CN206164124U - Hidden automatic charging device of robot is patrolled and examined on ground - Google Patents
Hidden automatic charging device of robot is patrolled and examined on ground Download PDFInfo
- Publication number
- CN206164124U CN206164124U CN201620884583.3U CN201620884583U CN206164124U CN 206164124 U CN206164124 U CN 206164124U CN 201620884583 U CN201620884583 U CN 201620884583U CN 206164124 U CN206164124 U CN 206164124U
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- charging
- crusing robot
- robot
- ground
- charging device
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
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Abstract
The utility model is suitable for a robotechnology field discloses a hidden automatic charging device of robot is patrolled and examined on ground, including setting up at the charging control case of patrolling and examining robot operation passageway side to and rotatory the setting just be used for by hiding when need charge on the operation passageway operation passageway underspin truns into to and patrols and examines the charging device that the robot corresponds, the charging control case with charging device electric connection just is used for control charging device rotates and does it charges to patrol and examine the robot. The utility model discloses divide the charging control case to open with charging device and arrange that charging device is rotatable, become vertical setting by hiding in the operation passageway after the certain angle of the design vertical rotation of charging device to make the charging device height and patrol and examine the robot charging position to correspond, in the time of needs that the structural satisfied automation of follow is charged, avoid taking subterranean tunnel, utility tunnel channel space.
Description
Technical field
The utility model belongs to robotics, more particularly to a kind of concealed automatic charging of ground crusing robot
Device.
Background technology
More and more wider with landing ground crusing robot range of application, ground crusing robot is gradually outdoor open from what is started
Battery limits to indoor or subterranean tunnel, pipe gallery are expanded.In the process, some original corollary system equipment can not expire
Foot use requirement under special circumstances, particularly in the case where running space, passage etc. are under severe constraints, needs to carry out
Targeted design.Wherein, used as the part that cannot avoid in whole crusing robot system, its demand is more for automatic charging system
Urgently.
Existing automatic charge device is divided into two kinds, respectively laterallys secure charging device and positive fixed charging device.Its
In, for lateralling secure charging device, its restricting condition for use is as follows：Lateral charging device needs operation in space layout
Passage side possesses enough installing spaces, it is impossible to meet the narrow scene of the passages such as subterranean tunnel, pipe gallery；It is lateral to charge
Device itself install after cannot activity/fold, in the originally hard up space such as subterranean tunnel, pipe gallery, it is installed
After space can be caused to split, hinder passage patency.For positive fixed charging device, its restricting condition for use is as follows：It is positive
Fixed charging device, needs to be used installed in path ends, or path ad-hoc location arrange turnout be charged build and
Equipment is installed, it is impossible to meet the narrow scene of the passages such as subterranean tunnel, pipe gallery；The fixed charging device of forward direction cannot after installing
Activity/fold, easily causes channel barrier in subterranean tunnel, pipe gallery, hinders article, equipment in passage to carry.
Utility model content
The purpose of this utility model is to overcome automatic charge device in above-mentioned prior art to meet subterranean tunnel, comprehensive
Close the defect of the narrow scene of passage to space requirement such as piping lane, there is provided a kind of concealed automatic charging dress of ground crusing robot
Put, it can avoid the occupancy to subterranean tunnel, pipe gallery channel space.
The technical solution of the utility model is：There is provided a kind of concealed automatic charge device of ground crusing robot, bag
Include and be arranged on the electric charging controlling box of crusing robot operation passage side, and be rotatably provided on the operation passage and be used for
When charging by be hidden in it is described operation passage under rotate to be charging mechanism corresponding with crusing robot, the charge control
Case is electrically connected with and for controlling the charging mechanism rotation and charging for the crusing robot with the charging mechanism.
Further, the charging mechanism includes the whirligig being rotatably provided on the operation passage, and arranges
Cradle on the whirligig and for charging for the crusing robot.
Further, the whirligig is in L fonts.
Further, installing port is offered on the operation passage, the whirligig is arranged on the installing port.
Further, the whirligig include level board and with the vertically disposed vertical plate of the level board, the water
The junction of flat board and vertical plate is rotatably connected on one end inner side of the installing port, and the cradle is arranged on the vertical plate
Side；The level board be used for when charging with it is described operation passage flush and be not required to charge when be hidden in the operation
The lower section of passage is simultaneously vertical with the operation passage, and the vertical plate is for corresponding with crusing robot when charging and not
Flush less than the operation passage or with the operation passage when need to charge.
Further, the size of the level board and vertical plate is matched with the installing port.
Further, the automatic charge device also includes being electrically connected with the electric charging controlling box and described for driving
The drive mechanism of whirligig rotation.
Further, the drive mechanism drive the whirligig along the operation passage length direction clockwise or
90 degree of rotate counterclockwise, and the drive mechanism has auto-lock function.
Further, the automatic charge device also includes being arranged on the operation passage and for the survey monitor
Device people carries out the laser locating apparatus of attitude updating, and be arranged on the crusing robot and for the laser positioning
The supplied laser navigation apparatus that matched with devices is used.
Further, charging circuit is provided with the cradle, the charging circuit is provided with overload and earth leakage protective.
Implement a kind of concealed automatic charge device of ground crusing robot of the present utility model, with following beneficial effect
Really：Electric charging controlling box is arranged apart with charging mechanism, and charging mechanism is rotatable, and design charging mechanism vertically rotates to an angle
Afterwards from be hidden in operation passage in be changed into being vertically arranged, and make charging mechanism height and inspection machine human body's charge position pair
Should, while the needs of automatic charging are met from structure, it is to avoid to subterranean tunnel, the occupancy of pipe gallery channel space.
Description of the drawings
Technical scheme in order to be illustrated more clearly that the utility model embodiment, below will be to making needed for embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present utility model,
For those of ordinary skill in the art, on the premise of not paying creative work, can be with according to these accompanying drawings acquisitions
Other accompanying drawings.
Fig. 1 is the structural representation of the concealed automatic charge device of ground crusing robot that the utility model embodiment is provided
Figure；
Fig. 2 is the workflow of the concealed automatic charge device of ground crusing robot that the utility model embodiment is provided
Schematic diagram.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can directly or
It is connected on another element.When an element is known as " being connected to " another element, it can be direct or indirect connection
To another element.
Also, it should be noted that the orientation term such as left and right, upper and lower in the utility model embodiment, is only relative each other
Concept or be reference with the normal operating condition of product, and should not be regarded as restrictive.
As shown in figure 1, the concealed automatic charge device of ground crusing robot that the utility model embodiment is provided, its bag
Include electric charging controlling box 1 and charging mechanism 2.Wherein, electric charging controlling box 1 is provided separately with charging mechanism 2, and electric charging controlling box 1 is arranged
In the side of the operation passage 4 of crusing robot 3, such as on the wall on the side of operation passage 4, and it is not take up running the sky of passage 4
Between.Charging mechanism 2 is arranged on operation passage 4, and its is rotatable, and for when crusing robot 3 need to charge by being hidden in fortune
Rotate to be under row of channels 4 corresponding with crusing robot 3.Above-mentioned electric charging controlling box 1 is also electrically connected with and for controlling with charging mechanism 2
Charging mechanism processed 2 rotates and controls charging mechanism 2 and charges for crusing robot 3.Specifically, patrol when electric charging controlling box 1 is detected
When inspection robot 3 needs to charge, control charging mechanism 2 and rotate to be the state that can be charged for crusing robot 3；Work as electric charging controlling box
1 when detecting 3 charging complete of crusing robot, and control charging mechanism 2 is rotated to be and is hidden in the lower section of operation passage 4, return to primitive age
Position.
The utility model embodiment is arranged apart with charging mechanism 2 by electric charging controlling box 1, and charging mechanism 2 is rotatable, design
Charging mechanism 2 is changed into being vertically arranged from being hidden in operation passage 4 after vertically rotating to an angle, and makes charging mechanism 2 high
Degree is corresponding with the body charge position of crusing robot 3, while the needs of automatic charging are met from structure, it is to avoid to underground tunnel
The occupancy in road, pipe gallery channel space.
Further, charging mechanism 2 includes whirligig 21 and cradle 22.Wherein, whirligig 21 is rotatably provided in
On operation passage 4, cradle 22 is arranged on whirligig 21 and can rotate together with whirligig 21, and the cradle 22 is used for
Charge for crusing robot 3.Specifically, installing port is offered on operation passage 4, whirligig 21 is arranged on the installing port
On, and the lower section of installing port has certain separate space, the separate space is used to hide whirligig 21 and cradle 22, and
And with certain IP degree of protection.When charging, whirligig 21 rotates and drives cradle 22 to be hidden in installing port
In the space of lower section.
Preferably, in one embodiment of the present utility model, whirligig 21 is in L fonts.It is understood that at this
In the other embodiments of utility model, the shape of whirligig 21 can be entered according to application scenarios difference or using function difference
Row is improved.
Further, whirligig 21 includes level board 211 and vertical plate 212, and the vertical plate 212 hangs down with level board 211
It is straight to arrange, L fonts described above are formed, and level board 211 and vertical plate 212 can be integrally formed.Level board 211 and vertical plate
212 junction is rotatably connected on one end inner side of installing port, and cradle 22 is arranged on vertical plate 212 towards level board 211
Side.Level board 211 is used to flushing and being hidden in when being not required to and charging operation passage 4 with operation passage 4 when charging
Lower section is simultaneously vertical with operation passage 4, and vertical plate 212 is used for corresponding with crusing robot 3 when charging and when charging is not required to
Flush less than operation passage 4 or with operation passage 4.In the present embodiment, level board 211 and vertical plate 212 are two pieces of flat boards,
That is two sides of level board 211 and vertical plate 212 are planes.
Preferably, in one embodiment of the present utility model, the size and installing port of level board 211 and vertical plate 212
Matching, i.e., level board 211 and vertical plate 212 just cover installing port, to remain on the complete of passage 4.
Further, the concealed automatic charge device of ground crusing robot of the utility model embodiment also includes driving
Mechanism, the drive mechanism is electrically connected with and for driving whirligig 21 to rotate with electric charging controlling box.Of the present utility model one
In individual embodiment, the drive mechanism is motor.It is understood that in other embodiments of the present utility model, drive mechanism
Can also be the type of drive such as motor belt motor gearbox, motor belt motor Timing Belt, hydraulic/pneumatic mode.In addition, drive mechanism drives rotation
Rotary device 21 along operation passage 4 90 degree clockwise or counterclockwise of length direction, to reach the open shape of whirligig 21
State or closed mode, wherein open mode are the state that crusing robot 3 needs when charging, and closed mode is crusing robot
3 states when need not charge.The drive mechanism also has auto-lock function, leads under the closing of whirligig 21 or open mode
Mechanism's self-locking of overdriving ensures the reliability that whirligig 21 is fixed.
Further, the concealed automatic charge device of ground crusing robot of the utility model embodiment also includes arranging
On operation passage 4 and for carrying out the laser locating apparatus 5 of attitude updating to crusing robot 3, and it is arranged on survey monitor
On device people 3 and for the matching used supplied laser navigation apparatus 6 of laser locating apparatus 5.The supplied laser navigation apparatus 6 coordinate operation logical
Laser locating apparatus 5 on road 4 carry out operation attitude updating, and the live part and cradle 22 for facilitating crusing robot 3 is aligned.
In addition, the internal unit of electric charging controlling box 1 and the detection means on control logic cooperation polling path can be passed through, charge command is confirmed
And robot location's state is charged operation.
Further, before action is not charged, cradle 22 is overall not charged, is provided with cradle 22 and fills
Circuit, the charging circuit arranges overload and earth leakage protective.
As shown in Fig. 2 the workflow of the concealed automatic charge device of ground crusing robot of the utility model embodiment
Journey is as follows：The warning of the electricity of crusing robot 3 reaches specified location, and sends instructions to electric charging controlling box 1, and electric charging controlling box 1 is controlled
Charging mechanism processed 2 is opened；Simultaneously crusing robot 3 reaches a certain position and sends a signal to electric charging controlling box 1 and confirms survey monitor
Whether device people 3 reaches specified location, and electric charging controlling box 1 sends a signal to control crusing robot 3 if reaching, now survey monitor
Device people 3 stops at specified location, and the state of charging mechanism 2 is judged, if charging mechanism 2 is opened, crusing robot 3 enters
Entering charge position carries out automatic charging, it is to be charged after the completion of crusing robot 3 return to specified location, charging mechanism 2 is closed, filled
Electric process terminates, and crusing robot continues executing with task or standby.
Specifically, the charge command that electric charging controlling box 1 is sent by crusing robot 3, is patrolled and examined by ad-hoc location detection
The distance of robot 3, automatic control type rotating device 21 is opened, and robot to be inspected 3 is carried out certainly after completing to dock with cradle 22
Dynamic charging operations.After the Unscrew of whirligig 21, the plane of cradle 22 is not installed and runs channel plane with crusing robot 3
Flush, by motor self-locking lock plane position, facilitate crusing robot 3 to carry out position and align.Crusing robot 3 passes through laser
Positioner 5 carries out attitude updating, and completes to be docked with cradle 22 under charging motor pattern.Electric charging controlling box 1
Powered operation after completing to dock according to inherent logic, until charging process terminates, automatically controls the power-off of cradle 22 and rotation
Device 21 draws in, and the passage 4 that resumes operation is unimpeded.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modification, equivalent or improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (9)
1. the concealed automatic charge device of a kind of ground crusing robot, it is characterised in that including being arranged on crusing robot fortune
The electric charging controlling box of row of channels side, and be rotatably provided in it is described operation passage on and for when charging by being hidden in
State and rotate to be charging mechanism corresponding with crusing robot under operation passage, the electric charging controlling box is electrical with the charging mechanism
Connect and for controlling the charging mechanism rotation and charging for the crusing robot；The charging mechanism includes rotary setting
Operation passage on whirligig and be arranged on the whirligig and for filling for charging for the crusing robot
Electric seat.
2. the concealed automatic charge device of ground crusing robot as claimed in claim 1, it is characterised in that the rotating dress
Put in L fonts.
3. the concealed automatic charge device of ground crusing robot as claimed in claim 1, it is characterised in that the operation is led to
Installing port is offered on road, the whirligig is arranged on the installing port.
4. the concealed automatic charge device of ground crusing robot as claimed in claim 3, it is characterised in that the rotating dress
Put including level board and with the junction of the vertically disposed vertical plate of the level board, the level board and vertical plate and rotate connection
On the inside of one end of the installing port, the cradle is arranged on the side of the vertical plate；The level board is used to fill
When electric with it is described operation passage flush and be not required to charge when be hidden in it is described operation passage lower section and with the operation passage
Vertically, the vertical plate be used for when charging it is corresponding with crusing robot and be not required to charge when be less than it is described run passage or
Flush with the operation passage.
5. the concealed automatic charge device of ground crusing robot as claimed in claim 4, it is characterised in that the level board
Match with the installing port with the size of vertical plate.
6. the concealed automatic charge device of ground crusing robot as claimed in claim 1, it is characterised in that described to fill automatically
Electric installation also includes being electrically connected with the electric charging controlling box and the drive mechanism for driving the whirligig to rotate.
7. the concealed automatic charge device of ground crusing robot as claimed in claim 6, it is characterised in that the driving machine
Structure drives the whirligig along 90 degree clockwise or counterclockwise of the length direction of the operation passage, and the driving machine
Structure has auto-lock function.
8. the concealed automatic charge device of ground crusing robot as claimed in claim 1, it is characterised in that described to fill automatically
Electric installation also includes being arranged on the operation passage and laser positioning for carrying out the crusing robot attitude updating
Device, and be arranged on the crusing robot and for filling with the matching used laser navigation of the laser locating apparatus
Put.
9. the concealed automatic charge device of ground crusing robot as claimed in claim 1, it is characterised in that the cradle
Charging circuit is inside provided with, the charging circuit is provided with overload and earth leakage protective.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620884583.3U CN206164124U (en) | 2016-08-15 | 2016-08-15 | Hidden automatic charging device of robot is patrolled and examined on ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620884583.3U CN206164124U (en) | 2016-08-15 | 2016-08-15 | Hidden automatic charging device of robot is patrolled and examined on ground |
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| Publication Number | Publication Date |
|---|---|
| CN206164124U true CN206164124U (en) | 2017-05-10 |
Family
ID=58649136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620884583.3U Active CN206164124U (en) | 2016-08-15 | 2016-08-15 | Hidden automatic charging device of robot is patrolled and examined on ground |
Country Status (1)
| Country | Link |
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| CN (1) | CN206164124U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322567A (en) * | 2017-07-11 | 2017-11-07 | 丁志国 | A kind of piping lane monitoring robot |
| CN107524884A (en) * | 2017-10-18 | 2017-12-29 | 丁志国 | A kind of piping lane monitoring system |
| CN110567983A (en) * | 2019-09-09 | 2019-12-13 | 深圳市三宝创新智能有限公司 | Method and system for detecting appearance problem of robot |
-
2016
- 2016-08-15 CN CN201620884583.3U patent/CN206164124U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322567A (en) * | 2017-07-11 | 2017-11-07 | 丁志国 | A kind of piping lane monitoring robot |
| CN107524884A (en) * | 2017-10-18 | 2017-12-29 | 丁志国 | A kind of piping lane monitoring system |
| CN110567983A (en) * | 2019-09-09 | 2019-12-13 | 深圳市三宝创新智能有限公司 | Method and system for detecting appearance problem of robot |
| CN110567983B (en) * | 2019-09-09 | 2022-05-10 | 深圳市三宝创新智能有限公司 | Method and system for detecting appearance problem of robot |
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