CN202495798U - Automatic charging mechanism for transformer substation inspection robot - Google Patents
Automatic charging mechanism for transformer substation inspection robot Download PDFInfo
- Publication number
- CN202495798U CN202495798U CN2012201379859U CN201220137985U CN202495798U CN 202495798 U CN202495798 U CN 202495798U CN 2012201379859 U CN2012201379859 U CN 2012201379859U CN 201220137985 U CN201220137985 U CN 201220137985U CN 202495798 U CN202495798 U CN 202495798U
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- charging
- front stall
- charging mechanism
- robot
- electric pushrod
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Abstract
The utility model discloses an automatic charging mechanism for a transformer substation inspection robot. The automatic charging mechanism comprises an electric push rod, the electric push rod is connected with a charging device, the charging device is arranged on a fixed front base, the electric push rod is arranged on a fixed back base, and the charging device is connected with the fixed front base through a guide rail. The mechanism can not only ensure the accuracy of the extending position of the robot in charging, and can ensure the positional relationship of the charging mechanism, as well as raise the safety factor of charging operation. According to the charging mechanism of the utility model, the charging of the robot is more steady, the influences of vibration is reduced substantially, and the safety level and positional accuracy of the charging mechanism are improved by the application of limiting switches.
Description
Technical field
The utility model relates to a kind of charging mechanism, especially a kind of substation inspection robot automatic charger structure.
Background technology
The electric inspection process robot generally adopts rechargeable battery that power is provided at present, and this just requires, and automatic charging guarantees the long-term autonomous work of electric inspection process robot to battery.Existing charging mechanism location is inaccurate, receive that vibration influence is big, complex structure, coefficient of safety are little.
Summary of the invention
The purpose of the utility model is for overcoming the deficiency of above-mentioned prior art; A kind of substation inspection robot automatic charger structure is provided; The order of accuarcy of extended position when this mechanism not only can guarantee the robot charging; And the position that can guarantee charging mechanism concerns the coefficient of safety of raising charging operation.
For realizing above-mentioned purpose, the utility model adopts following technical proposals:
A kind of substation inspection robot automatic charger structure comprises electric pushrod, and electric pushrod links to each other with charging device, and charging device is arranged at fixedly on the front stall, and electric pushrod is arranged at fixedly on the back seat, and charging device is connected through guide rail with fixing front stall.
Said charging device comprises front stall and the back seat that is connected; Be connected with some charging pole pieces with screw on the front stall; Charging pole piece both sides are provided with limit switch I and limit switch II on the front stall, and back seat is provided with cable duct, is provided with the cable that links to each other with the pole piece that charges in the cable duct.
Said back seat adopts flat key to be connected with electric pushrod.
Said fixedly front stall is made up of last fixedly front stall and following fixedly front stall, upward fixedly on the front stall limit switch III is installed; Fixedly the front stall bottom is provided with damping rubber block down.
When charge command is received by robot; Driven by motor electric pushrod on the electric pushrod stretches out, and the charging device front stall is done rectilinear motion and contacted with cradle, when limit switch touches cradle; Control board detects voltage signal; With the motor outage, make charging mechanism stop action, begin to charge the battery.After battery charger was done to accomplish, control board control motor was regained charging mechanism.Limit switch I, II are installed on the charging mechanism front stall; Realized multiposition control to movement travel; The charging mechanism back seat adopts flat key to be connected with electric pushrod, has limited the degree of freedom of charging mechanism left rotation and right rotation like this, has improved the straight-line accuracy of electric pushrod.Fixedly on the front stall limit switch III is installed on the charging mechanism, limit switch III controls the positional precision of charging mechanism retrieving position when charging mechanism is regained, and has improved the security performance of charging mechanism.Fixedly two rubber absorbers are installed, the jerk that in the time of the robot motion can being reduced charging mechanism is brought on the front stall under the charging mechanism.
The beneficial effect of the utility model is that charging mechanism makes the robot charging more steady, and the influence that shakes is reduced greatly, uses limit switch and has improved charging mechanism safe class and positional precision.
Description of drawings
Fig. 1 is the main sketch map of looking of equipment mechanism work of the utility model,
Fig. 2 is the equipment mechanism work schematic top plan view of the utility model;
Fig. 3 is the utility model front view;
Fig. 4 is Fig. 3 right view;
Fig. 5 is Fig. 3 vertical view;
Fig. 6 is Fig. 3 rearview;
Fig. 7 is the utility model stereogram;
Among the figure, 1. robot charging mechanism, 2. robot body, 3. charging mechanism original position, 4. charging mechanism final position; 5. charging case, 6. cradle, 7. fixedly back seat, 8. motor, 9. electric pushrod; 10. back seat, 11. front stalls, 12. limit switch I, 13. limit switch II, fixing front stall on 14.; 15. following fixedly front stall, 16. rubber absorbers, 17. charging pole pieces, 18. limit switch III, 19. cable ducts.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
Like Fig. 3-shown in Figure 7, substation inspection robot automatic charger structure comprises electric pushrod 9; Electric pushrod 9 links to each other with charging device; Charging device is arranged at fixedly on the front stall, and electric pushrod is arranged at fixedly on the back seat 7, and charging device is connected through guide rail with fixing front stall.
Charging device comprises the front stall 11 and back seat 10 that is connected; Front stall 11 is provided with three-phase charging pole piece 17; Charging pole piece 17 both sides are provided with limit switch I 12 and limit switch II 13 on the front stall 11, and back seat 10 is provided with cable duct 19, is provided with the cable that links to each other with the pole piece 17 that charges in the cable duct 19.Back seat 10 adopts flat key to be connected with electric pushrod 9.
Fixedly front stall is made up of last fixedly front stall 14 and following fixedly front stall 15, upward fixedly on the front stall 14 limit switch III18 is installed; Fixedly front stall 15 bottoms are provided with damping rubber block 16 down.
Like Fig. 1-shown in Figure 7, when charge command was received by robot, the motor 8 on the electric pushrod 9 drove electric pushrods 9 and stretches out; Charging device front stall 11 is done rectilinear motion and is contacted with cradle 6 on the charging case 5; When limit switch touched cradle 6, control board detected voltage signal, with motor 8 outages; Make robot charging mechanism 1 stop action, begin to charge the battery.After battery charger was done to accomplish, control board control motor 8 was regained robot charging mechanism 1.Limit switch I, II 12,13 are installed on the robot charging mechanism front stall 11; Realized multiposition control to movement travel; Charging mechanism back seat 10 adopts flat key to be connected with electric pushrod 9; Limit the degree of freedom of robot charging mechanism 1 left rotation and right rotation like this, improved the straight-line accuracy of electric pushrod.Fixedly on the front stall limit switch III18 is installed on the robot charging mechanism 1, limit switch III18 controls the positional precision of charging mechanism retrieving position when charging mechanism is regained, and has improved the security performance of charging mechanism.Fixedly two rubber absorbers 16 are installed, the jerk that in the time of the robot motion can being reduced charging mechanism is brought on the front stall 15 under the charging mechanism.Among Fig. 1, robot charging mechanism 1 is arranged on the robot body 2, has also indicated charging mechanism original position 3 and charging mechanism final position 4 among Fig. 1.
Though the above-mentioned accompanying drawing that combines is described the embodiment of the utility model; But be not restriction to the utility model protection range; One of ordinary skill in the art should be understood that; On the basis of the technical scheme of the utility model, those skilled in the art need not pay various modifications that creative work can make or distortion still in the protection range of the utility model.
Claims (4)
1. a substation inspection robot automatic charger structure is characterized in that, comprises electric pushrod; Electric pushrod links to each other with charging device; Charging device is arranged at fixedly on the front stall, and electric pushrod is arranged at fixedly on the back seat, and charging device is connected through guide rail with fixing front stall.
2. substation inspection as claimed in claim 1 robot automatic charger structure; It is characterized in that; Said charging device comprises front stall and the back seat that is connected, and front stall is provided with some charging pole pieces, and charging pole piece both sides are provided with limit switch I and limit switch II on the front stall; Back seat is provided with cable duct, is provided with the cable that links to each other with the pole piece that charges in the cable duct.
3. substation inspection as claimed in claim 2 robot automatic charger structure is characterized in that, said back seat adopts flat key to be connected with electric pushrod.
4. substation inspection as claimed in claim 1 robot automatic charger structure is characterized in that, said fixedly front stall by last fixedly front stall with down fixedly front stall form, upward fixedly on the front stall limit switch III is installed; Fixedly the front stall bottom is provided with damping rubber block down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201379859U CN202495798U (en) | 2012-04-01 | 2012-04-01 | Automatic charging mechanism for transformer substation inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201379859U CN202495798U (en) | 2012-04-01 | 2012-04-01 | Automatic charging mechanism for transformer substation inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202495798U true CN202495798U (en) | 2012-10-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201379859U Expired - Lifetime CN202495798U (en) | 2012-04-01 | 2012-04-01 | Automatic charging mechanism for transformer substation inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN202495798U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395378A (en) * | 2013-07-23 | 2013-11-20 | 成都慧拓自动控制技术有限公司 | Automatic power supply equipment and method for closed-track operating inspection trolleys |
| CN103475069A (en) * | 2013-10-09 | 2013-12-25 | 武汉大学 | Charging docking device of inspection robot |
| CN104734291A (en) * | 2015-03-23 | 2015-06-24 | 江苏亿嘉和信息科技有限公司 | Patrol robot charging system and method |
| CN104810896A (en) * | 2015-05-12 | 2015-07-29 | 山东康威通信技术股份有限公司 | Device and method for automatically charging inspection robot of power tunnel |
| CN104901054A (en) * | 2015-05-29 | 2015-09-09 | 四川阿泰因机器人智能装备有限公司 | Charging structure of mobile robot |
| CN105449780A (en) * | 2015-12-25 | 2016-03-30 | 四川理工学院 | Automatic positioning and charging apparatus for substation patrol robot |
| CN105656151A (en) * | 2016-03-29 | 2016-06-08 | 亿嘉和科技股份有限公司 | Telescopic charging device |
| CN106363643A (en) * | 2016-11-24 | 2017-02-01 | 湖南万为智能机器人技术有限公司 | Automatic patrol robot and charging pile matched with automatic patrol robot |
| CN106486824A (en) * | 2016-11-25 | 2017-03-08 | 天津华宁电子有限公司 | A kind of underground coal mine crusing robot automatic charge device |
| CN106786882A (en) * | 2016-12-21 | 2017-05-31 | 重庆邮电大学 | A kind of universal automatic butt charging device suitable for indoor mobile robot |
| CN109980744A (en) * | 2019-04-16 | 2019-07-05 | 中科开创（广州）智能科技发展有限公司 | A kind of inspection robot charging special charging hammer |
| CN110890770A (en) * | 2018-09-07 | 2020-03-17 | 沈阳新松机器人自动化股份有限公司 | Patrol and examine robot charging device with safety protection structure |
-
2012
- 2012-04-01 CN CN2012201379859U patent/CN202495798U/en not_active Expired - Lifetime
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395378B (en) * | 2013-07-23 | 2015-09-09 | 成都慧拓自动控制技术有限公司 | A kind of closed orbit runs automatic power equipment and the method for supplying power to of routing inspection trolley |
| CN103395378A (en) * | 2013-07-23 | 2013-11-20 | 成都慧拓自动控制技术有限公司 | Automatic power supply equipment and method for closed-track operating inspection trolleys |
| CN103475069B (en) * | 2013-10-09 | 2016-08-17 | 武汉大学 | A kind of charging docking facilities of crusing robot |
| CN103475069A (en) * | 2013-10-09 | 2013-12-25 | 武汉大学 | Charging docking device of inspection robot |
| CN104734291A (en) * | 2015-03-23 | 2015-06-24 | 江苏亿嘉和信息科技有限公司 | Patrol robot charging system and method |
| CN104734291B (en) * | 2015-03-23 | 2017-03-22 | 亿嘉和科技股份有限公司 | Patrol robot charging system and method |
| CN104810896A (en) * | 2015-05-12 | 2015-07-29 | 山东康威通信技术股份有限公司 | Device and method for automatically charging inspection robot of power tunnel |
| CN104810896B (en) * | 2015-05-12 | 2017-02-22 | 山东康威通信技术股份有限公司 | Device and method for automatically charging inspection robot of power tunnel |
| CN104901054A (en) * | 2015-05-29 | 2015-09-09 | 四川阿泰因机器人智能装备有限公司 | Charging structure of mobile robot |
| CN104901054B (en) * | 2015-05-29 | 2017-08-29 | 四川阿泰因机器人智能装备有限公司 | A kind of mobile robot charging structure |
| CN105449780A (en) * | 2015-12-25 | 2016-03-30 | 四川理工学院 | Automatic positioning and charging apparatus for substation patrol robot |
| CN105656151A (en) * | 2016-03-29 | 2016-06-08 | 亿嘉和科技股份有限公司 | Telescopic charging device |
| CN106363643A (en) * | 2016-11-24 | 2017-02-01 | 湖南万为智能机器人技术有限公司 | Automatic patrol robot and charging pile matched with automatic patrol robot |
| CN106363643B (en) * | 2016-11-24 | 2018-11-09 | 湖南万为智能机器人技术有限公司 | A kind of automatic patrol robot and its mating charging pile |
| CN106486824A (en) * | 2016-11-25 | 2017-03-08 | 天津华宁电子有限公司 | A kind of underground coal mine crusing robot automatic charge device |
| CN106486824B (en) * | 2016-11-25 | 2018-09-11 | 天津华宁电子有限公司 | A kind of underground coal mine crusing robot automatic charge device |
| CN106786882A (en) * | 2016-12-21 | 2017-05-31 | 重庆邮电大学 | A kind of universal automatic butt charging device suitable for indoor mobile robot |
| CN110890770A (en) * | 2018-09-07 | 2020-03-17 | 沈阳新松机器人自动化股份有限公司 | Patrol and examine robot charging device with safety protection structure |
| CN109980744A (en) * | 2019-04-16 | 2019-07-05 | 中科开创（广州）智能科技发展有限公司 | A kind of inspection robot charging special charging hammer |
| CN109980744B (en) * | 2019-04-16 | 2021-03-23 | 中科开创（广州）智能科技发展有限公司 | Charging hammer special for charging inspection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 Qilu Software Park building, Ji'nan hi tech Zone, Shandong, B-205 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
|
| CP03 | Change of name, title or address | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121017 |
|
| CX01 | Expiry of patent term |