CN116545076B - Charging docking device and method for intelligent robot - Google Patents
Charging docking device and method for intelligent robot Download PDFInfo
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- CN116545076B CN116545076B CN202310817653.8A CN202310817653A CN116545076B CN 116545076 B CN116545076 B CN 116545076B CN 202310817653 A CN202310817653 A CN 202310817653A CN 116545076 B CN116545076 B CN 116545076B
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000007689 inspection Methods 0.000 claims abstract description 88
- 238000003860 storage Methods 0.000 claims description 55
- 238000004140 cleaning Methods 0.000 claims description 34
- 238000005452 bending Methods 0.000 claims description 19
- 238000001125 extrusion Methods 0.000 claims description 18
- 239000007788 liquid Substances 0.000 claims description 18
- 238000003825 pressing Methods 0.000 claims description 18
- 238000005498 polishing Methods 0.000 claims description 13
- 210000001503 joint Anatomy 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000000875 corresponding effect Effects 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
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- 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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses a charging docking device and a method for an intelligent robot, wherein the docking device comprises: the main body unit comprises a driving sleeve matched with the guide rail, and the lower end of the driving sleeve is fixedly connected with corresponding inspection robots through a plurality of groups of electric telescopic rods which are uniformly distributed; the charging pile unit comprises a mounting seat fixedly arranged right below the guide rail through a mounting frame and a charging pile body fixedly arranged on the mounting seat, wherein an electric sheet fixing seat is arranged in the charging pile body, and a charging inserting sheet is fixedly arranged on the electric sheet fixing seat; the stepping trigger unit comprises a plurality of groups of travel trigger switches which are uniformly arranged on the guide rail, the top end of the driving sleeve is fixedly connected with a sliding block, and the lower end of each sliding block is provided with a travel trigger wheel matched with the travel trigger switch. The charging and docking process does not need manual control by a worker or real-time monitoring of the docking process, so that the worker is liberated, and the inspection robot is automatically charged.
Description
Technical Field
The application relates to the technical field of intelligent robot charging, in particular to a charging docking device and method for an intelligent robot.
Background
The intelligent inspection robot comprises a visual identification system with an industrial camera, a visual video monitoring system, a thermal imaging temperature monitoring camera, a smoke/temperature and humidity/gas detector and other high-performance monitoring instruments, all-weather inspection, detection, monitoring, fault diagnosis, early warning and alarm and the like can be carried out on cable tunnel equipment, the frequency and intensity of manual inspection are greatly reduced, the installation quantity of fixed sensors and instruments required in places is reduced, the inspection mode is independent routine inspection and customized inspection, a unidirectional fixed point task can be executed by the remote manual remote control robot, and inspected data are timely transmitted from a monitoring point to a monitoring center in real time, so that unmanned operation is realized.
The intelligent robot replaces the manual work to accomplish the inspection to the tunnel, but it needs to charge it after using a period, is used for charging interfacing apparatus to intelligent robot on the market at present, needs staff manual control more, real-time supervision, can not liberate the staff completely, brings inconvenience for intelligent robot's application.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.
The present application has been made in view of the above-mentioned problems with a charging docking device for an intelligent robot and a method thereof.
Therefore, the application aims to provide a charging docking device for an intelligent robot and a method thereof, which are suitable for solving the problems that the charging docking device for the intelligent robot needs to be charged after being used for a period of time, the charging docking device for the intelligent robot in the market at present needs manual control by workers and real-time monitoring, and the workers cannot be completely liberated.
In order to solve the technical problems, the application provides the following technical scheme: a charging docking device for an intelligent robot, comprising:
the main body unit comprises a driving sleeve matched with the guide rail, the lower end of the driving sleeve is fixedly connected with corresponding inspection robots through a plurality of groups of electric telescopic rods which are uniformly distributed, a double-light holder is arranged on the lower side of each inspection robot, an FPV camera is fixedly arranged on each inspection robot, and charging sockets with symmetrical positions are formed in the two ends of each inspection robot;
the charging pile unit comprises a mounting seat fixedly arranged right below the guide rail through a mounting frame and a charging pile body fixedly arranged on the mounting seat, an electric sheet fixing seat is arranged in the charging pile body, a charging inserting sheet is fixedly arranged on the electric sheet fixing seat, an extending opening matched with the charging inserting sheet is formed in the charging pile body, a second elastic switch is fixedly arranged on one side, close to the inspection robot, of the charging pile body, a bending seat is fixedly arranged on the lower side wall of the mounting seat, an extending strip is fixedly connected to the upper side wall of the bending seat through an electric telescopic column, the electric telescopic column is electrically connected with the second elastic switch, a storage trigger switch is fixedly arranged at one end, far away from the mounting seat, of the upper side wall of the extending strip, and a storage trigger wheel matched with the storage trigger switch is arranged on the lower side wall of the double-light holder;
the stepping trigger unit comprises a plurality of groups of travel trigger switches which are uniformly arranged on a guide rail, the top end of a driving sleeve is fixedly connected with a sliding block, each sliding block is provided with a travel trigger wheel matched with the travel trigger switch at the lower end, the lower side wall of the driving sleeve is fixedly provided with a fixed lug with symmetrical positions, one fixed lug is fixedly provided with a first elastic switch electrically connected with an electric telescopic rod, the other fixed lug is fixedly provided with a stepping motor, an output shaft of the stepping motor penetrates through the fixed lug and is fixedly connected with a threaded rod, the threaded rod is provided with a threaded sleeve which is in sliding connection with the lower side wall of the driving sleeve, the threaded sleeve is fixedly connected with a pushing disc through a plurality of groups of connecting columns which are uniformly distributed, and the pushing disc corresponds to the position of the first elastic switch.
As a preferred embodiment of the charging docking device for an intelligent robot according to the present application, the charging docking device comprises: the main body unit further comprises a patrol driving assembly, the patrol driving assembly comprises a plurality of groups of racks symmetrically arranged on the guide rail body and a driving motor fixedly arranged in the driving sleeve, and an output shaft of the driving motor is fixedly connected with a driving gear meshed with the racks.
As a preferred embodiment of the charging docking device for an intelligent robot according to the present application, the charging docking device comprises: the butt joint device further comprises a dustproof cleaning unit, the dustproof cleaning unit comprises a plurality of groups of liquid storage boxes fixedly installed in the charging pile body and piston plates in sealing sliding connection with the inner walls of the liquid storage boxes, one side of each piston plate, close to the inspection robot, is fixedly connected with a push rod, each push rod outwards penetrates through a pressing plate fixedly connected with the side wall of the charging pile body, an extrusion spring is sleeved on each push rod and located between the pressing plate and the outer side wall of the charging pile body, a bending barrel communicated with the liquid storage boxes is fixedly installed in the charging pile body, one ends, far away from the liquid storage boxes, of the bending barrels are in sealing sliding connection with hydraulic rods, and one ends, far away from the bending barrels, of the hydraulic rods are fixedly connected with an electric sheet fixing seat.
As a preferred embodiment of the charging docking device for an intelligent robot according to the present application, the charging docking device comprises: the dustproof cleaning unit further comprises a cleaning polishing assembly, the cleaning assembly comprises a cleaning sleeve fixedly mounted on the inner wall of the charging pile body and communicated with the extending opening, a cleaning wiping ring and two polishing rings are arranged on the inner wall pad of the cleaning sleeve, and the two polishing rings are symmetrically arranged on two sides of the cleaning wiping ring.
As a preferred embodiment of the charging docking device for an intelligent robot according to the present application, the charging docking device comprises: the inspection robot comprises a robot body, wherein two sides of the inspection robot body are fixedly provided with extrusion discs with symmetrical positions, and each extrusion disc corresponds to a corresponding pressing plate.
As a preferred embodiment of the charging docking device for an intelligent robot according to the present application, the charging docking device comprises: the mounting frame is set to the L type, and the wedge-shaped support frame of multiunit evenly distributed still fixedly connected with in mounting frame and guide rail junction.
As a preferred embodiment of the charging docking device for an intelligent robot according to the present application, the charging docking device comprises: the guide rail body is fixedly provided with a protection plate matched with the driving gear and the rack, and the width of the rack is larger than the thickness of the driving gear.
As a preferred embodiment of the charging docking device for an intelligent robot according to the present application, the charging docking device comprises: and limiting sliding strips with symmetrical positions are arranged on two sides of each sliding block, and limiting sliding grooves matched with the limiting sliding strips are arranged on the guide rail body.
As a preferred embodiment of the charging docking device for an intelligent robot according to the present application, the charging docking device comprises: and a telescopic protection cover is fixedly connected between the lower side wall of the driving sleeve and the upper side wall of the inspection robot, and is positioned on the outer sides of the plurality of groups of electric telescopic rods.
A charging docking method for an intelligent robot, the docking method being applicable to any one of the above docking devices, and the docking method comprising the steps of:
s1: a plurality of groups of travel trigger switches are arranged at equal intervals along the guide rail, and storage trigger switches capable of being stored are arranged below the charging pile body;
s2: the driving sleeve drives the inspection robot to walk on the guide rail to inspect the condition of the cable in the tunnel, the travel trigger wheel arranged on the driving sleeve extrudes the travel trigger switch once, the stepping motor drives the threaded sleeve and the push disc to move a distance towards the first elastic switch, when the travel trigger wheel extrudes the travel trigger switch for the Nth time, the push disc extrudes the first elastic switch at the moment, and the electric telescopic rod pushes the inspection robot to move downwards to the same horizontal height as the charging pile body;
s3: the driving sleeve drives the inspection robot to move towards the charging pile body, the charging inserting piece on the charging pile body is in butt joint with the charging slot on the inspection robot, the inspection robot is automatically charged, in the process, the second elastic switch is extruded, and the electric telescopic column pushes the extension bar and the storage trigger switch to move upwards;
and S4, after the charging is finished, the driving sleeve drives the inspection robot to reversely move, and when the storage trigger wheel below the double-light holder extrudes the storage trigger switch, the electric telescopic rod drives the inspection robot to upwards store, the electric telescopic column drives the extension bar again and the storage trigger switch to reset, so that the inspection robot can continuously execute the inspection task.
The application has the beneficial effects that: when the driving sleeve drives the travel trigger wheel to extrude the travel trigger switch for the nth time through the sliding block, the condition that the inspection robot is in a power failure state is indicated, the output shaft of the stepping motor drives the threaded rod to rotate, the threaded sleeve in threaded connection with the threaded rod extrudes the first elastic switch, the first elastic switch controls the electric telescopic rod to extend out, the inspection robot descends to be in a state of being completely horizontally aligned with the charging pile body, and when the inspection robot moves to be propped against the charging pile body, the charging inserting sheet fixedly installed on the charging pile body is inserted into the charging slot on the inspection robot, so that the inspection robot is charged;
when the inspection robot approaches the charging pile body, the second elastic switch installed on the charging pile body can control the electric telescopic column to extend, at the moment, the extending bar fixedly connected with the second elastic switch drives the storage trigger switch to move upwards, after a period of time, the driving sleeve drives the inspection robot to move reversely, the double-light holder installed below the inspection robot moves along with the movement, the storage trigger wheel installed at the center of the lower side wall of the double-light holder extrudes the storage trigger switch along with the movement, the storage trigger switch controls the electric telescopic rod to store along with the movement, the inspection robot drives the double-light holder to move upwards, the electric telescopic column drives the extending bar to move downwards, meanwhile, the storage trigger switch can also control the stepping motor to drive the threaded sleeve to reset, the driving sleeve can drive the inspection robot to continue to finish the inspection task, manual control of a worker in the charging butt joint process and real-time monitoring of the butt joint process are not needed, and workers are liberated, and the worker is automatically charged for the inspection robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
fig. 1 is a schematic diagram of the overall structure of a charging docking device for an intelligent robot according to the present application;
fig. 2 is a schematic structural diagram of an inspection driving assembly of a charging docking device for an intelligent robot according to the present application;
fig. 3 is a schematic diagram of a matching structure of a charging pile unit and a guide rail of a charging docking device for an intelligent robot according to the present application;
fig. 4 is a schematic diagram of a matching structure of a driving sleeve and a guide rail of a charging docking device for an intelligent robot according to the present application;
fig. 5 is a schematic diagram of a step triggering unit of a charging docking device for an intelligent robot according to the present application;
fig. 6 is a schematic diagram of a matching structure of a sliding block and a travel trigger wheel of a charging docking device for an intelligent robot according to the present application;
fig. 7 is a schematic structural diagram of a dust-proof cleaning unit of a charging docking device for an intelligent robot according to the present application;
fig. 8 is a schematic structural view of a cleaning and polishing assembly of a charging docking device for an intelligent robot according to the present application;
fig. 9 is a schematic diagram of a charging docking device for an intelligent robot and a method thereof according to the present application.
Description of the drawings: 100 main body units, 101 guide rails, 101a inspection driving components, 1011 racks, 1012 driving motors, 1013 driving gears, 1014 protection plates, 102 driving sleeves, 103 electric telescopic rods, 104 inspection robots, 105FPV cameras, 106 double-light cloud platforms, 107 charging sockets, 200 charging pile units, 201 mounting frames, 202 mounting seats, 203 charging pile bodies, 204 electric sheet fixing seats, 205 charging inserting sheets, 206 second elastic switches, 207 bending seats, 208 electric telescopic columns, 209 extending strips, 210 storage trigger switches, 211 storage trigger wheels, 300 stepping trigger units, 301 stroke trigger switches, 302 sliding blocks, 303 limit sliding strips, 304 stroke trigger wheels, 305 first elastic switches, 306 stepping motors, 307 threaded rods, 308 threaded sleeves, 309 pushing plates, 310 telescopic protection covers, 400 dustproof cleaning units, 401 liquid storage boxes, 402 piston plates, 403 cleaning sleeves, 403a cleaning polishing components, 4031 polishing rings, 4032 cleaning rings, 404 pushing rods, 405 pressing plates, 406 extrusion springs, 407 bending cylinders, 408 hydraulic rods and 409 extrusion plates.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Further, in describing the embodiments of the present application in detail, the cross-sectional view of the device structure is not partially enlarged to a general scale for convenience of description, and the schematic is only an example, which should not limit the scope of protection of the present application. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Referring to fig. 1-9, for one embodiment of the present application, there is provided a charging docking device for an intelligent robot, including: the device includes a main body unit 100, a charging pile unit 200, a stepping trigger unit 300, and a dust-proof cleaning unit 400.
The main body unit 100 comprises a driving sleeve 102 which is matched with a guide rail 101, the guide rail 101 is a non-closed linear track, a patrol robot 104 is used for carrying out reciprocating movement on the guide rail 101, the lower end of the driving sleeve 102 is fixedly connected with the corresponding patrol robot 104 through a plurality of groups of electric telescopic rods 103 which are uniformly distributed, the patrol robot 104 is powered by a lithium battery, the endurance time and the charging time of the patrol robot can be selected according to actual use requirements, a double-light holder 106 is arranged on the lower side of the patrol robot 104, an FPV camera 105 is fixedly arranged on the patrol robot 104, the FPV camera is a wireless camera rotary device which is based on a remote control aviation model or a vehicle model, the patrol robot 104 is mainly used as a first visual camera, two ends of the patrol robot 104 are provided with charging sockets 107 which are symmetrically arranged, the patrol robot 104 can be matched with an infrared camera, a noise sensor, a temperature and humidity sensor, a gas and smoke alarm and other electrical devices according to patrol tasks, the electric devices are commonly applied to the patrol intelligent robot in the field, and generally used as the patrol robot 104, and the application does not introduce the detailed work principle of the patrol robot;
the charging pile unit 200 comprises a mounting seat 202 fixedly arranged under the guide rail 101 and a charging pile body 203 fixedly arranged on the mounting seat 202, wherein the number of the charging pile bodies 203 can be determined according to the cruising travel of the inspection robot 104, the mounting frame 201 is L-shaped, a plurality of groups of wedge-shaped supporting frames which are uniformly distributed are fixedly connected at the joint of the mounting frame 201 and the guide rail 101, the defect that cracks and even breaks are easily generated at the joint of the mounting frame 201 and the guide rail 101 due to stress concentration is effectively overcome through the arrangement of the plurality of groups of wedge-shaped supporting frames, a battery fixing seat 204 is arranged in the charging pile body 203, a charging inserting sheet 205 is fixedly arranged on the battery fixing seat 204, and an extending opening matched with the charging inserting sheet 205 is formed in the charging pile body 203, the charging pile body 203 is fixedly provided with a second elastic switch 206 near one side of the inspection robot 104, the lower side wall of the mounting seat 202 is fixedly provided with a bending seat 207, the upper side wall of the bending seat 207 is fixedly connected with an extension bar 209 through an electric telescopic column 208, the electric telescopic column 208 is electrically connected with the second elastic switch 206, one end of the upper side wall of the extension bar 209, which is far away from the mounting seat 202, is fixedly provided with a storage trigger switch 210, and the storage trigger switch 210, the travel trigger switch 301, the first elastic switch 305 and the second elastic switch 206 are all extrusion type switches, and only when the extrusion type switches are extruded, corresponding electric devices can be controlled to perform corresponding actions, and the lower side wall of the double-light cloud deck 106 is provided with a storage trigger wheel 211 matched with the storage trigger switch 210;
the step triggering unit 300 comprises a plurality of groups of travel trigger switches 301 which are uniformly arranged on the guide rail 101, the top end of the driving sleeve 102 is fixedly connected with sliding blocks 302, the lower end of each sliding block 302 is provided with a travel trigger wheel 304 which is matched with the travel trigger switch 301, two sides of each sliding block 302 are provided with limit sliding bars 303 which are symmetrical in position, the guide rail 101 body is provided with limit sliding grooves which are matched with the limit sliding bars, the sliding blocks 302 can be guided and limited in the guide rail 101 through the cooperation of the limit sliding grooves and the limit sliding bars 303, the sliding blocks 302 are prevented from being extruded to the travel trigger switch 301, the lower side wall of the driving sleeve 102 is fixedly provided with fixed lugs which are symmetrical in position, one fixed lug is fixedly provided with a first elastic switch 305 which is electrically connected with the electric telescopic rod 103, the other fixed lug is fixedly provided with a step motor 306, the step motor 305 is a motor which converts an electric pulse signal into corresponding angular displacement or linear displacement, each time a pulse signal is input, the rotor rotates by an angle or further, the output angular displacement or linear displacement of the rotor is in direct proportion to the input pulse number, the rotating speed is in direct proportion to the pulse frequency, thereby realizing the accurate control of the advancing angle of the push plate 309, the stepper motor 305 is further controlled by the storage trigger switch 210, the storage trigger switch 210 can control the stepper motor 306 to drive the threaded sleeve 308 and the push plate 309 to reset, the output shaft of the stepper motor 306 is fixedly connected with the threaded rod 307 through the fixed lug, the threaded sleeve 308 which is in sliding connection with the lower side wall of the driving sleeve 102 is in threaded connection with the threaded sleeve 308, the push plate 309 is fixedly connected with the push plate 309 through a plurality of groups of connecting columns which are uniformly distributed, the push plate 309 corresponds to the position of the first elastic switch 305, the telescopic protection cover 310 is fixedly connected between the lower side wall of the driving sleeve 102 and the upper side wall of the inspection robot 104, the telescopic protection cover 310 is located outside the plurality of groups of electric telescopic rods 103, and by providing the telescopic protection cover 310, the plurality of groups of electric telescopic rods 103, the stepping motor 306 therein, the first elastic switch 305, and other electric devices can be wrapped and protected from the outside.
The main unit 100 further comprises a patrol driving assembly 101a, which comprises a plurality of groups of racks 1011 symmetrically arranged on the guide rail 101 body and a driving motor 1012 fixedly arranged in the driving sleeve 102, wherein an output shaft of the driving motor 1012 is fixedly connected with a driving gear 1013 meshed with the racks 1011, a protection plate 1014 matched with the driving gear 1013 and the racks 1011 is fixedly arranged on the guide rail 101 body, the width of the racks 1011 is larger than the thickness of the driving gear 1013, and the stability of the meshing of the driving gear 1013 and the racks 1011 is improved through the arrangement of the protection plate 1014, the separation of the driving gear 1013 and the racks 1011 is avoided, and the stability of the patrol robot 104 moving along the guide rail 101 is further improved.
The dustproof cleaning unit 400 comprises a plurality of groups of liquid storage boxes 401 fixedly installed in the charging pile body 203 and piston plates 402 which are in sealing sliding connection with the inner walls of the liquid storage boxes 401, one side, close to the inspection robot 104, of each piston plate 402 is fixedly connected with a push rod 404, each push rod 404 penetrates through the side wall of the charging pile body 203 outwards and is fixedly connected with a pressing plate 405, an extrusion spring 406 is sleeved on each push rod 404, the extrusion springs 406 are located between the pressing plates 405 and the outer side wall of the charging pile body 203, two sides of the inspection robot 104 are fixedly provided with extrusion discs 409 with symmetrical positions, each extrusion disc 409 corresponds to the corresponding pressing plate 405 in position, the extrusion discs 409 can be matched with the pressing plates 405, so that the charging inserting sheet 205 is pushed to extend out of the charging pile body 203, a bending cylinder 407 communicated with the liquid storage boxes 401 is fixedly installed in the charging pile body 203, one end, far away from the liquid storage boxes 401, of each bending cylinder 407 is in sealing sliding connection with a hydraulic rod 408, and one end, far away from the bending cylinder 407, of each group of hydraulic rods 408 is fixedly connected with the electric sheet fixing seat 204; through setting up in charging pile body 203, liquid storage box 401 cooperation piston plate 402, section of thick bamboo 407 and hydraulic rod 408 bend, charging pile body 203 each time with patrol and examine the robot 104 when docking, extrusion board 409 homoenergetic extrusion clamp plate 405 to promote piston plate 402 and impress the liquid in the liquid storage box 401 in the section of thick bamboo 407 bend.
The dustproof cleaning unit 400 further comprises a cleaning polishing component 403a, the cleaning component comprises a cleaning sleeve 403 fixedly mounted on the inner wall of the charging pile body 203 and communicated with the extending opening, a cleaning wiping ring 4032 and two polishing rings 4031 are arranged on the inner wall of the cleaning sleeve 403 in a pad mode, the two polishing rings 4031 are symmetrically arranged on two sides of the cleaning wiping ring 4032, and the polishing rings 4031 and the cleaning wiping rings 4032 can polish and wipe the charging inserting piece 205 when the charging inserting piece 205 extends every time, so that the conductive effect of the charging inserting piece 205 and the charging inserting groove is further improved.
The charging docking method for the intelligent robot is applicable to any one of the docking devices, and comprises the following steps:
s1: a plurality of groups of travel trigger switches 301 are arranged at equal intervals along the guide rail 101, and storage trigger switches 210 which can be stored are arranged below the charging pile body 203;
s2: the driving sleeve 102 drives the inspection robot 104 to walk on the guide rail 101 to inspect the condition of the cable in the tunnel, the stepping motor 306 drives the threaded sleeve 308 and the pushing disc 309 to move a distance towards the first elastic switch 305 when the travel trigger wheel 304 presses the travel trigger switch 301 for the Nth time, the pushing disc 309 presses the first elastic switch 305 at the moment, and the electric telescopic rod 103 pushes the inspection robot 104 to move downwards to the same horizontal height as the charging pile body 203;
s3: the driving sleeve 102 drives the inspection robot 104 to move towards the charging pile body 203, the charging inserting sheet 205 on the charging pile body 203 is in butt joint with the charging slot on the inspection robot 104, the inspection robot 104 is automatically charged, in the process, the second elastic switch 206 is extruded, and the electric telescopic column 208 pushes the extension bar 209 and the storage trigger switch 210 to move upwards;
s4: after the charging is finished, the driving sleeve 102 drives the inspection robot 104 to reversely move, when the storage trigger wheel 211 below the double-light holder 106 extrudes the storage trigger switch 210, the electric telescopic rod 103 drives the inspection robot 104 to upwards store, the electric telescopic column 208 drives the extension bar 209 again and the storage trigger switch 210 to reset, and the storage trigger switch 210 can control the electric telescopic rod 103, the electric telescopic column 208 and the stepping motor 306, so that the inspection robot 104 can continuously execute the inspection task.
In the use process, when the driving sleeve 102 drives the travel trigger wheel 304 through the sliding block 302 to extrude the travel trigger switch 301 for the nth time, the condition that the inspection robot 104 is in the power failure state is indicated, the output shaft of the stepping motor 306 drives the threaded rod 307 to rotate, the threaded sleeve 308 connected with the threaded rod is used for extruding the first elastic switch 305, the first elastic switch 305 is used for controlling the electric telescopic rod 103 to extend, the inspection robot 104 is lowered to a state of being completely horizontally aligned with the charging pile body 203, when the inspection robot 104 moves to abut against the charging pile body 203, the charging inserting piece 205 fixedly mounted on the charging pile body 203 is inserted into the charging slot on the inspection robot 104 at the moment, the charging of the inspection robot 104 is realized, when the inspection robot 104 approaches the charging pile body 203, the second elastic switch 206 mounted on the charging pile body 203 can control the electric telescopic column 208 to extend, at this time, the extension bar 209 fixedly connected with the inspection robot drives the storage trigger switch 210 to move upwards, after a period of time, the driving sleeve 102 drives the inspection robot 104 to move reversely, the double-light holder 106 arranged below the inspection robot 104 moves along with the movement, the storage trigger wheel 211 arranged at the center of the lower side wall of the double-light holder 106 extrudes the storage trigger switch 210 along with the movement, the storage trigger switch 210 controls the electric telescopic rod 103 to store, the inspection robot 104 drives the double-light holder 106 to move upwards, the electric telescopic column 208 drives the extension bar 209 to move downwards, meanwhile, the storage trigger switch 210 can control the stepping motor 306 to drive the threaded sleeve 308 to reset, the driving sleeve 102 can drive the inspection robot 104 to continuously finish the inspection task, the charging and docking process does not need manual control of staff and real-time monitoring of the docking process, staff is liberated, automatically charging the inspection robot 104;
when the inspection robot 104 is in butt joint with the charging pile body 203, the pressing plate 405 is pushed by the pressing plate 409 on the inspection robot 104, the pressing plate 405 drives the push rod 404 and the piston plate 402 to press liquid in the liquid storage box 401 into the bending cylinder 407, the charging insert 205 is ejected outwards by the hydraulic rod 408 which is in sealing sliding connection with the bending cylinder 407, after charging is finished, when the pressing plate 409 is separated from the pressing plate 405, the pressing plate 402 is driven to reset by the pressing spring 406, the charging insert 205 is driven by the hydraulic rod 408 to be accommodated into the charging pile body 203, and when charging is carried out, the charging insert 205 can extend out, when charging is not carried out, the charging insert 205 is accommodated, dust attached to the surface of the charging insert 205 or rust is avoided, and the charging effect of the charging insert 205 is ensured.
It should be noted that the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application, which is intended to be covered in the scope of the claims of the present application.
Claims (10)
1. A charge interfacing apparatus for intelligent robot, characterized by comprising:
the main body unit (100) comprises a driving sleeve (102) which is matched with the guide rail (101), wherein the lower end of the driving sleeve (102) is fixedly connected with corresponding inspection robots (104) through a plurality of groups of electric telescopic rods (103) which are uniformly distributed, a double-light holder (106) is arranged on the lower side of each inspection robot (104), an FPV camera (105) is fixedly arranged on each inspection robot (104), and charging sockets (107) with symmetrical positions are formed in two ends of each inspection robot (104);
the charging pile unit (200) comprises a mounting seat (202) fixedly arranged under the guide rail (101) through a mounting frame (201) and a charging pile body (203) fixedly arranged on the mounting seat (202), a sheet fixing seat (204) is arranged in the charging pile body (203), a charging inserting sheet (205) is fixedly arranged on the sheet fixing seat (204), an extending opening matched with the charging inserting sheet (205) is formed in the charging pile body (203), a second elastic switch (206) is fixedly arranged on one side, close to the inspection robot (104), of the charging pile body (203), a bending seat (207) is fixedly arranged on the lower side wall of the mounting seat (202), an extending strip (209) is fixedly connected to the upper side wall of the bending seat (207) through an electric extending column (208), a storage trigger switch (210) is fixedly arranged at one end, far away from the mounting seat (202), of the upper side wall of the extending strip (209), of the double-light platform (106) is provided with a storage trigger wheel (211) matched with the storage trigger wheel (211);
step trigger unit (300), it includes multiunit evenly installs travel trigger switch (301) on guide rail (101), drive sleeve (102) top fixedly connected with slider (302), every travel trigger wheel (304) that matches with travel trigger switch (301) are all installed to slider (302) lower extreme, fixed ear of symmetry is installed to lateral wall fixed mounting under drive sleeve (102), one of them fixed ear is last fixed mounting have first elastic switch (305) with electric telescopic handle (103) electric connection, another fixed ear is last fixed mounting have step motor (306), step motor (306) output shaft runs through fixed ear fixedly connected with threaded rod (307), threaded connection has thread bush (308) with drive sleeve (102) lower lateral wall sliding connection on threaded rod (307), thread bush (308) are through multiunit evenly distributed's spliced pole fixedly connected with pushing disc (309), pushing disc (309) correspond with first elastic switch (305) position.
2. The charging docking device for an intelligent robot of claim 1, wherein: the main body unit (100) further comprises a patrol driving assembly (101 a) which comprises a plurality of groups of racks (1011) symmetrically arranged on the guide rail (101) body and a driving motor (1012) fixedly arranged in the driving sleeve (102), and an output shaft of the driving motor (1012) is fixedly connected with a driving gear (1013) meshed with the racks (1011).
3. The charging docking device for an intelligent robot of claim 1, wherein: the butt joint device further comprises a dustproof cleaning unit (400), the dustproof cleaning unit comprises a plurality of groups of liquid storage boxes (401) fixedly installed in the charging pile body (203) and piston plates (402) which are in sealing sliding connection with the inner walls of the liquid storage boxes (401), one sides of the piston plates (402) close to the inspection robot (104) are fixedly connected with push rods (404), each push rod (404) penetrates through the side wall of the charging pile body (203) outwards and is fixedly connected with a pressing plate (405), an extrusion spring (406) is sleeved on each push rod (404), the extrusion spring (406) is located between the pressing plate (405) and the outer side wall of the charging pile body (203), bending cylinders (407) which are communicated with the liquid storage boxes (401) are fixedly installed in the charging pile body (203), one ends of the bending cylinders (407) away from the liquid storage boxes (401) are in sealing sliding connection with hydraulic rods (408), and one ends of the hydraulic rods (408) away from the bending cylinders (407) are fixedly connected with electric sheet fixing seats (204).
4. A charging docking device for an intelligent robot as set forth in claim 3, wherein: the dustproof cleaning unit (400) further comprises a cleaning polishing assembly (403 a), the cleaning assembly comprises a cleaning sleeve (403) fixedly mounted on the inner wall of the charging pile body (203) and communicated with the extending opening, a cleaning wiping ring (4032) and two polishing rings (4031) are arranged on the inner wall pad of the cleaning sleeve (403), and the two polishing rings (4031) are symmetrically arranged on two sides of the cleaning wiping ring (4032).
5. A charging docking device for an intelligent robot as set forth in claim 3, wherein: two sides of the inspection robot (104) body are fixedly provided with extrusion discs (409) with symmetrical positions, and each extrusion disc (409) corresponds to the corresponding pressing plate (405) in position.
6. The charging docking device for an intelligent robot of claim 1, wherein: the installation frame (201) is arranged to be L-shaped, and a plurality of groups of wedge-shaped support frames which are uniformly distributed are fixedly connected at the joint of the installation frame (201) and the guide rail (101).
7. A charging docking device for an intelligent robot as claimed in claim 2, wherein: the guide rail (101) body is fixedly provided with a protection plate (1014) matched with the driving gear (1013) and the rack (1011), and the width of the rack (1011) is larger than the thickness of the driving gear (1013).
8. The charging docking device for an intelligent robot of claim 1, wherein: limiting sliding strips (303) with symmetrical positions are arranged on two sides of each sliding block (302), and limiting sliding grooves matched with the limiting sliding strips (303) are arranged on the guide rail (101) body.
9. The charging docking device for an intelligent robot of claim 1, wherein: and a telescopic protection cover (310) is fixedly connected between the lower side wall of the driving sleeve (102) and the upper side wall of the inspection robot (104), and the telescopic protection cover (310) is positioned at the outer sides of the plurality of groups of electric telescopic rods (103).
10. The charging docking method for the intelligent robot is characterized by comprising the following steps of: the docking method is applicable to any one of the docking devices of the preceding claims 1-9, and the docking method comprises the steps of:
s1: a plurality of groups of travel trigger switches (301) are arranged at equal intervals along the guide rail (101), and storage trigger switches (210) which can be stored are arranged below the charging pile body (203);
s2: the driving sleeve (102) drives the inspection robot (104) to walk on the guide rail (101) to inspect the cable condition in the tunnel, the travel trigger wheel (304) arranged on the driving sleeve (102) presses the travel trigger switch (301) once, the stepping motor (306) drives the threaded sleeve (308) and the pushing disc (309) to move a distance towards the first elastic switch (305), when the travel trigger wheel (304) presses the travel trigger switch (301) for the Nth time, the pushing disc (309) presses the first elastic switch (305), and the electric telescopic rod (103) pushes the inspection robot (104) to move downwards to the same horizontal height as the charging pile body (203);
s3: the driving sleeve (102) drives the inspection robot (104) to move towards the charging pile body (203), the charging inserting piece (205) on the charging pile body (203) is in butt joint with the charging slot on the inspection robot (104), the inspection robot (104) is automatically charged, in the process, the second elastic switch (206) is extruded, and the electric telescopic column (208) pushes the extension bar (209) and the storage trigger switch (210) to move upwards;
s4: after charging, the driving sleeve (102) drives the inspection robot (104) to reversely move, when the storage trigger wheel (211) below the double-light holder (106) extrudes the storage trigger switch (210), the electric telescopic rod (103) drives the inspection robot (104) to upwards store, the electric telescopic column (208) drives the extension bar (209) again and stores the trigger switch (210) to reset, and the inspection robot (104) can continue to execute the inspection task.
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| CN117244830B (en) * | 2023-11-20 | 2024-04-23 | 中国海洋大学 | Charging port cleaning structure for charging pile configuration of underwater robot |
| CN117595531B (en) * | 2024-01-18 | 2024-03-29 | 常州立焘新能源科技有限公司 | Wireless charging pile capable of rapidly aligning and rectifying |
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| CN103825338A (en) * | 2014-03-17 | 2014-05-28 | 武汉大学 | Device and method for controlling self-localization, butting and charging of high-voltage line inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103825338A (en) * | 2014-03-17 | 2014-05-28 | 武汉大学 | Device and method for controlling self-localization, butting and charging of high-voltage line inspection robot |
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