CN208788643U - A kind of holding charging system of crusing robot arm before and after - Google Patents
A kind of holding charging system of crusing robot arm before and after Download PDFInfo
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- CN208788643U CN208788643U CN201821392906.2U CN201821392906U CN208788643U CN 208788643 U CN208788643 U CN 208788643U CN 201821392906 U CN201821392906 U CN 201821392906U CN 208788643 U CN208788643 U CN 208788643U
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Abstract
A kind of holding charging system of crusing robot arm before and after, it is related to a kind of charging system, including inspection robot charging unit, solar energy electricity getting system and charging pile, inspection robot charging unit includes the postposition charging arm on inspection robot, preposition charging arm and be separately positioned on postposition charging arm, electrode stem on preposition charging arm, the electrode stem that postposition charges on arm is cathode charging head, electrode stem on preposition charging arm is positive charging head, charging pile is connected on the high voltage power transmission ground wire of shaft tower, anode and negative metal piece are respectively equipped in the two sides of charging pile, the anode of charging pile, negative metal piece respectively with preposition charging arm, the electrode stem that postposition charges on arm docks, charging pile and solar energy electricity getting system pass through connection；The utility model realizes crusing robot in not enough power supply on ultra-high-tension power transmission line, completes the purpose of automatic charging task.
Description
Technical field
The utility model relates to a kind of charging systems, more particularly, to a kind of holding Charging of crusing robot arm before and after
System.
Background technique
Well known, crusing robot is generally powered using lithium battery in operation on high voltage transmission line road, but interior
The lithium battery set is not enough to provide required electric energy when crusing robot long-time long range operation, and electricity is taken just to seem non-online
Often it is necessary to.Currently, existing automatic charge device design is more complex, and when completing charging docking, it is easy to because outer
Boundary's factor causes interface to dock deviation, is unable to complete automatic charging task, it is therefore proposed that a kind of charging is simple, docking precisely may be used
The charging system leaned on becomes the basic demand of those skilled in the art.
Summary of the invention
In order to overcome the shortcomings in the background art, the utility model discloses a kind of holdings of crusing robot arm before and after to fill
Electric system.
In order to realize the goal of the invention, the utility model adopts the following technical solution:
A kind of holding charging system of crusing robot arm before and after, including inspection robot charging unit, solar energy take electricity
System and charging pile, inspection robot charging unit include postposition charging arm, preposition charging arm and difference on inspection robot
Postposition charging arm, the preposition electrode stem to charge on arm are set, and the electrode stem that postposition charges on arm is cathode charging head, preposition to fill
Electrode stem in electric arm is positive charging head, charging pile is connected on the high voltage power transmission ground wire of shaft tower, in the two sides of charging pile
It is respectively equipped with anode and negative metal piece, anode, the negative metal piece of charging pile charge on arm with preposition charging arm, postposition respectively
Electrode stem docking, charging pile and solar energy electricity getting system are wrapped respectively by connection, postposition charging arm, preposition charging arm
Braced frame A, hydraulic cylinder A, hydraulic cylinder B, support rod, closing device and rotating base are included, in the top two sides of closing device point
Not She You hydraulic cylinder A, hydraulic cylinder B, braced frame is connected separately on the top of hydraulic cylinder A, hydraulic cylinder B, in two support frames
At least provided with a pair of of directive wheel between the top of frame, one of upper end in hydraulic cylinder A, hydraulic cylinder B is connected with driving electricity
Machine, is connected with driving wheel on the output shaft of driving motor, and high voltage power transmission ground wire is arranged between directive wheel and driving wheel.
The holding charging system of the crusing robot arm before and after, solar energy electricity getting system are arranged in high voltage power transmission ground wire
Shaft tower on comprising battery, controller and solar energy photovoltaic panel, solar energy photovoltaic panel and battery by connection,
Battery and charging pile by connection, the interface of controller respectively with the voltage input end of solar energy photovoltaic panel, battery
It is connected with charging pile anode, negative metal piece.
The holding charging system of the crusing robot arm before and after, charging pile include support rod and are arranged at support rod bottom
The cradle in portion is equipped with the hanging hole of suspension high voltage power transmission ground wire in the upper end of support rod, on the two sides of cradle respectively
Equipped with inside concave face, anode, negative metal piece are respectively equipped with outside the concave face of two sides, in anode, negative metal piece
Travel switch is respectively equipped on outside the cradle two sides step on top.
The holding charging system of the crusing robot arm before and after, closing device include folding arm A, folding arm B, connection
Plate, rotating base and sliding block are connected with connecting plate between two folding arm A, are equipped in the middle part of the two sides of connecting plate U-shaped
Recess, folding arm A, open and close arm B opposite face be disposed as U-shaped fork structure, the two sides of connecting plate be separately positioned on folding arm A,
It opens and closes between the U-shaped fork of arm B, is respectively and fixedly provided with motor cabinet in the U-shaped recess of connecting plate two sides, two are respectively and fixedly provided on motor cabinet
A motor B, the output shaft of two motor B are each passed through two edge of connecting plate two sides, and are fixed on folding arm A, folding arm BU
Shape is pitched in the inner hole of two edge, is equipped with mounting hole, hydraulic cylinder A, hydraulic cylinder B in the upper surface of folding arm A, the folding other side arm B
Lower part be separately positioned on folding arm A, folding arm B above mounting hole in, the middle part of connecting plate be equipped with through-hole, rotation bottom
Rotating electric machine is equipped in seat, the output shaft of rotating electric machine passes through plate and the sliding block of rotating base lower part below rotating base and connects
It connects, sliding block is slidably arranged on sliding rail.
The holding charging system of the crusing robot arm before and after, it is any on postposition charging arm, preposition charging arm
Support rod is fixed on one hydraulic cylinder A, hydraulic cylinder B, the inner end of support rod is arranged between hydraulic cylinder A, hydraulic cylinder B, is propping up
The top of strut inner end end is equipped with motor A, and the output shaft of motor A is down-set, and electrode stem is equipped on output shaft.
The holding charging system of the crusing robot arm before and after is connected with the machine of crusing robot in the lower part of sliding rail
Case, is equipped with control unit module and lithium battery by connection in cabinet, and control unit module and solar energy take electric system
The controller of system is connected by signal.
By adopting the above-described technical solution, the utility model has the following beneficial effects:
The holding charging system of crusing robot arm before and after described in the utility model, by charging arm, preposition in postposition
It is respectively provided with support rod on charging arm, the electrode stem connected by motor A is respectively provided on support rod, is docked by two electrode stems
Anode, negative metal piece on two concave face of charging pile charge, and realize crusing robot and power in ultra-high-tension power transmission line
When amount is insufficient, the purpose of automatic charging task is completed；By the way that anode, negative metal piece are arranged on two concave face of charging pile, increase
Big interelectrode contact area, efficiently solves the problems, such as that charging docking is not accurate；Simultaneously outside the step of gauge sheet metal upper
It is equipped with travel switch, postposition charging arm, preposition charging arm encounter travel switch when holding charging tightly, stop holding movement immediately,
Holding movement is significantly reduced to the impact force of charging pile.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the preposition charging arm of the utility model；
Fig. 3 is the structural schematic diagram of the utility model folding arm；
Fig. 4 is the structural schematic diagram of the utility model charging pile；
Fig. 5 is the utility model charged state structural schematic diagram；
Fig. 6 is the status architecture schematic diagram before the utility model charging；
In figure: 1, postposition charging arm；2, preposition charging arm；3, charging pile；4, cabinet；5, directive wheel；6, braced frame；7,
Hydraulic cylinder A；8, support rod；9, motor A；10, electrode stem；11, hydraulic cylinder B；12, arm A is opened and closed；13, connecting plate；14, bottom is rotated
Seat；15, sliding block；16, arm B is opened and closed；17, driving motor；18, driving wheel；19, mounting hole；20, motor B；21, hanging hole；22,
Support rod；23, cradle；24, travel switch；25, sheet metal.
Specific embodiment
By the following examples can detailed explanation the utility model, open the purpose of this utility model is intended to protect
All technological improvements in the scope of the utility model.
The holding charging system of the crusing robot arm before and after in conjunction with described in attached drawing 1-6, including inspection robot charging dress
It sets, solar energy electricity getting system and charging pile 3, inspection robot charging unit includes postposition charging arm 1 on inspection robot, preceding
It sets charging arm 2 and is separately positioned on postposition charging arm 1, the preposition electrode stem 10 to charge on arm 2, the electrode that postposition charges on arm 1
Bar 10 is cathode charging head, and the electrode stem 10 on preposition charging arm 2 is positive charging head, on the high voltage power transmission ground wire of shaft tower
It is connected with charging pile 3, is respectively equipped with anode and negative metal piece, anode, the negative metal of charging pile 3 in the two sides of charging pile 3
Piece is docked with the electrode stem 10 on preposition charging arm 2, postposition charging arm 1 respectively, and charging pile 3 and solar energy electricity getting system pass through line
Road connection, postposition charging arm 1, preposition charging arm 2 respectively include braced frame A6, hydraulic cylinder A7, hydraulic cylinder B11 support rod 8,
Closing device and rotating base 14 are respectively equipped with hydraulic cylinder A7, hydraulic cylinder B11 in the top two sides of closing device, in hydraulic cylinder
A7, hydraulic cylinder B11 top be connected separately with braced frame 6, led between the top of two braced frames 6 at least provided with a pair
To wheel 5, one of upper end in hydraulic cylinder A7, hydraulic cylinder B11 is connected with driving motor 17, in the output of driving motor 17
Driving wheel 18 is connected on axis, high voltage power transmission ground wire is arranged between directive wheel 5 and driving wheel 18.
The holding charging system of the crusing robot arm before and after, solar energy electricity getting system are arranged in high voltage power transmission ground wire
Shaft tower on comprising battery, controller and solar energy photovoltaic panel, solar energy photovoltaic panel and battery by connection,
Battery and charging pile 3 by connection, the interface of controller respectively with the voltage input end of solar energy photovoltaic panel, battery
It is connected with 3 anode of charging pile, negative metal piece 25.
The holding charging system of the crusing robot arm before and after, charging pile 3 include that support rod 22 and setting are supporting
The cradle 23 of bar bottom is equipped with the hanging hole of suspension high voltage power transmission ground wire in the upper end of support rod 22, the two of cradle 23
It is respectively equipped with inside concave face on side, anode, negative metal piece 25 are respectively equipped with outside the concave face of two sides, just
Pole, 25 top of negative metal piece 23 two sides step of cradle outside on be respectively equipped with travel switch 24.
The holding charging system of the crusing robot arm before and after, closing device include folding arm A12, folding arm B16,
Connecting plate 13, rotating base 14 and sliding block 15 are connected with connecting plate 13 between two folding arm A12, the two of connecting plate 13
U-shaped recess is equipped in the middle part of side, folding arm A12, the opposite face for opening and closing arm B16 are disposed as U-shaped fork structure, connecting plate 13
Two sides are separately positioned on folding arm A12, open and close between the U-shaped fork of arm B16, fixed in the U-shaped recess of 13 two sides of connecting plate
There is motor cabinet, two motor B20 are respectively and fixedly provided on motor cabinet, the output shaft of two motor B20 is each passed through 13 liang of connecting plate
Two edge of side, and be fixed on folding arm A12, open and close in the inner hole of arm B16 U-shaped two edge of fork, in folding arm A12, folding arm
The upper surface of other side B16 is equipped with mounting hole 19, hydraulic cylinder A7, hydraulic cylinder B11 lower part be separately positioned on folding arm A12, open
It closes in the mounting hole 19 above arm B16, is equipped with through-hole at the middle part of connecting plate 13, rotating electric machine is equipped in rotating base 14,
The output shaft of rotating electric machine passes through plate below rotating base 14 and connect with the sliding block 15 of 14 lower part of rotating base, and sliding block 15 slides
Setting is on the slide rail.
The holding charging system of the crusing robot arm before and after, appointing on postposition charging arm 1, preposition charging arm 2
It anticipates and is fixed with support rod 8 on a hydraulic cylinder A7, hydraulic cylinder B11, the inner end of support rod 8 is arranged in hydraulic cylinder A7, hydraulic cylinder B11
Between, it is equipped with motor A9 on the top of 8 inner end end of support rod, the output shaft of motor A9 is down-set, installs on output shaft
There is electrode stem 10.
The holding charging system of the crusing robot arm before and after is connected with the machine of crusing robot in the lower part of sliding rail
Case 4, is equipped with control unit module and lithium battery by connection in cabinet 4, and control unit module and solar energy take electricity
The controller of system is connected by signal.
Implement the holding charging system of crusing robot arm before and after described in the utility model, in solar energy electricity getting device
Converge energy essence electricity _ LS2024EU in controller model Beijing, and there are three connectivity ports for tool, defeated with the voltage of solar energy photovoltaic panel respectively
Enter 3 anode of end, battery and charging pile, the connection of negative metal piece 25, wherein battery connecting pin has battery charging monitoring
Function realizes solar energy photovoltaic panel to the three stage charging system of battery (constant current, constant pressure, tiny stream fill)；When crusing robot is in high pressure
On transmission of electricity ground wire when inspection work, the control unit module in crusing robot cabinet 4 detects its internal lithium battery
Not enough power supply or electricity are less than the threshold value of setting, that is, the charging of charging pile 3 are begun look for, when crusing robot moves to charging pile 3
Position, preposition charging arm 2 is preceding at this time, and postposition charges arm 1 rear, and the driving motor 17 of preposition charging arm 2 acts, preposition to fill
Hydraulic cylinder A7, the hydraulic cylinder B11 of electric arm 2 drive driving wheel 18 to rise, and hold out against the high voltage power transmission between driving wheel 18 and directive wheel 5
Ground wire locks preposition charging arm 2 motionless；Then the motor B20 movement of postposition charging arm 1, by the folding arm of postposition charging arm 1
A12, folding arm B16 are rotated down, and make hydraulic cylinder A7, hydraulic cylinder B11 and the directive wheel 5 of upper end of postposition charging arm 1 to two sides
It opens, while the rotating electric machine in preposition charging 2 rotating base 14 of arm rotates counterclockwise 180 degree, drives postposition charging arm 1, slides
Charging pile 3 is crossed in rail and the rotation of entire cabinet 4, then by corresponding directive wheel 5 in postposition charging 1 upper end braced frame 6 of arm
Closure, postposition charge arm 1 preceding, preposition charging arm 2 rear, postposition charge arm 1, the preposition electrode stem 10 to charge on arm 2 by
Respective motor A9 driving rotation, at an angle of 90 with support rod, postposition charges arm 1, preposition charging arm 2 respectively to 3 phase of charging pile
To movement, encounter the travel switch 24 of 3 step lateral surface of charging pile, crusing robot stop motion, preposition charging arm 2 at this time
Anode electrode bar 10 is in contact with the anode on 3 concave face of charging pile, the negative electricity pole bar 10 and charging pile 3 of postposition charging arm 1
Cathode on concave face is in contact, that is, starts to charge, while postposition charging arm 1, preposition charging arm 2 being locked；It is to be charged to finish
Afterwards, two electrode stems 10 rotate clockwise 90 degree, are overlapped with the support rod 22 respectively connecting, unclamp preposition charging arm 2, postposition is filled
The 14 another mistake hour hands of rotating base of electric arm 1 rotate 180 degree, and preposition charging arm 2, sliding rail and the rotation of entire cabinet 4 is driven more to overcharge
Electric stake 3；At this point, preposition charging arm 2 is preceding, postposition charges arm 1 rear, that is, restores the state before charging, crusing robot
To continue patrol task and charging work next time.
The non-detailed portion of the utility model is the prior art.
The embodiment selected herein to disclose the goal of the invention of the utility model, is presently considered to be suitable,
However, it should be understood that the utility model is intended to include the institute for the embodiment that all belong within the scope of this design and utility model
It changes and improves.
Claims (6)
1. a kind of holding charging system of crusing robot arm before and after, including inspection robot charging unit, solar energy take electric system
System and charging pile, it is characterized in that: inspection robot charging unit includes postposition charging arm, preposition charging arm on inspection robot
Be separately positioned on postposition charging arm, it is preposition charging arm on electrode stem, postposition charge arm on electrode stem be cathode charging head,
Electrode stem on preposition charging arm is positive charging head, charging pile is connected on the high voltage power transmission ground wire of shaft tower, in charging pile
Two sides be respectively equipped with anode and negative metal piece, anode, the negative metal piece of charging pile fill with preposition charging arm, postposition respectively
By connection, postposition charging arm, preposition charging arm are equal for electrode stem docking in electric arm, charging pile and solar energy electricity getting system
Braced frame A, hydraulic cylinder A, hydraulic cylinder B, support rod, closing device and rotating base are respectively included, on the top of closing device
Two sides are respectively equipped with hydraulic cylinder A, hydraulic cylinder B, braced frame are connected separately on the top of hydraulic cylinder A, hydraulic cylinder B, at two
At least provided with a pair of of directive wheel between the top of braced frame, one of upper end in hydraulic cylinder A, hydraulic cylinder B is connected with
Driving motor, is connected with driving wheel on the output shaft of driving motor, the setting of high voltage power transmission ground wire directive wheel and driving wheel it
Between.
2. the holding charging system of crusing robot arm before and after according to claim 1, it is characterized in that: solar energy takes electric system
System be arranged on the shaft tower of high voltage power transmission ground wire comprising battery, controller and solar energy photovoltaic panel, solar energy photovoltaic panel with
Battery by connection, battery and charging pile by connection, the interface of controller respectively with solar energy photovoltaic panel
Voltage input end, battery and charging pile anode, negative metal piece connect.
3. the holding charging system of crusing robot arm before and after according to claim 1, it is characterized in that: charging pile includes branch
Strut and the cradle that support rod bottom is arranged in are equipped with the hanging hole of suspension high voltage power transmission ground wire in the upper end of support rod,
It is respectively equipped with inside concave face on the two sides of cradle, anode, negative metal are respectively equipped with outside the concave face of two sides
Piece, anode, negative metal piece top cradle two sides step outside on be respectively equipped with travel switch.
4. the holding charging system of crusing robot arm before and after according to claim 1, it is characterized in that: closing device includes
Arm A, folding arm B, connecting plate, rotating base and sliding block are opened and closed, connecting plate is connected between two folding arm A, in connecting plate
Two sides in the middle part of be equipped with U-shaped recess, folding arm A, the opposite face for opening and closing arm B are disposed as U-shaped fork structure, the two of connecting plate
Side is separately positioned on folding arm A, opens and closes between the U-shaped fork of arm B, is respectively and fixedly provided with motor cabinet in the U-shaped recess of connecting plate two sides,
Two motor B are respectively and fixedly provided on motor cabinet, the output shaft of two motor B is each passed through two edge of connecting plate two sides, and solid
It is scheduled on folding arm A, opens and closes in the inner hole of arm BU shape two edge of fork, be equipped with peace in the upper surface of folding arm A, the folding other side arm B
Fill hole, hydraulic cylinder A, hydraulic cylinder B lower part be separately positioned on folding arm A, folding arm B above mounting hole in, in connecting plate
Middle part is equipped with through-hole, is equipped with rotating electric machine in rotating base, the output shaft of rotating electric machine pass through below rotating base plate with
The sliding block of rotating base lower part connects, and sliding block is slidably arranged on sliding rail.
5. the holding charging system of crusing robot arm before and after according to claim 1, it is characterized in that: charging in postposition
It is fixed with support rod on any one hydraulic cylinder A, hydraulic cylinder B on arm, preposition charging arm, the inner end of support rod is arranged hydraulic
Between cylinder A, hydraulic cylinder B, it is equipped with motor A on the top of support rod inner end end, the output shaft of motor A is down-set, is exporting
Electrode stem is installed on axis.
6. the holding charging system of crusing robot arm before and after according to claim 4, it is characterized in that: in the lower part of sliding rail
It is connected with the cabinet of crusing robot, control unit module and lithium battery by connection are equipped in cabinet, control is single
Element module is connect with the controller of solar energy electricity getting system by signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821392906.2U CN208788643U (en) | 2018-08-28 | 2018-08-28 | A kind of holding charging system of crusing robot arm before and after |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821392906.2U CN208788643U (en) | 2018-08-28 | 2018-08-28 | A kind of holding charging system of crusing robot arm before and after |
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| Publication Number | Publication Date |
|---|---|
| CN208788643U true CN208788643U (en) | 2019-04-26 |
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ID=66207117
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821392906.2U Active CN208788643U (en) | 2018-08-28 | 2018-08-28 | A kind of holding charging system of crusing robot arm before and after |
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| Country | Link |
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| CN (1) | CN208788643U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162323A (en) * | 2021-12-31 | 2022-03-11 | 国网山东省电力公司莒南县供电公司 | Overhead line sag point distance measurement sensing device based on unmanned aerial vehicle installation |
-
2018
- 2018-08-28 CN CN201821392906.2U patent/CN208788643U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162323A (en) * | 2021-12-31 | 2022-03-11 | 国网山东省电力公司莒南县供电公司 | Overhead line sag point distance measurement sensing device based on unmanned aerial vehicle installation |
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