An automatic charging mechanism for an orbital robot

Abstract

The present invention discloses an automatic charging mechanism for a track robot, which includes a charging fixed end, a mobile charging end, a fixed end base, a mobile end slide table and a contact carbon brush. The charging mobile end is composed of a mobile end slide table, a driving screw, a DC motor, a mobile end base, a travel switch pressing plate, a travel adjustment plate, a slide table extension travel switch and a slide table retraction travel switch. The mobile end slide table is composed of a mobile end guide plate, an outer slide table, a contact pressure adjustment spring, an inner slide table, a guide rail, a mobile end safety protection switch and a contact carbon brush. This automatic charging mechanism for a track robot can automatically adjust in the vertical and front-back directions, eliminate installation errors in these two directions, enable the charging mechanism to accurately dock, has a good self-protection function, maximally eliminates the risks of miscontact and short circuit, is safe and reliable, the contact pressure between the charging electrode and the contact can be adjusted, and the flexible spring ensures good contact during charging.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic charging mechanisms, and particularly relates to an automatic charging mechanism for a track robot. Background Art

[0002] A track robot is a special robot that works on a fixed track. The working environment space is narrow and the conditions are harsh, making it difficult for humans to reach. It can carry various detection instruments according to requirements and automatically carry out work according to the pre-set tasks. It is less affected by the environment, climate, and working hours, can timely detect possible accidents and dangers, greatly reduce the labor intensity and potential risks of manual inspection, and improve the reliability and efficiency of inspection at the same time. Therefore, automatic inspection by robots is a trend for future development. Generally, a track robot is powered by an internal battery. When running for a long time, it needs to be charged or the battery needs to be replaced in time. Because its working environment space is narrow and the conditions are harsh, it is laborious and inconvenient to replace the battery or charge on site, which seriously affects the normal use of the track robot. Therefore, an automatic charging mechanism that can charge the track robot in time is particularly important.

[0003] Therefore, according to requirements, an automatic charging mechanism can be installed at a certain distance intervals near the track. During the operation of the track robot, once it is found that the battery power is insufficient, it can find a charging mechanism nearby to charge and replenish power. When the battery is fully charged, the charging mechanism disengages automatically, and the track robot can continue to carry out inspection work.

[0004] When the existing robot automatic charging mechanism charges, it approaches the charging mechanism through path planning and detects the position of the charging mechanism through detection and induction components installed on the robot. After the robot contacts the charging mechanism, through a variety of sensors and various complex control programs, the robot and the charging mechanism are accurately docked for charging. This docking method requires a relatively open environment with enough space for maneuvering, a relatively long docking adjustment time, a complex control process, and relatively low efficiency. It is difficult to use in a narrow and harsh environment space, and the reliability is low. At the same time, because the track installation error is relatively large, it is inevitable to produce position errors in the vertical direction and the front-back direction. If a rigid charging system is adopted, it is very difficult for the charging contacts to be accurately docked, and it is extremely easy to cause inaccurate docking or mechanism damage. Therefore, this charging method cannot be adapted to the automatic charging of track robots. Summary of the Invention

[0005] Objective of the Invention: Aiming at the deficiencies existing in the prior art, the objective of the present invention is to provide an automatic charging mechanism for an orbital robot, so as to solve the problems of the current charging mechanism, such as relatively long docking adjustment time, complex control process, and relatively low efficiency. It is difficult to use in the case of narrow environmental space and harsh conditions, with low reliability, and it is difficult for the charging contacts to accurately dock, easily resulting in inaccurate docking or damage to the mechanism.

[0006] Technical Solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0007] An automatic charging mechanism for an orbital robot, comprising a charging fixed end, a charging mobile end, a fixed-end mounting plate, a mobile-end slide, and contact carbon brushes. One side of the fixed-end mounting plate is fixedly connected to a fixed-end base, and the fixed-end base is in a "U" shape. There are holes at both ends of the fixed-end base, and a circular guide rail is embedded through the holes. A guide rail fixing nut is provided at the connection between the circular guide rail and the fixed-end base. A fixed-end slide plate is arranged in the middle of the circular guide rail, and adaptive springs are arranged at both ends of the fixed-end slide plate. A fixed-end safety protection switch is arranged in the middle of the fixed-end slide plate, and fixed-end guide plates are arranged at both the upper and lower ends of the fixed-end safety protection switch. The charging positive electrode and the charging negative electrode are respectively arranged on the two fixed-end guide plates. The charging mobile end is composed of a mobile-end slide, a driving screw, a DC motor, a mobile-end base, a travel switch pressing plate, a travel adjustment plate, a slide-out travel switch, and a slide-back travel switch. The mobile-end slide is composed of a mobile-end guide plate, an outer slide, a contact pressure adjustment spring, an inner slide, a guide rail, a mobile-end safety protection switch, and contact carbon brushes. The driving screw is connected to the DC motor. The lower end of the mobile-end slide is connected to the mobile-end base, and the rear end of the mobile-end slide is connected to the travel switch pressing plate and the travel adjustment plate.

[0008] Further, there are 2 circular guide rails, and a slide is arranged on the circular guide rails. The slide is movably connected to the circular guide rails.

[0009] Further, a 6-pin travel switch is installed on the slide.

[0010] Further, a total of 4 adaptive springs are provided, and one end of each of the 4 adaptive springs is connected to the slide.

[0011] Further, the mobile-end slide and the DC motor form a telescopic structure through the driving screw.

[0012] Further, 4 guide rails are arranged on the mobile-end slide, and springs are arranged at one end of each guide rail.

[0013] Further, 2 contact carbon brushes are arranged respectively above and below the mobile-end slide.

[0014] Further, the contact carbon brush is composed of a carbon brush, a carbon brush holder, and a protection spring.

[0015] Further, the distance between the two fixed-end guide plates matches that of the mobile-end guide plate.

[0016] Beneficial effects: Compared with the prior art, the present application has the following advantages:

[0017] The automatic charging mechanism of this rail robot can be automatically adjusted in the vertical and front-back directions, eliminating installation errors in these two directions, enabling the charging mechanism to be accurately docked. It has a good self-protection function. Only after docking, the charging circuits of the fixed end and the mobile end are connected, and they are disconnected after separation, maximizing the elimination of the risks of miscontact and short circuit. It is safe and reliable. The contact pressure between the charging electrode and the contact can be adjusted, and the flexible spring ensures good contact during charging. At the same time, this mechanism has a simple structure, is practical and reliable, and has a low cost, making it suitable for large-scale production and use. Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the automatic charging mechanism of the rail robot;

[0019] Figure 2 is a schematic structural diagram of the charging fixed end of the automatic charging mechanism of the rail robot;

[0020] Figure 3 is a schematic structural diagram of the charging mobile end of the automatic charging mechanism of the rail robot;

[0021] Figure 4 is a top view of the charging mobile end of the automatic charging mechanism of the rail robot;

[0022] Figure 5 is a schematic structural diagram of the mobile-end sliding table of the automatic charging mechanism of the rail robot;

[0023] Figure 6 is a schematic structural diagram of the contact carbon brush of the automatic charging mechanism of the rail robot. Detailed Embodiments

[0024] The following further describes the present invention with reference to the drawings.

[0025] As Figure 1-6As shown in the figure, the automatic charging mechanism of the track robot of the present application includes a charging fixed end 1, a charging mobile end 2, a fixed end mounting plate 3, a fixed end base 4, a circular guide rail 5, a guide rail fixing nut 6, an adaptive spring 7, a fixed end slide plate 8, a charging positive electrode 9, a fixed end guide plate 10, a fixed end safety protection switch 11, a charging negative electrode 12, a mobile end slide table 13, a driving screw 14, a DC motor 15, a mobile end base 16, a travel switch pressing plate 17, a travel adjustment plate 18, a slide table extending travel switch 19, a slide table retracting travel switch 20, a mobile end guide plate 21, an outer layer slide table 22, a contact pressure adjustment spring 23, an inner layer slide table 24, a guide rail 25, a mobile end safety protection switch 26, a contact carbon brush 27, a carbon brush 28, a carbon brush holder 29, and a protection spring 30. One side of the fixed end mounting plate 3 is fixedly connected to the fixed end base 4, and the fixed end base 4 is "U" shaped. There are holes at both ends of the fixed end base 4. The fixed end mounting plate 3 is used to install the charging fixed end 1 at a position parallel to the track and at a certain distance. The fixed end base 4 is inlaid with a circular guide rail 5 through the holes, and a guide rail fixing nut 6 is provided at the connection between the circular guide rail 5 and the fixed end base 4. A fixed end slide plate 8 is arranged in the middle of the circular guide rail 5, and adaptive springs 7 are arranged at both ends of the fixed end slide plate 8. Under the action of an external force, the fixed end slide plate 8 can move up and down, and automatically adjust the centering error in the vertical direction under the action of the adaptive springs 7. A fixed end safety protection switch 11 is arranged in the middle of the fixed end slide plate 8, and fixed end guide plates 10 are arranged at both the upper and lower ends of the fixed end safety protection switch 11. The fixed end guide plates 10 are provided with guide grooves and alignment chamfer angles on the upper surface, which cooperate with the mobile end guide plate 21 to enable the charging mechanism to automatically align in the vertical direction, eliminate the centering error in the vertical direction, and improve the accuracy of docking. The charging positive electrode 9 and the charging negative electrode 12 are respectively arranged on the two fixed end guide plates 10. The positive and negative electrodes of the charging power supply are respectively connected to the normally open contacts of one path of a double-way switch.

[0026] The charging mobile end 2 is composed of a mobile end slide table 13, a driving screw 14, a DC motor 15, a mobile end base 16, a travel switch pressing plate 17, a travel adjustment plate 18, a slide table extending travel switch 19, and a slide table retracting travel switch 20. The driving screw 14 is connected to the DC motor 15, the driving screw 14 is installed on the DC motor 15, and the nut of the driving screw 14 is installed on the mobile end slide table 13. Under the drive of the DC motor 15, the mobile end slide table 13 can move back and forth to make the charging contact extend or retract. The lower end of the mobile end slide table 13 is connected to the mobile end base 16, and the rear end of the mobile end slide table 13 is connected to the travel switch pressing plate 17 and the travel adjustment plate 18. The slide table extending travel switch 19, the slide table retracting travel switch 20, the travel adjustment plate 18, and the travel switch pressing plate 17 are used to adjust the extending distance of the mobile end slide table 13.

[0027] The mobile sliding table 13 consists of a mobile guiding plate 21, an outer sliding table 22, a contact pressure adjusting spring 23, an inner sliding table 24, a guide rail 25, a mobile safety protection switch 26, and a contact carbon brush 27. Four circular guide rails 25 are installed inside the mobile sliding table 13 for guiding when the mobile sliding table 13 extends. The outer sliding table 22 is the main body of the mobile sliding table 13. The mobile guiding plate 21 is installed on the outer sliding table 22 and cooperates with the fixed-end guiding plate 10 for positioning in the vertical direction. There is a mobile safety protection switch 26 and two charging contact carbon brushes 27 at the upper and lower parts respectively. One end of the normally open contact of the switch is connected to the storage battery, and the other end is connected in parallel to the two charging contact carbon brushes 27. There is a nut seat on the inner sliding table 24, and the driving screw 14 passes through it. Driven by the DC motor 15, the mobile sliding table 13 can move back and forth along the guide rail 25. A contact pressure adjusting spring 23 is installed between the two layers of sliding tables to adjust the contact pressure of the charging contacts.

[0028] There are 2 circular guide rails 5, and a sliding table is arranged on the circular guide rails 5. The sliding table is movably connected to the circular guide rails 5. Under the action of an external force, the sliding table can move up and down.

[0029] A 6-pin travel switch is installed on the sliding table. The positive and negative poles of the charging circuit are respectively connected to the normally open contacts of the 2 paths of the switch. Usually, there is no electricity on the charging contacts. Only when the switch is pressed down, the charging circuit is conducted, ensuring no electric shock and short circuit, which is safe and reliable.

[0030] A total of 4 self-adaptive springs 7 are provided, and one end of each of the 4 self-adaptive springs 7 is connected to the sliding table, ensuring that the sliding table automatically centers under the action of the 4 springs on the circular guide rails 5.

[0031] The mobile sliding table 13 and the DC motor 15 form a telescopic structure through the driving screw 14. Driven by the DC motor 15, the mobile sliding table 13 can move back and forth, making the charging contacts extend or retract.

[0032] There are 4 guide rails 25 on the mobile sliding table 13, which are composed of two front and rear layers. There is a nut seat on the rear layer, and the driving screw 14 passes through it. Driven by the DC motor 15, the mobile sliding table 13 can move back and forth along the guide rail. Springs are arranged at one end of each of the guide rails 25, and springs are installed between the two layers to adjust the contact pressure of the charging contacts.

[0033] There are 2 contact carbon brushes 27 respectively arranged at the upper and lower parts of the mobile sliding table 13. A mobile safety protection switch is installed between the two contact carbon brushes 27. The two contact carbon brushes 27 are connected to the normally open contacts of the switch. Usually, there is no electricity on the charging contacts. Only when the switch is pressed down, the charging circuit is conducted, ensuring no electric shock and short circuit, which is safe and reliable.

[0034] The contact carbon brush 27 consists of a carbon brush 28, a carbon brush holder 29, and a protection spring 30. The carbon brush holder 29 is composed of a base, a carbon brush electrode, and a pressure regulating spring. By adjusting the compression amount of the spring, the charging contact pressure is controlled to ensure good contact of the charging contacts.

[0035] The distance between the two fixed-end guide plates 10 matches the mobile-end guide plate 21 to ensure the accurate docking of the charging fixed end 1 and the charging mobile end 2.

[0036] When the battery power of the rail robot is low, the mobile-end slide 13 extends, and the robot walks along the rail to find a charging position. When the rail robot passes through the position of the charging fixed end 1, the mobile-end safety protection switch 26 on it is pressed down, sending a signal to the robot control system. Due to inertia, the robot should have passed the charging position at this time. After receiving the signal, the robot immediately stops and slowly moves backward. When the charging mobile end 2 and the charging fixed end 1 come into contact again, under the action of the guiding groove and the alignment bevel of the fixed-end guide plate 10 on the mobile-end guide plate 21, the fixed-end slide plate 8 moves up and down along the circular guide rail 5 to eliminate the position deviation in the vertical direction. Then, the mobile-end guide plate 21 accurately inserts into the fixed-end guide groove, and the fixed-end safety protection switch 11 installed in the guide groove is pressed down, and the fixed-end charging circuit is turned on. The positive and negative contact carbon brushes 27 above and below the charging mobile end 2 press on the positive and negative electrodes of the charging fixed end 1, and at the same time, the mobile-end safety protection switch connected in series with the contact carbon brush 27 is also pressed down by the fixed-end electrode, and the mobile-end charging circuit is turned on to start charging. When the charging is completed, the mobile-end slide 13 of the charging mobile end 2 retracts, the charging contacts are separated, and the travel switches pressed down on the charging fixed end 1 and the charging mobile end 2 are reset, and the charging circuits of the charging fixed end 1 and the charging mobile end 2 are automatically disconnected to ensure that the charging contacts on both sides are not charged, preventing miscontact and short circuit from damaging the charging circuit, and the rail robot can continue to work.

[0037] When the user needs to use the automatic charging mechanism of this rail robot to work, first check whether there is obvious damage to the automatic charging mechanism of this rail robot. After checking safety, the operation can be carried out.

[0038] The present invention provides an idea and an implementation method for an automatic charging mechanism of a rail robot. There are many specific application ways. The above is only the preferred implementation manner of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements can still be made, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. An automatic charging mechanism for an orbital robot, characterized in that: It includes a charging fixed end (1), a charging mobile end (2), a fixed end mounting plate (3), a mobile end slide (13) and a contact carbon brush (27). One side of the fixed end mounting plate (3) is fixedly connected to a fixed end base (4), and the fixed end base (4) is "U"-shaped. There are holes at both ends of the fixed end base (4). The fixed end base (4) is inlaid with a circular guide rail (5) through the holes, and a guide rail fixing nut (6) is provided at the connection between the circular guide rail (5) and the fixed end base (4). A fixed end slide plate (8) is arranged in the middle of the circular guide rail (5), and adaptive springs (7) are arranged at both ends of the fixed end slide plate (8). A fixed end safety protection switch (11) is arranged in the middle of the fixed end slide plate (8), and fixed end guide plates (10) are arranged at both the upper and lower ends of the fixed end safety protection switch (11). A charging positive electrode (9) and a charging negative electrode (12) are respectively arranged on the two fixed end guide plates (10); The charging mobile end (2) is composed of a mobile end slide (13), a driving screw (14), a DC motor (15), a mobile end base (16), a travel switch pressing plate (17), a travel adjusting plate (18), a slide extending travel switch (19), and a slide retracting travel switch (20); The driving screw (14) is connected to the DC motor (15), and the nut cooperating with the driving screw (14) is installed on the mobile end slide (13). The lower end of the mobile end slide (13) is connected to the mobile end base (16), and the rear end of the mobile end slide (13) is connected to the travel switch pressing plate (17) and the travel adjusting plate (18); The mobile end slide (13) is composed of a mobile end guide plate (21), an outer slide (22), a contact pressure adjusting spring (23), an inner slide (24), a guide rail (25), a mobile end safety protection switch (26), and a contact carbon brush (27); The mobile end slide (13) forms a telescopic structure with the DC motor (15) through the driving screw (14). Driven by the DC motor (15), the mobile end slide (13) can move along the guide rail (25); The mobile end guide plate (21) is installed on the outer slide (22), and the mobile end guide plate is used to cooperate with the fixed end guide plate (10) to achieve vertical positioning. There is one mobile end safety protection switch (26) and two contact carbon brushes (27) above and below the outer slide (22). One end of the normally open contact of the mobile end safety protection switch (26) is connected to the storage battery, and the other end is connected in parallel to the two charging contact carbon brushes (27); A nut seat is arranged at the inner slide (24), the driving screw (14) passes through the nut seat, and the nut at the driving screw (14) is fixed at the nut seat; The contact pressure adjusting spring (23) is installed between the outer slide (22) and the inner slide (24).

2. The automatic charging mechanism for an orbital robot according to claim 1, characterized in that: There are 2 described circular guide rails (5), and a fixed-end slide plate (8) is arranged on the circular guide rails (5), and the fixed-end slide plate (8) is movably connected to the circular guide rails (5).

3. The automatic charging mechanism for a rail robot according to claim 1, characterized in that: There are 4 described adaptive springs (7) in total, and one end of each of the 4 adaptive springs (7) is connected to the fixed-end slide plate (8).

4. The automatic charging mechanism for a rail robot according to claim 1, characterized in that: The contact carbon brush (27) is composed of a carbon brush (28), a carbon brush holder (29), and a protection spring (30).

5. The automatic charging mechanism for a rail robot according to claim 1, characterized in that: The distance between the two fixed-end guide plates (10) matches the mobile-end guide plate (21), so that the charging fixed end (1) and the charging mobile end (2) can be accurately docked.

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