CN115173139A

CN115173139A - Wheeled robot of patrolling and examining convenient to stable butt joint

Info

Publication number: CN115173139A
Application number: CN202210880149.8A
Authority: CN
Inventors: 郝德锋; 李华; 刘斌斌; 王广东; 常威武; 李颖博; 王田; 马乐; 张亮; 肖逸波
Original assignee: Xian Thermal Power Research Institute Co Ltd; Huaneng Group Technology Innovation Center Co Ltd; Xian Xire Control Technology Co Ltd
Current assignee: Xian Thermal Power Research Institute Co Ltd; Huaneng Group Technology Innovation Center Co Ltd; Xian Xire Control Technology Co Ltd
Priority date: 2022-07-25
Filing date: 2022-07-25
Publication date: 2022-10-11

Abstract

The invention discloses a wheel type inspection robot convenient for stable butt joint, which comprises a robot main body and a charging base arranged on one side of the robot main body, wherein a charging motor box is fixedly connected to the outer wall of the robot main body, an electric telescopic rod is fixedly arranged on the charging base, a charging plug is fixedly connected to the top end of the electric telescopic rod, air in a second sliding cavity is pumped into first sliding cavities on two sides through an air pump, a second piston plate is subjected to air pressure to drive a fixed drag hook to move upwards, a butt joint mechanism is pulled by the fixed drag hook to move upwards and synchronously until a connecting terminal is in butt joint with a conductive plug to charge the robot, meanwhile, a bolt rod is pushed by the first piston plate to move downwards, a floating ball body is extruded by the bolt rod to slide out of a spherical groove, and then a part of the floating ball body extends out of an outer annular opening to be clamped with an outer annular groove on the outer wall of the charging plug, so that the charging plug is subjected to charge the charging plug and the charging box in stable butt joint.

Description

Wheeled robot of patrolling and examining convenient to stable butt joint

Technical Field

The invention belongs to the technical field of inspection robots, and particularly relates to a wheel type inspection robot convenient for stable butt joint.

Background

The inspection robot remote expert diagnosis cooperative platform is a visual cooperative solution specially created for industrial inspection intelligent robots. Visual maintenance command, remote expert guidance, efficient and timely defect elimination and the like are realized.

The prior inspection robot technology has the following problems: when charging, the butt joint is not stable enough, leads to the joint contact not good, and transmission voltage is unstable, easily causes the incident, shortens robot's life, if receive the collision in addition and easily cause the disconnection, the interrupt of charging influences normal charging.

Disclosure of Invention

The invention aims to provide a wheel type inspection robot convenient for stable butt joint, and aims to solve the problem that the butt joint is not stable enough and is easy to break in the background technology.

In order to solve the technical problems, the invention is realized by the following technical scheme:

a wheel type inspection robot convenient for stable butt joint comprises a robot main body and a charging base arranged on one side of the robot main body, wherein a charging box is fixedly connected to the outer wall of the robot main body, an electric telescopic rod is fixedly mounted on the charging base, a charging plug is fixedly connected to the top end of the electric telescopic rod, an outer annular groove is formed in the outer wall of the charging plug, a third sliding cavity is formed in the upper end of the charging plug, a butt joint mechanism is arranged in the third sliding cavity, and a plug assembly is arranged in the butt joint mechanism;

a counterpoint groove matched with a charging plug is formed in the lower end of the charging box, a second sliding cavity is formed in the upper end of the counterpoint groove, a pneumatic lifting mechanism used for lifting the butting mechanism is arranged in the second sliding cavity, a terminal assembly matched with the plug assembly is arranged on the inner wall of the top of the counterpoint groove, first sliding cavities are formed in two sides of the counterpoint groove, and a pneumatic locking mechanism used for locking the charging plug is arranged in each first sliding cavity;

an air pump is fixedly arranged in the charging machine box and communicated with the second sliding cavity and the two first sliding cavities through air guide tubes.

Further, docking mechanism includes the barrel, spacing spout has been seted up on the inner wall in third sliding chamber, barrel and spacing spout sliding connection, the outside cover of barrel is equipped with the second elastic component, the one end and the barrel fixed connection of second elastic component, the other end of second elastic component and the inner wall fixed connection of spacing spout, the inner ring groove has been seted up on the inner wall of barrel.

Further, the plug assembly comprises a tube body, one end of the tube body is fixedly connected with the barrel, and the other end of the tube body is fixedly connected with the conductive plug.

Further, the second elastic member is a spring.

Further, the pneumatic lifting mechanism comprises a second piston piece, the second piston piece is connected with a second sliding cavity in a sliding mode, the bottom surface of the second piston piece is hinged with two symmetrical fixed drag hooks, two first elastic pieces are arranged between the fixed drag hooks, electromagnets are fixedly connected to the two ends of each first elastic piece, and the electromagnets are fixed to the two fixed drag hooks respectively.

Further, the terminal assembly comprises a wiring terminal, fixing rods are fixedly connected to two sides of the wiring terminal, a fixing clamping plate is fixedly connected to one end of each fixing rod, the fixing clamping plate is fixedly connected with the inner wall of the top of the alignment groove, and a notch used for enabling the fixing rods to slide up and down is formed in the fixing drag hook.

Further, the first elastic member is a spring.

Further, pneumatic locking mechanism includes first piston piece, first piston piece and first smooth chamber sliding connection, the bottom surface fixedly connected with bolt pole of first piston piece, fixedly connected with slider on the lateral wall of bolt pole, the guide way has been seted up to the downside in first smooth chamber, slider and guide way sliding connection, the tiger's mouth that is linked together with the counterpoint groove is seted up to bottom one side of guide way, it is equipped with the spheroid that floats to inlay in the tiger's mouth.

Furthermore, the bottom end of the bolt rod is provided with a spherical groove matched with the floating ball.

Furthermore, the bottom end of the alignment groove is horn-shaped.

Compared with the prior art, the invention has at least the following beneficial effects: according to the wheel type inspection robot convenient for stable butt joint, air in a second sliding cavity is pumped into first sliding cavities on two sides through an air pump, a second piston plate is under the action of air pressure to drive a fixed drag hook to move upwards, a butt joint mechanism is pulled by the fixed drag hook to move upwards and synchronously until a connecting terminal is in butt joint with a conductive plug, the robot is charged, meanwhile, a bolt rod is pushed to move downwards through the first piston plate, a floating ball body is extruded by the bolt rod and slides out of a spherical groove, and then a part of the floating ball body extends out of a tiger mouth to be clamped with an outer annular groove on the outer wall of the charging plug, so that the charging plug is clamped and fixed, the charging plug is further reinforced, is stably in butt joint with a charger box, and is high in impact resistance; through the arrangement of the pneumatic locking mechanism, the plug pin rod is positioned at the upper part of the guide groove when the pneumatic locking mechanism is in a normal state, and the floating ball body is contracted in the tiger mouth under the action of gravity and is attached to the spherical groove at the bottom end of the plug pin rod, so that the insertion of a charging plug is not influenced; through set up the electro-magnet on fixed drag hook, make fixed drag hook inwards draw in through two electro-magnet suction effects, then control electric telescopic handle with charging plug shrink downwards, make charging plug break away from the charging machine box, and then can accomplish the action that breaks away from of plug automatically, guarantee operation safety.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a wheeled inspection robot convenient for stable docking according to the present invention;

fig. 2 is a schematic structural diagram of a first state of a charger box and a conductive plug according to the present invention;

fig. 3 is a structural schematic diagram of a second state of the charger box and the conductive plug according to the present invention;

fig. 4 is a schematic structural diagram of a third state of the charger box and the conductive plug according to the present invention;

FIG. 5 is a schematic view of a portion A of FIG. 2 according to the present invention;

FIG. 6 is a schematic view of a portion B of FIG. 2 according to the present invention;

in the figure: 1. a robot main body; 2. a charging box; 21. a positioning groove; 22. a pneumatic locking mechanism; 221. a first piston plate; 222. a latch rod; 223. a slider; 224. a floating ball; 23. a first slide chamber; 231. a tiger mouth; 232. a guide groove; 24. a second slide cavity; 25. an air pump; 26. a pneumatic pulling mechanism; 261. a second piston plate; 262. fixing the draw hook; 263. a first elastic member; 264. an electromagnet; 27. an air duct; 28. a terminal assembly; 281. a wiring terminal; 282. fixing the clamping plate; 283. a fixing rod; 3. a charging plug; 31. an outer annular groove; 32. a docking mechanism; 321. a cylinder body; 322. an inner annular groove; 323. a second elastic member; 33. a third slide cavity; 331. a limiting chute; 34. a plug assembly; 341. a tube body; 342. a conductive plug; 4. an electric telescopic rod; 5. a charging base.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 6, the wheel type inspection robot convenient for stable butt joint comprises a robot main body 1 and a charging base 5 arranged on one side of the robot main body 1, wherein a charging machine box 2 is fixedly connected to the outer wall of the robot main body 1, an electric telescopic rod 4 is fixedly mounted on the charging base 5, a charging plug 3 is fixedly connected to the top end of the electric telescopic rod 4, an outer annular groove 31 is formed in the outer wall of the charging plug 3, the wheel type inspection robot main body 1 automatically runs to the position above the charging base 5 when the electric quantity is insufficient, and after the charging base 5 induces the position of the charging machine box 2 to be aligned with the position of the charging plug 3, the electric telescopic rod 4 is controlled to extend out the charging plug 3, so that the charging plug 3 is stably butted with the charging machine box 2.

It should be noted that, a third sliding cavity 33 is provided inside the upper end of the charging plug 3, a docking mechanism 32 is provided in the third sliding cavity 33, the docking mechanism 32 includes a barrel 321, a limit sliding slot 331 is provided on the inner wall of the third sliding cavity 33, the barrel 321 is slidably connected to the limit sliding slot 331, a second elastic member 323 is sleeved outside the barrel 321, one end of the second elastic member 323 is fixedly connected to the barrel 321, the other end of the second elastic member 323 is fixedly connected to the inner wall of the limit sliding slot 331, an inner annular groove 322 is provided on the inner wall of the barrel 321, and in a natural state, the barrel 321 is under the elastic action of the second elastic member 323 and is attached to the inner bottom surface of the third sliding cavity 33. In this embodiment, the second elastic member 323 is a spring.

Be provided with plug assembly 34 in the docking mechanism 32, plug assembly 34 includes body 341, and the one end and the barrel 321 fixed connection of body 341, the other end fixed connection of body 341 has electrically conductive plug 342, and after the butt joint, accessible electrically conductive plug 342 charges the robot.

Specifically, an alignment groove 21 adapted to the charging plug 3 is formed in the lower end of the charger box 2, the bottom end of the alignment groove 21 is in a horn shape, so that the fault tolerance rate can be improved, a second sliding cavity 24 is formed in the upper end of the alignment groove 21, a pneumatic pulling mechanism 26 for pulling up the docking mechanism 32 is arranged in the second sliding cavity 24, the pneumatic pulling mechanism 26 comprises a second piston sheet 261, the second piston sheet 261 is slidably connected with the second sliding cavity 24, the bottom surface of the second piston sheet 261 is hinged with two symmetrical fixed draw hooks 262, a first elastic member 263 is arranged between the two fixed draw hooks 262, two ends of the first elastic member 263 are both fixedly connected with electromagnets 264, the two electromagnets 264 are respectively fixed on the two fixed draw hooks 262, when the charging plug 3 is inserted from the bottom opening of the alignment groove 21, the charging plug can slide to the top inner wall of the alignment groove 21 along the groove wall and attach to the top inner wall of the alignment groove 21, in the process, the two fixed draw hooks 262 are squeezed by the charging plug 3 and are clamped to the inner wall of the inner ring groove 322 of the inner ring groove 321, and automatically clamped in the elastic groove 322 under the action of the elastic force of the first elastic member 322. In this embodiment, the first elastic element 263 is a spring.

Be provided with the terminal subassembly 28 with 34 looks adaptations of plug subassembly on the top inner wall of counterpoint groove 21, terminal subassembly 28 includes binding post 281, binding post 281's both sides fixedly connected with dead lever 283, the fixed splint 282 of one end fixedly connected with of dead lever 283, the fixed splint 282 and the top inner wall fixed connection of counterpoint groove 21, offer on the fixed drag hook 262 and be used for dead lever 283 gliding notch from top to bottom, when fixed drag hook 262 moves from top to bottom, dead lever 283 can be in the notch activity, and then can not influence the up-and-down motion of fixed drag hook 262, can make fixed drag hook 262 when pulling barrel 321 upward movement, can make binding post 281 correctly dock with electrically conductive plug 342.

Further, two sides of the alignment groove 21 are provided with first sliding cavities 23, a pneumatic locking mechanism 22 for locking the charging plug 3 is arranged in the first sliding cavity 23, the pneumatic locking mechanism 22 includes a first piston piece 221, the first piston piece 221 is slidably connected with the first sliding cavity 23, a plug rod 222 is fixedly connected to the bottom surface of the first piston piece 221, a slider 223 is fixedly connected to the side wall of the plug rod 222, a guide groove 232 is formed in the lower side of the first sliding cavity 23, the slider 223 is slidably connected with the guide groove 232, one side of the bottom of the guide groove 232 is provided with a thumb opening 231 communicated with the alignment groove 21, a floating ball 224 is embedded in the thumb opening 231, a spherical groove matched with the floating ball 224 is formed in the bottom end of the plug rod 222, the plug rod 222 is located at the upper portion of the guide groove 232 in a normal state, the floating ball 224 contracts in the thumb opening 231 under the action of gravity and fits with the spherical groove in the bottom end of the plug rod 222, when the plug rod 222 is subjected to pushing force, the floating ball 224 can be pushed to slide out of the floating ball 224, and further, a part of the charging plug 3 is clamped with the outer ring groove 31.

Furthermore, an air pump 25 is fixedly arranged in the charger box 2, the air pump 25 is communicated with the second sliding cavity 24 and the two first sliding cavities 23 through an air duct 27, after the charging plug 3 is completely inserted into the alignment groove 21, the air pump 25 starts to work, air in the second sliding cavity 24 is pumped into the first sliding cavities 23 on the two sides, and then the pneumatic lifting mechanism 26 is lifted upwards, and the pneumatic locking mechanism 22 moves downwards.

The working principle and the using process of the invention are as follows: when the wheel type inspection robot is used, the wheel type inspection robot main body 1 automatically runs to the position above the charging base 5 when the electric quantity is insufficient, after the charging base 5 senses that the positions of the charging box 2 and the charging plug 3 are aligned, the electric telescopic rod 4 is controlled to push the charging plug 3 upwards, so that the charging plug 3 is inserted from the bottom opening of the alignment groove 21 (as shown in a first state in fig. 2), and slides along the groove wall to be attached to the inner wall of the top of the alignment groove 21, in the process, the two fixing hooks 262 are pressed by the charging plug 3 to be folded inwards, slide downwards to the inner annular groove 322 along the inner wall of the cylinder 321, and are automatically clamped in the inner annular groove 322 under the elastic force of the first elastic piece 263 (as shown in a second state in fig. 3);

the air pump 25 starts to work, air in the second sliding cavity 24 is pumped into the first sliding cavities 23 on the two sides, the second piston sheet 261 is under the action of air pressure to drive the fixed draw hook 262 to move upwards, the fixed draw hook 262 pulls the butt joint mechanism 32 to move upwards synchronously until the connecting terminal 281 is in butt joint with the conductive plug 342 (in a third state shown in fig. 4), and the robot is charged;

meanwhile, the first piston plate 221 is pushed by the air pressure to move the plug rod 222 downwards, the floating sphere 224 is squeezed by the plug rod 222, the floating sphere 224 slides out of the spherical groove, and a part of the floating sphere 224 extends out of the tiger mouth 231 and is clamped with the outer annular groove 31 on the outer wall of the charging plug 3, so that the charging plug 3 is clamped (as shown in the third state in fig. 4), and the further reinforcement is performed, so that the charging plug 3 is stably butted with the charging machine box 2;

after the charging is finished, the air pump 25 works again, the original air pressure of the second sliding cavity 24 and the original air pressure of the first sliding cavity 23 are recovered, the second piston sheet 261 and the first piston sheet 221 drive the fixed draw hook 262 and the plug rod 222 to recover to the original position, the docking mechanism 32 automatically resets under the elastic action of the second elastic piece 323, the wiring terminal 281 and the conductive plug 342 are disconnected, and meanwhile, the floating sphere 224 contracts in the tiger mouth 231 under the action of gravity and is attached to the spherical groove at the bottom end of the plug rod 222;

the electromagnet 264 is electrified, the fixed draw hook 262 is folded inwards under the suction action of the electromagnet 264, and then the electric telescopic rod 4 is controlled to contract the charging plug 3 downwards, so that the charging plug 3 is separated from the charging box 2.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still make modifications or changes to the embodiments described in the foregoing embodiments, or make equivalent substitutions for some features, within the scope of the disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a robot is patrolled and examined to wheeled convenient to stable butt joint, includes robot main part (1) and sets up charging base (5) in robot main part (1) one side, fixedly connected with charging box (2) on the outer wall of robot main part (1), fixed mounting has electric telescopic handle (4) on charging base (5), the top fixedly connected with charging plug (3) of electric telescopic handle (4), its characterized in that: an outer annular groove (31) is formed in the outer wall of the charging plug (3), a third sliding cavity (33) is formed in the upper end of the charging plug (3), a butt joint mechanism (32) is arranged in the third sliding cavity (33), and a plug assembly (34) is arranged in the butt joint mechanism (32);

a positioning groove (21) matched with the charging plug (3) is formed in the lower end of the charging machine box (2), a second sliding cavity (24) is formed in the upper end of the positioning groove (21), a pneumatic lifting mechanism (26) used for lifting the docking mechanism (32) is arranged in the second sliding cavity (24), a terminal assembly (28) matched with the plug assembly (34) is arranged on the inner wall of the top of the positioning groove (21), first sliding cavities (23) are formed in two sides of the positioning groove (21), and a pneumatic locking mechanism (22) used for locking the charging plug (3) is arranged in each first sliding cavity (23);

an air pump (25) is fixedly arranged in the charging motor box (2), and the air pump (25) is communicated with the second sliding cavity (24) and the two first sliding cavities (23) through air ducts (27).

2. The wheeled inspection robot convenient to stable butt joint of claim 1, characterized in that: the butt joint mechanism (32) comprises a barrel body (321), a limiting sliding groove (331) is formed in the inner wall of the third sliding cavity (33), the barrel body (321) is connected with the limiting sliding groove (331) in a sliding mode, a second elastic piece (323) is sleeved outside the barrel body (321), one end of the second elastic piece (323) is fixedly connected with the barrel body (321), the other end of the second elastic piece (323) is fixedly connected with the inner wall of the limiting sliding groove (331), and an inner annular groove (322) is formed in the inner wall of the barrel body (321).

3. The wheeled inspection robot convenient to stable butt joint of claim 2, characterized in that: the plug assembly (34) comprises a tube body (341), one end of the tube body (341) is fixedly connected with the tube body (321), and the other end of the tube body (341) is fixedly connected with a conductive plug (342).

4. The wheeled inspection robot convenient to stable butt joint of claim 2, characterized in that: the second elastic member (323) is a spring.

5. The wheeled inspection robot convenient to stable butt joint of claim 1, characterized in that: pneumatic mechanism (26) of drawing up includes second piston piece (261), second piston piece (261) and the smooth chamber of second (24) sliding connection, the bottom surface of second piston piece (261) articulates there are two fixed drag hooks (262) of symmetry, two be provided with first elastic component (263) between fixed drag hook (262), the equal fixedly connected with electro-magnet (264) in both ends of first elastic component (263), two electro-magnet (264) are fixed respectively on two fixed drag hooks (262).

6. The wheeled inspection robot convenient to stable butt joint of claim 5, characterized in that: the terminal assembly (28) comprises a connecting terminal (281), two sides of the connecting terminal (281) are fixedly connected with fixing rods (283), one end of each fixing rod (283) is fixedly connected with a fixing clamping plate (282), each fixing clamping plate (282) is fixedly connected with the inner wall of the top of the corresponding alignment groove (21), and a notch used for enabling the fixing rods (283) to slide up and down is formed in each fixing drag hook (262).

7. The wheeled inspection robot convenient to stable butt joint of claim 5, characterized in that: the first elastic member (263) is a spring.

8. The wheeled inspection robot convenient to stable butt joint of claim 1, characterized in that: pneumatic locking mechanism (22) include first piston piece (221), first piston piece (221) and first sliding chamber (23) sliding connection, the bottom surface fixedly connected with bolt pole (222) of first piston piece (221), fixedly connected with slider (223) on the lateral wall of bolt pole (222), guide way (232) have been seted up to the downside of first sliding chamber (23), slider (223) and guide way (232) sliding connection, tiger's mouth (231) that are linked together with counterpoint groove (21) are seted up to bottom one side of guide way (232), inlay in tiger's mouth (231) and be equipped with unsteady spheroid (224).

9. The wheeled inspection robot convenient to stable butt joint of claim 8, wherein: the bottom end of the bolt rod (222) is provided with a spherical groove matched with the floating ball body (224).

10. The wheeled inspection robot convenient to stable butt joint of claim 1, characterized in that: the bottom end of the alignment groove (21) is trumpet-shaped.