame 9, a linear module 15 is driven by a motor 17 to drive a lower clamp 14, the shore power plug 11 and a visual camera 18 to advance to be in butt joint with a shore power socket 10 to complete the automatic butt-joint work of the shore power cable joint, the shore power pile 8 is electrified to supply power for ships, the shore power pile guide frames 9 symmetrically arranged on two sides of the shore power pile 8 are matched with the screw rods 52 of a sliding rail in a clamping structure, can adjust its relative position, be convenient for adjust according to the size of bank electric pile 8 and the interval between the bank electricity plug 11 on the boats and ships cable 12, conveniently dock.
The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The intelligent charging robot for the port ship comprises a universal shore power pile (8), a shore power socket (10), a shore power plug (11), a ship cable (12) and a power supply robot, and is characterized in that the shore power socket (10) is connected to the shore power pile (8) and used for being connected with the shore power plug (11) on the ship cable (12) to supply power;
the power supply robot further comprises a walking robot module for moving a ship cable (12), and a main butt joint module and an auxiliary butt joint module which are respectively butt joint with a shore power plug (11) and a shore power socket (10), wherein the main butt joint module is connected to the walking robot module, and the auxiliary butt joint modules are positioned on two sides of a shore power pile (8) and are matched with the main butt joint module to connect the shore power plug (11) and the shore power socket (10);
the walking robot module comprises a laser radar (1), a mechanical arm (2), a robot shell (3), an audible and visual alarm (4), a mechanical arm electric cabinet (5), a mechanical arm control rod (6), a moving chassis (13), a moving structure and a cylinder (22), wherein the laser radar (1) and the audible and visual alarm (4) are connected to the robot shell (3), a rotating shaft (20) penetrates through the top end of the robot shell (3) in a rotating manner, the side wall of the rotating shaft (20) is connected with a mounting plate (21), the cylinder (22) is mounted on the mounting plate (21), a piston rod (23) is movably arranged in the cylinder (22), the top end of the rotating shaft (20) is connected with a concave frame (24), the mechanical arm (2) is rotatably mounted on the concave frame (24) and consists of an upper part connected with the piston rod (23) and a lower part in rotary fit with the concave frame (24), a rotating rod (25) is rotatably matched at the end part of the mechanical arm (2), the bottom end of the rotating rod (25) is connected with an auxiliary arm (26), the mechanical arm electric cabinet (5) is arranged on the side surface of the auxiliary arm (26), the mechanical arm operating rod (6) is connected with the auxiliary arm (26), the moving chassis (13) is connected with the bottom end of the robot shell (3), and the moving structure is arranged at the lower part of the moving chassis (13);
The main butt joint module is arranged on the side face of the movable chassis (13), the main butt joint module comprises an automatic butt joint platform (7), a lower clamp (14), a linear module (15), a frame (16), a motor (17), a visual camera (18) and a connecting buckle (19), the automatic butt joint platform (7) is arranged on the top end of the frame (16), the lower clamp (14), the linear module (15), the motor (17) and the visual camera (18) are arranged on the bottom end of the frame (16), the connecting buckle (19) is connected beside the lower clamp (14), the side face of the movable chassis (13) is in threaded connection with a connecting piece (33), a fixing plate (34) is arranged at the end part of the connecting piece (33), an installation frame (35) is arranged at the top end of the fixing plate (34), a support rod (36) is matched with the side face of the installation frame (35) in a rotating mode, a limiting rod (37) is connected with the upper wall of the inner cavity of the installation frame (35) in a rotating mode, positioning plates (38) are symmetrically arranged on two sides of the frame (16);
the main butt joint module is still including preventing the structure of falling, prevent that the structure of falling includes spout (42), screw rod (43), slider (44) and servo motor (45) No. one, spout (42) are total two sets of, and the symmetry sets up between two sets of installing frames (35) of fixed plate (34) top center both sides, screw rod (43) rotate and run through fixed plate (34) side at spout (42) both ends and rotation No. one, slider (44) slide in spout (42) No. one, screw rod (43) screw thread runs through slider (44) No. one, servo motor (45) are installed in fixed plate (34) side and output and screw rod (43) end fixing.
2. The intelligent charging robot for the harbor ship according to claim 1, wherein the moving structure comprises caterpillar tracks (27), driving wheels (28), upper driving wheels (29), lower driving wheels (30), V-shaped reinforcing rods (31) and connecting plates (32), the driving wheels (28) are located at two sides in the caterpillar tracks (27), the upper driving wheels (29) are installed on the upper wall of the inner cavity of the caterpillar tracks (27), the lower driving wheels (30) are installed on the lower wall of the inner cavity of the caterpillar tracks (27), the V-shaped reinforcing rods (31) are arranged between two adjacent sets of the lower driving wheels (30), and the connecting plates (32) are installed between the upper driving wheels (29) and the lower driving wheels (30).
3. The intelligent charging robot for the harbor ship as claimed in claim 2, wherein said mounting frames (35) are set in four groups at equal intervals at the center of the top end of the fixing plate (34), the bottom end of the limiting rod (37) is in smooth contact with the top end of the fixing plate (34), and said positioning plates (38) are symmetrically located at both sides of the top end of the frame (16).
4. The intelligent charging robot for port ships according to claim 3, wherein the auxiliary butt joint module comprises shore electric pile guide frames (9), a square connecting pipe (39), matching plates (40) and positioning buckles (41), the shore electric pile guide frames (9) are arranged at two ends of the side face of the square connecting pipe (39) in two groups and are symmetrically arranged at two ends of the side face of the square connecting pipe (39), the matching plates (40) are installed at the top end of the shore electric pile guide frames (9), the matching plates (40) and the positioning plates (38) are matched to connect the main butt joint module and the auxiliary butt joint module, and the positioning buckles (41) are connected to the matching plates (40).
5. The intelligent charging robot for port ships according to claim 4, the main butt joint module also comprises an inclination adjusting structure, the inclination adjusting structure comprises an adjusting plate (46), a second sliding groove (47), a second screw rod (48), a second sliding block (49) and a second servo motor (50), an adjusting plate (46) is fixed at the end part of the connecting piece (33), the adjusting plate (46) is fixedly matched with the fixing plate (34), a second sliding groove (47) is symmetrically formed in the side surface of the adjusting plate (36), a second screw rod (48) is rotatably arranged at two ends of the second sliding groove (47), a second sliding block (49) is arranged in the second sliding groove (47) in a sliding manner, a second screw rod (48) penetrates through the second sliding block (49) in a threaded manner, and the second screw (48) rotates to penetrate through the bottom end of the adjusting plate (46) and is connected with a second servo motor (50).
6. The intelligent charging robot for port ships according to claim 5, wherein the secondary butt joint module further comprises a clamping structure, the clamping structure comprises a slide rail groove (51), a slide rail screw (52) and a slide rail block (53), the slide rail groove (51) is formed in the side surface of the connecting square pipe (39), the slide rail screw (52) rotates in the slide rail groove (51), the slide rail block (53) slides in the slide rail groove (51), the slide rail block (53) is in threaded fit with the slide rail screw (52), and the shore pile guide frame (9) is fixed to the side surface of the slide rail block (53).
7. The charging method for the intelligent charging robot for the harbor ship as claimed in claim 6, characterized by comprising the following steps:
the method comprises the following steps: the remote control power supply robot is controlled to walk to a ship cable (12) by adopting a crawler belt mode through the matching of a crawler belt (27), a driving wheel (28), an upper driving wheel (29) and a lower driving wheel (30) under the action of a moving structure, and under the electric control of a mechanical arm electric cabinet (5), under the matching of the telescopic action of an air cylinder (22) and the rotation of a rotating shaft (20), a mechanical arm control rod (6) controls a mechanical arm (2) and a rotating rod (25) to adjust the position of a main butt joint module;
step two: the height of the fixing plate (34) is adjusted by utilizing the inclination adjusting structure, the second servo motor (50) is started to drive the second screw rod (48) to rotate, the second sliding block (49) is driven to move in the second sliding groove (47) under the threaded matching of the second screw rod (48) and the second sliding block (49), the height of the fixing plate (34) is adjusted, and therefore the heights of the mounting frame (35) and the limiting rod (37) on the fixing plate (34) are adjusted, the inclination angle of the ship cable (12) can be adjusted when the ship cable (12) is positioned, and the ship cable (12) can be connected;
step three: the main docking module is used for positioning a ship cable (12) and a shore power plug (11), a mechanical arm (2) drives an automatic docking platform (7) to move aside through a mechanical arm operating rod (6), the shore power plug (11) is firstly placed on a lower clamp (14) of the automatic docking platform (7), the automatic docking platform (7) is moved to the lower clamp (14), and the automatic docking platform (7) and the shore power plug are connected;
Step four: the anti-falling structure is utilized, the first servo motor (45) is started to drive the first screw rod (43) to rotate, the first screw rod (43) and the first sliding block (44) are matched through threads, the first sliding block (44) is driven to slide in the first sliding groove (42), the distance between the limiting rods (37) is adjusted, the ship cable (12) is positioned again, the cable is prevented from falling off due to overweight, and the ship cable (12) is supported in an auxiliary mode under the action of the supporting rod (36) in the process;
step five: the remote control power supply robot adopts a crawler belt mode to control the power supply robot to walk by matching a crawler belt (27), a driving wheel (28), an upper driving wheel (29) and a lower driving wheel (30) under the action of a moving structure so as to drive a mechanical arm (2) and an automatic butt-joint platform (7), and drags the ship cable (12), the shore power plug (11) walks to the shore power pile (8), the automatic docking platform (7) is moved to the shore power pile guide frame (9) through the mechanical arm operating rod (6) and the mechanical arm (2) again, after the automatic docking platform (7) is connected with the shore power pile guide frame (9), the motor (17) drives the linear module (15) to drive the lower clamp (14), the shore power plug (11) and the vision camera (18) to move forward, the shore power cable connector is in butt joint with a shore power socket (10) to complete automatic butt joint work of the shore power cable connector, and the shore power pile (8) is electrified to supply power to the ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111295339.5A CN114006435B (en) | 2021-11-03 | 2021-11-03 | Intelligent charging robot for port ship and charging method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111295339.5A CN114006435B (en) | 2021-11-03 | 2021-11-03 | Intelligent charging robot for port ship and charging method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114006435A CN114006435A (en) | 2022-02-01 |
| CN114006435B true CN114006435B (en) | 2022-06-28 |
Family
ID=79926876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111295339.5A Active CN114006435B (en) | 2021-11-03 | 2021-11-03 | Intelligent charging robot for port ship and charging method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114006435B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105186512A (en) * | 2015-10-13 | 2015-12-23 | 天津港轮驳有限公司 | Low-voltage shore power system for tugboat harbor |
| CN212861143U (en) * | 2020-08-31 | 2021-04-02 | 河北誉唐电力科技有限责任公司 | Low-voltage integrated shore power pile |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014072959A (en) * | 2012-09-28 | 2014-04-21 | Kanji Takamasa | Ship charging device |
| CN110957624A (en) * | 2019-11-05 | 2020-04-03 | 许继电源有限公司 | Shore power connector and auxiliary plugging device thereof |
| CN111618835B (en) * | 2020-06-12 | 2021-11-26 | 山东科曼智能科技有限公司 | Intelligent charging robot system for port shore power and operation method |
| CN214543629U (en) * | 2021-03-24 | 2021-10-29 | 厦门英创海事科技有限公司 | On-vehicle boats and ships bank electricity power supply unit |
-
2021
- 2021-11-03 CN CN202111295339.5A patent/CN114006435B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105186512A (en) * | 2015-10-13 | 2015-12-23 | 天津港轮驳有限公司 | Low-voltage shore power system for tugboat harbor |
| CN212861143U (en) * | 2020-08-31 | 2021-04-02 | 河北誉唐电力科技有限责任公司 | Low-voltage integrated shore power pile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114006435A (en) | 2022-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109914408B (en) | Pile driving ship and attitude adjusting, positioning control and pile driving method thereof | |
| CN114454196B (en) | Track inspection robot | |
| CN110901831A (en) | Device for enabling non-self-propelled ship to pass through tunnel in long distance | |
| CN111661246A (en) | Ocean platform propulsion device with automatic parking positioning structure | |
| CN114006435B (en) | Intelligent charging robot for port ship and charging method thereof | |
| CN110155751A (en) | A kind of aluminium ingot full-automation is got on the bus system and method | |
| CN116006247A (en) | Coal mine fully-mechanized mining face hydraulic support positioning device | |
| CN108945298B (en) | Marine underwater detection support structure and operation method thereof | |
| CN205038339U (en) | Hoist formula is three -dimensional sonar probe fixing device under water | |
| CN209145308U (en) | A kind of light aggregate building block clamping device | |
| CN213274777U (en) | Underwater bottom-sitting type movable installation and adjustment platform | |
| CN212871281U (en) | Tunnel detection device | |
| CN209728298U (en) | A kind of regulating device of laser scanning device | |
| CN209721254U (en) | A kind of shore connection cable conveying on-line control system | |
| CN212555850U (en) | Mobile following shore power supply system | |
| CN110949695B (en) | Booster and core-level rocket binding butt joint vertical direction adjusting system | |
| CN212919407U (en) | Circuit laying pipeline butt joint equipment for electric power construction site | |
| CN210084618U (en) | Supporting device for self-adaptive adjusting position of cable conveyor | |
| CN113700938B (en) | Mud contact point monitoring device and monitoring method in submarine pipeline laying process | |
| CN218378656U (en) | Topographic surveying and mapping device for hydraulic engineering | |
| CN219219104U (en) | Floating transportation auxiliary device applied to immersed tunnel construction | |
| CN217917757U (en) | Fixing device is used in agricultural machinery transportation | |
| CN218618721U (en) | Array-crossing transfer device of photovoltaic system assembly cleaning robot for whole scene | |
| CN219487676U (en) | Water surface photovoltaic operation ship berthing device for salt-light complementation | |
| CN216408302U (en) | Camera horizontal sliding rail for photography |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 264006 No. 802, No. 77, Changjiang Road, fulaishan street, Yantai Economic and Technological Development Zone, Shandong Province Patentee after: Coman Intelligent Technology Co.,Ltd. Country or region after: China Address before: 264006 No. 802, No. 77, Changjiang Road, fulaishan street, Yantai Economic and Technological Development Zone, Shandong Province Patentee before: SHANDONG KEMAN INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: China |