CN215185958U - Automatic identification, positioning and charging device of transformer substation inspection robot - Google Patents
Automatic identification, positioning and charging device of transformer substation inspection robot Download PDFInfo
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- CN215185958U CN215185958U CN202121119830.8U CN202121119830U CN215185958U CN 215185958 U CN215185958 U CN 215185958U CN 202121119830 U CN202121119830 U CN 202121119830U CN 215185958 U CN215185958 U CN 215185958U
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Abstract
The utility model provides a transformer substation patrols and examines automatic identification location charging device of robot, is including filling electric pile and flexible charging plug mechanism, and flexible charging plug mechanism and support sliding connection are equipped with the laser module on filling electric pile, are equipped with CCD image sensor in the flexible charging plug mechanism, and it judges flexible charging plug mechanism and whether to fill electric pile and aim at after being handled to form the image after laser is received by CCD image sensor by the laser module ejection of compact, judges to charge through the flexible realization of flexible charging plug mechanism after aiming at. Laser is sent through filling the laser module on the electric pile, and on laser gathered together and the directive CCD image sensor after the direction of light pipe, CCD image sensor received laser spot image and compares with predetermined standard image to judge whether charging device reaches the charging position, then realize accurate action of charging through charging device's flexible and the direction of taper hole, this device simple structure, the reliability is high, is fit for using widely in the robot field.
Description
Technical Field
The utility model relates to a transformer substation patrols and examines equipment field, especially a transformer substation patrols and examines robot automatic identification location charging device.
Background
With the continuous development of the inspection robot technology, more people pay attention, the transformer substation robot mainly takes wheel type autonomous inspection as a representative, adopts a four-wheel drive chassis device, performs autonomous inspection and fault identification on a transformer substation according to autonomous navigation, and replaces people to complete complex and repeated daily work.
Wherein, in order to guarantee that the robot has permanent autonomic patrolling and examining ability, need to guarantee that the robot has sufficient duration, consequently, the problem that needs to solve is to the charging device and the method of robot. Generally, the storage battery is adopted to replace the robot back and forth, so that the robot is ensured to have lasting cruising ability, and the purpose of autonomous inspection is fulfilled. However, the manual operation method is difficult to ensure that the robot can be charged in time, and brings certain trouble to users. The other is to adopt there is orbital inspection device, needs the robot to patrol and examine according to the track of laying in advance, and this kind of mode can bring very big construction degree of difficulty, needs to carry out large-scale design to the power plant, brings certain trouble for the user. In addition, the charging is carried out in a charging room, the charging room door is closed according to a two-dimensional code in the charging room door, and the robot is connected to the charging pile for charging.
Disclosure of Invention
The utility model aims to solve the technical problem that an automatic identification location charging device of robot is patrolled and examined to transformer substation is provided, can discern charging device automatically accurately and fill electric pile and whether aim at to charge the action accurately.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:
the utility model provides a transformer substation patrols and examines automatic identification location charging device of robot, is including filling electric pile and flexible charging plug mechanism, and flexible charging plug mechanism and support sliding connection are equipped with the laser module on filling electric pile, are equipped with CCD image sensor in the flexible charging plug mechanism, and it judges flexible charging plug mechanism and whether to fill electric pile and aim at after being handled to form the image after laser is received by CCD image sensor by the laser module ejection of compact, judges to charge through the flexible realization of flexible charging plug mechanism after aiming at.
The charging pile structure is as follows: fill electric pile for the cuboid shape, fill electric pile and be equipped with the direction taper hole on the direction of charging terminal surface towards flexible charging plug mechanism, the bottom surface of direction taper hole is equipped with the jack that charges, is equipped with the laser emission hole around the direction taper hole, and the light pipe is connected to the laser emission hole rear end, and the light pipe other end is equipped with the laser module.
The light guide pipes are obliquely arranged and gathered towards the middle along the laser emission direction.
The magnetic block is arranged at the rear end of the bottom surface of the guide taper hole, and the charging jack penetrates through the magnetic block.
The structure of the telescopic charging plug mechanism is as follows: including removing the slider, remove slider and support sliding connection, remove the slider orientation and fill and be equipped with the direction frustum on the preceding terminal surface of electric pile, the direction frustum top is equipped with charging plug, and CCD image sensor is located direction frustum terminal surface, is equipped with flexible actuating lever on the removal slider rear end face.
Foretell movable slide block both sides face is equipped with direction slip table and charges the pole, and direction slip table and support sliding connection charge the pole and the electrically conductive slide rail sliding contact of both sides.
And a magnetic ring is arranged on the guide frustum.
Foretell support is equipped with the spout including flexible groove on the flexible groove both sides wall, direction slip table and spout sliding connection.
The utility model provides a pair of automatic identification location charging device of robot is patrolled and examined in transformer substation, laser module through filling on the electric pile sends laser, laser gathers together and on directive CCD image sensor after the direction of light pipe, CCD image sensor receives laser spot image and compares with preset standard image to judge whether charging device reaches the position of charging, then realize accurate action of charging through the flexible direction with the taper hole of charging device, this device simple structure, the reliability is high, be fit for using widely in the robot field.
Drawings
The invention will be further explained with reference to the following figures and examples:
fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a charging pile;
fig. 3 is a front view of the charging pile;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is a cross-sectional view taken along line B-B of FIG. 3;
FIG. 6 is a schematic structural view of a retractable charging plug mechanism;
FIG. 7 is a front view of the telescoping charging plug mechanism;
FIG. 8 is a schematic structural view of a stent;
fig. 9 is a schematic view of the positioning recognition of the present invention.
In the figure: the device comprises a charging pile 1, a guide taper hole 101, a laser emitting hole 102, a wiring hole 103, a charging jack 104, a magnetic block 105, a laser module 106, a light guide pipe 107, a telescopic charging plug mechanism 2, a movable sliding block 201, a guide taper table 202, a charging plug 203, a CCD image sensor 204, a magnetic ring 205, a guide sliding table 206, a charging rod 207, a telescopic driving rod 208, a support 3, a telescopic groove 31, a sliding groove 32 and a conductive sliding rail 4.
Detailed Description
As shown in fig. 1-9, an automatic identification and positioning charging device for a substation inspection robot comprises a charging pile 1 and a telescopic charging plug mechanism 2, wherein the telescopic charging plug mechanism 2 is slidably connected with a bracket 3, a laser module 106 is arranged on the charging pile 1, a CCD image sensor 204 is arranged on the telescopic charging plug mechanism 2, laser emitted by the laser module 106 is received by the CCD image sensor 204 to form an image, and then whether the telescopic charging plug mechanism 2 is aligned with the charging pile 1 is judged, and charging is realized by the telescopic charging plug mechanism 2 after the alignment, because the laser has excellent direction, when the initial position of the telescopic charging plug mechanism 2 is incorrect, an image gathered on the CCD image sensor 204 has a tiny error which can be identified after image processing, thereby judging whether the charging position is well adjusted, the inspection robot can adjust the position of the inspection robot to realize accurate alignment through errors obtained after image processing.
The 1 structure of foretell electric pile of filling does: fill electric pile 1 and be the cuboid shape, it is equipped with direction taper hole 101 on the direction of charging terminal surface towards flexible charging plug mechanism 2 to fill electric pile 1, the bottom surface of direction taper hole 101 is equipped with charging jack 104, be equipped with laser emission hole 102 around direction taper hole 101, light pipe 107 is connected to laser emission hole 102 rear end, the light pipe 107 other end is equipped with laser module 106, good direction and the performance of rectifying that the toper that has through direction taper hole 101, carry out accurate direction to the slight error of flexible charging plug mechanism 2 when stretching out, make charging plug aim at the jack.
Foretell direction taper hole 101 bottom surface rear end is equipped with magnetic path 105, and the jack 104 that charges runs through magnetic path 105, and at the end that flexible charging plug mechanism 2 stretches out, the guide effect of direction taper hole 101 makes plug and jack aim at, and magnetic path 105 lasts the increase to the magnetic force effect of flexible charging plug mechanism 2, finally inhales tightly charging mechanism by magnetic path 105, prevents that outside mistake from touching to make charging plug and fill electric pile separation, leads to charging interruption.
The structure of the telescopic charging plug mechanism 2 is as follows: including removing slider 201, remove slider 201 and 3 sliding connection of support, remove slider 201 and be equipped with direction frustum 202 on the preceding terminal surface of filling electric pile 1 towards, direction frustum 202 top is equipped with charging plug 203, and CCD image sensor 204 is located direction frustum 202 terminal surface, is equipped with flexible actuating lever 208 on the removal slider 201 rear end face, and direction frustum 202 and direction taper hole 101 cooperation make the location more accurate.
The two side surfaces of the movable sliding block 201 are provided with a guide sliding table 206 and a charging rod 207, the guide sliding table 206 is connected with the bracket 3 in a sliding manner, and the charging rod 207 is in sliding contact with the conductive sliding rails 4 on the two sides.
The guide frustum 202 is provided with a magnetic ring 205, and the magnetic ring 205 interacts with the magnetic block 105, so that the plug and the socket are tightly connected during charging.
The bracket 3 comprises a telescopic groove 31, sliding grooves 32 are arranged on two side walls of the telescopic groove 31, and the guide sliding table 206 is connected with the sliding grooves 32 in a sliding manner.
Claims (8)
1. The utility model provides a transformer substation patrols and examines robot automatic identification location charging device which characterized by: including filling electric pile (1) and flexible charging plug mechanism (2), flexible charging plug mechanism (2) and support (3) sliding connection, be equipped with laser module (106) on filling electric pile (1), be equipped with CCD image sensor (204) on flexible charging plug mechanism (2), form the image by laser module (106) ejection of light and handle the back by CCD image sensor (204) and judge flexible charging plug mechanism (2) and fill electric pile (1) and aim at, realize charging through the flexible of flexible charging plug mechanism (2) after the judgement is aimed at.
2. The automatic identification, positioning and charging device of the substation inspection robot according to claim 1, wherein the charging pile (1) is structured as follows: fill electric pile (1) and be the cuboid shape, fill electric pile (1) and be equipped with direction taper hole (101) towards the charge direction terminal surface of flexible charging plug mechanism (2), the bottom surface of direction taper hole (101) is equipped with charging jack (104), is equipped with laser emission hole (102) around direction taper hole (101), and light pipe (107) are connected to laser emission hole (102) rear end, and the light pipe (107) other end is equipped with laser module (106).
3. The automatic identification and positioning charging device of the substation inspection robot according to claim 2, wherein the light guide pipe (107) is obliquely arranged and gathered towards the middle along a laser emission direction.
4. The automatic identification and positioning charging device of the substation inspection robot according to claim 2, wherein a magnetic block (105) is arranged at the rear end of the bottom surface of the guide taper hole (101), and the charging jack (104) penetrates through the magnetic block (105).
5. The automatic identification and positioning charging device of the substation inspection robot according to claim 4, wherein the telescopic charging plug mechanism (2) is structured as follows: including removing slider (201), remove slider (201) and support (3) sliding connection, remove slider (201) and be equipped with direction frustum (202) towards filling the preceding terminal surface of electric pile (1), direction frustum (202) top is equipped with charging plug (203), and CCD image sensor (204) are located direction frustum (202) terminal surface, are equipped with flexible actuating lever (208) on removing slider (201) rear end face.
6. The automatic identification and positioning charging device of the substation inspection robot according to claim 5, wherein two sides of the movable sliding block (201) are provided with a guide sliding table (206) and a charging rod (207), the guide sliding table (206) is connected with the bracket (3) in a sliding manner, and the charging rod (207) is in sliding contact with the conductive sliding rails (4) on two sides.
7. The automatic identification, positioning and charging device of the substation inspection robot according to claim 5, wherein a magnetic ring (205) is arranged on the guide frustum (202).
8. The substation inspection robot automatic identification and positioning charging device according to claim 6, wherein the bracket (3) comprises a telescopic groove (31), sliding grooves (32) are formed in two side walls of the telescopic groove (31), and the guide sliding table (206) is in sliding connection with the sliding grooves (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121119830.8U CN215185958U (en) | 2021-05-24 | 2021-05-24 | Automatic identification, positioning and charging device of transformer substation inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121119830.8U CN215185958U (en) | 2021-05-24 | 2021-05-24 | Automatic identification, positioning and charging device of transformer substation inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN215185958U true CN215185958U (en) | 2021-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121119830.8U Active CN215185958U (en) | 2021-05-24 | 2021-05-24 | Automatic identification, positioning and charging device of transformer substation inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116979345A (en) * | 2023-09-22 | 2023-10-31 | 中科开创（广州）智能科技发展有限公司 | Guide rail movable type shared charging robot accurate positioning method, device, equipment and medium |
-
2021
- 2021-05-24 CN CN202121119830.8U patent/CN215185958U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116979345A (en) * | 2023-09-22 | 2023-10-31 | 中科开创（广州）智能科技发展有限公司 | Guide rail movable type shared charging robot accurate positioning method, device, equipment and medium |
| CN116979345B (en) * | 2023-09-22 | 2024-01-30 | 中科开创（广州）智能科技发展有限公司 | Guide rail movable type shared charging robot accurate positioning method, device, equipment and medium |
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