Maintenance and charging dock for orbital robot

Abstract

The present invention provides an inspection and charging dock for an orbital robot, which relates to the technical field of inspection equipment maintenance, and includes a charging system, a lifting system, and a support system; the charging system is arranged at the same height as the track where the robot is located and can be docked with the robot to achieve robot charging; the lifting system is used to transport the robot between the track and the ground; and the support system is used to carry the charging system and the lifting system and has a climbing mechanism. It aims to solve the technical problems in the prior art that the robot needs to slide down to the ground through a ramp for charging, the ramp occupies a large space, and the robot's power is wasted. At the same time, it can facilitate the maintenance and disassembly of the robot and smoothly achieve mounting and unloading.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection equipment maintenance, and more specifically, to an overhaul charging dock for a rail robot. Background Art

[0002] With the development of mobile robot technology, inspection robots are increasingly widely used in various industries such as power and security. Due to their small size, light weight, fast moving speed, and high viewing position, rail robots have extensive industrial applications in industries such as power, chemical, and petroleum. Rail robots rely on overhead rails to operate for inspection, fire extinguishing, etc., and need to be charged regularly. Therefore, it is very necessary to set up a robot charging dock at the end of the rail. With the development of the industry, the charging dock not only needs to meet the charging requirements of the robot, but also needs to meet various requirements such as facilitating the repair of the robot in the charging dock and protecting the robot in bad weather.

[0003] 1. Traditionally, a charging dock set on the ground is used. When the robot returns to charge, it descends to the ground height through a ramp rail and then enters the charging dock to charge. The advantage of this charging dock is that the robot stays near the ground, which is convenient for ground personnel to maintain. However, for the robot to descend from the high-altitude overhead rail to the ground, a long ramp rail needs to be set, occupying a large area, and it is not applicable in application environments such as oil and chemical plants with numerous and intricate pipelines. After the robot is charged, it needs to climb a long ramp before it can start inspection, wasting some power.

[0004] 2. Traditionally, an overhead charging dock form is used, and the height of the charging dock is the same as that of the rail. When the robot enters and exits the charging dock, it does not need to climb up and down the slope. However, it is difficult for ground personnel to board the overhead charging dock to maintain the robot. It is very difficult to unload the robot from the rail to the ground for maintenance or load the robot onto the rail. Summary of the Invention

[0005] The purpose of the present invention is to provide an overhaul charging dock for a rail robot, aiming to solve the technical problems in the prior art that the robot still needs to slide down to the ground through a ramp when charging, the ramp occupies a large space, and the robot's power is wasted, and at the same time, it can be convenient for the repair and disassembly of the robot and smoothly realize the mounting and unloading.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is: to provide an overhaul charging dock for a rail robot, including:

[0007] A charging system, which is set at the same height as the rail where the robot is located and can be docked with the robot to realize robot charging;

[0008] A lifting system, which is used to transport the robot between the rail and the ground; and

[0009] A support system for carrying the charging system and the lifting system, and having a climbing mechanism.

[0010] Further, the charging system includes a first extension rail docked with the robot running track and a charging device provided on the first extension rail, and the first extension rail is suspended on the support system.

[0011] Further, the lifting system includes a lifting frame and a pulley assembly for driving the lifting frame to lift, and the lifting frame has a second extension rail capable of docking with the first extension rail.

[0012] Further, the lifting frame has a positioning frame, and a fixed frame is provided on the support system. When the lifting frame is lifted to a preset height, the positioning frame is inserted into the fixed frame to realize the positioning of the lifting frame.

[0013] Further, the pulley assembly includes:

[0014] A driving winch provided on the support system;

[0015] A fixed pulley provided on the support system;

[0016] At least two movable pulleys provided on the lifting frame; and

[0017] A cable wound around the driving winch, and the leading end thereof sequentially bypasses the fixed pulley and the movable pulley and is then fixedly connected to the support system.

[0018] Further, the support system includes:

[0019] A support frame provided on the ground;

[0020] A housing provided on the support frame, and both the charging system and the lifting system are provided in the housing; and

[0021] A climbing mechanism, which is a ladder, connected to one side of the support frame and extending from the ground to the housing.

[0022] Further, the housing is composed of a wall panel, a roof, a floor and a railing, and the floor has a flap door that can only be opened upward.

[0023] Further, the second extension rail is directly connected or connected to the lower part of the positioning frame through a connecting mechanism. When the lifting frame rises to a preset height and is positioned, the first extension rail and the second extension rail are automatically aligned. After connection, the robot can move freely between the first extension rail and the second extension rail, and the positioning frame and the connecting mechanism can avoid the robot moving along the second extension rail.

[0024] Further, the positioning frame has a U-shaped portion, the fixing frame is U-shaped, and the U-shaped portion is inserted into the fixing frame for insertion, and is fixed relative to the fixing frame by means of a pin.

[0025] Further, the second extension rail is provided with a jack, and a pluggable pin shaft is provided for limiting the movement of the robot, and the first extension rail is connected to the support system through a suspension structure.

[0026] The beneficial effects of the maintenance and charging dock for the track robot provided by the present invention are as follows: compared with the prior art, the charging system is at the same height as the running track of the robot, and the robot can avoid going up and down slopes during charging, and can be directly charged at the same height, avoiding the occupation of space by setting a ramp track. And a support system is provided, and a climbing mechanism is provided, so that workers can climb to a predetermined height to repair the robot. When the robot needs to descend to the ground, it can be realized through the lifting system, which greatly facilitates the repair of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is a schematic structural diagram of the maintenance and charging dock for the track robot provided by the embodiment of the present invention;

[0029] Figure 2 It is a schematic connection structure diagram of the maintenance and charging dock for the track robot provided by the embodiment of the present invention and the robot track;

[0030] Figure 3 It is a schematic structural diagram of the support frame provided by the embodiment of the present invention;

[0031] Figure 4 It is a schematic disassembled structure diagram of the maintenance and charging dock for the track robot provided by the embodiment of the present invention;

[0032] Figure 5 It is a schematic structural diagram of the lifting system provided by the embodiment of the present invention;

[0033] Figure 6 It is a schematic structural diagram of the charging system provided by the embodiment of the present invention.

[0034] In the figure: 1. First extension rail, 2. Second extension rail, 3. Lifting frame, 4. Positioning frame, 5. Fixed frame, 6. Driving winch, 7. Fixed pulley, 8. Movable pulley, 9. Cable, 10. Support frame, 11. Housing body, 12. Ladder, 13. C-shaped plate, 14. Pin, 15. Pin shaft, 16. Avoidance frame, 17. Horizontal pipe, 18. Screw, 19. Connector, 20. Charging device. Detailed implementation manners

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined. The meaning of "several" is one or more unless otherwise specifically defined.

[0038] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0039] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Please refer to Figures 1 - 6 , and now a maintenance charging dock for an orbital robot provided by the present invention is described. The maintenance charging dock includes a charging system, a lifting system, and a support system; the charging system is arranged at the same height as the track where the robot is located and can be docked with the robot to achieve charging of the robot; the lifting system is used to transport the robot between the track and the ground; the support system is used to carry the charging system and the lifting system and has a climbing mechanism.

[0041] The beneficial effect of this embodiment is that, compared with the prior art, the charging system is at the same height as the running track of the robot, which can avoid the robot from performing downhill operations during charging, and can directly charge at the same height, avoiding the occupation of space by setting a ramp track. In addition, a support system is provided with a climbing mechanism, so that workers can climb to a predetermined height to repair the robot. When the robot needs to be lowered to the ground, it can be realized through the lifting system, which greatly facilitates the repair of the robot.

[0042] Specifically, when the robot needs to be charged, it moves to the charging system docked with the track, and the robot can perform the charging operation. People can reach the charging location through the climbing mechanism to repair the robot. When the robot needs to be lowered to the ground, it can be realized through the lifting system.

[0043] As a further preferred embodiment of this embodiment, please refer to Figure 6 , the charging system includes a first extension rail 1 docked with the robot running track and a charging device 20 arranged on the first extension rail 1, and the first extension rail 1 is suspended on the support system.

[0044] The beneficial effect of this embodiment is that since there is a first extension rail 1 docked with the robot track, the robot can directly slide from the track onto the first extension rail 1 during operation, so that the charging port of the robot is directly docked with the charging port of the charging device 20 to achieve charging, and the operation is simple, convenient, and fast.

[0045] Specifically, in this embodiment, the cross-sectional shape of the first extension rail 1 is the same as that of the robot track, and can be directly connected by seamless docking. The robot can run smoothly on the first extension rail 1. Specifically, if the robot track is a round rod, then the first extension rail 1 is also a round rod. No limitation is made here because the track shapes required by different robots may be different.

[0046] In addition, the charging device 20 has a charging port, which can be plugged into the charging port of the robot after the robot moves over. The charging device 20 is a frame-type structure with a charging port, which is connected to the first extension rail 1. A supporting structure for the charging device 20, such as a battery, or a wire interface connected to the ground, can also be set on the support system. It can be realized by electrically connecting it to the charging device 20. In addition, the charging device 20 can also have its own battery. In short, the charging forms that can be realized by technicians in this field are all within the protection scope of the present invention.

[0047] As a further preferred implementation of this embodiment, please refer to Figure 5 The lifting system includes a lifting frame 3 and a pulley assembly for driving the lifting frame 3 to move up and down. The lifting frame 3 has a second extension rail 2 that can be docked with the first extension rail 1 .

[0048] The beneficial effect of this embodiment is that when the robot needs to descend to the ground with the help of the lifting system, it can enter the lifting frame 3, which is achieved by the lifting of the lifting frame 3. The way the robot enters the lifting frame 3 selected in this embodiment is sliding in, and the second extension rail 2 is docked with the first extension rail 1, so that the robot moves to the second extension rail 2, so that the robot can be smoothly slid into the lifting frame 3. The operation is simple, fast and convenient. The first extension rail 1 and the second extension rail 2 can be selected as hollow tubes, and then the two are connected by a connector 19. The specific connector 19 can be a tube body with diameters on both sides equal to the inner diameter of the extension rail and the middle part equal to the outer diameter of the extension rail, and the two sides can be plugged in respectively.

[0049] In addition, the lifting and lowering of the lifting frame 3 is controlled by the pulley assembly, and the stability is good.

[0050] As a further preferred implementation of this embodiment, please refer to Figure 5 The lifting frame 3 has a positioning frame 4 , and a fixing frame 5 is provided on the supporting system. When the lifting frame 3 is lifted to a preset height, the positioning frame 4 is engaged with the fixing frame 5 to achieve the positioning of the lifting frame 3 .

[0051] Specifically, since the lifting frame 3 is used for lifting in the vertical direction and its position can change, when it rises to the height of the robot track, the second extension rail 2 needs to be docked with the first extension rail 1. At this time, the positioning of the lifting frame 3 is required. Therefore, a positioning frame 4 is provided. By inserting the positioning frame 4 into the fixed frame 5, the position of the positioning frame 4 is limited, and thus the position of the lifting frame 3 is also limited, achieving the preset position. The so-called preset height is the height at which the second extension rail 2 and the first extension rail 1 are exactly docked.

[0052] Specifically, the fixed frame 5 is suspended on the support system, and the suspension method can be rod suspension or the like. Preferably, a horizontal pipe 17 can be specifically provided. Screw rods 18 are respectively connected to the upper and lower parts of the horizontal pipe 17. The lower screw rod 18 is connected to the fixed frame 5, and the upper screw rod 18 is connected to the support system. After the screw rod 18 passes through the horizontal pipe 17, nuts are screwed on. By turning the nuts, the height of the fixed frame 5 can be adjusted, thereby realizing the adjustment of the positioning height.

[0053] The beneficial effect of this embodiment is that through the cooperation of the positioning frame 4 and the fixed frame 5, the positioning of the lifting frame 3 is realized, enabling the second extension rail 2 to be smoothly docked with the first extension rail 1, achieving the effect of accurate and convenient operation.

[0054] As a further preferred embodiment of this example, please refer to Figure 5 The pulley assembly includes:

[0055] A driving winch 6, provided on the support system;

[0056] A fixed pulley 7, provided on the support system;

[0057] At least two movable pulleys 8, provided on the lifting frame 3; and

[0058] A cable 9, wound around the driving winch 6, and the leading end is sequentially wound around the fixed pulley 7 and the movable pulley 8 and then fixedly connected to the support system.

[0059] This embodiment specifically provides a preferred embodiment of the pulley assembly. Specifically, both the driving winch 6 and the fixed pulley 7 are connected to the support system through a connecting frame, which is located above the lifting frame 3, and the movable pulley 8 is provided on the lifting frame 3. By rotating the driving winch 6, the lifting and lowering of the lifting frame 3 can be realized, and it has a self-locking function to prevent the robot from falling during the lifting process. There are at least two movable pulleys 8, which are arranged at intervals, aiming to be able to lift the lifting frame 3.

[0060] The beneficial effect of this embodiment is that the setting form of the pulley assembly can effectively and smoothly realize the lifting and lowering of the lifting frame 3, thereby enabling the robot on the lifting frame 3 to be lifted and lowered.

[0061] Alternatively, the pulley assembly of the present invention includes, but is not limited to, this embodiment. Any feasible combination of the fixed pulley 7 and the movable pulley 8 falls within the protection scope of the present invention.

[0062] As a further preferred embodiment of this example, please refer to Figures 1 - 4 , the support system includes:

[0063] A support frame 10, which is arranged on the ground;

[0064] A housing 11, which is arranged on the support frame 10, and the charging system and the lifting system are both arranged inside the housing 11; and

[0065] A climbing mechanism, which is a ladder 12, connected to one side of the support frame 10 and extending from the ground to the housing 11.

[0066] In this embodiment, the effect is that the support system is set to raise the charging system and the lifting system to the height of the robot track, so the support frame 10 is set. And in order to ensure the environment where the charging system and the lifting system are located, the housing 11 is set, which can protect from wind and rain. The climbing mechanism provides convenience for the operator to climb onto the housing 11 for maintenance and the like.

[0067] As a further preferred embodiment of this example, the housing 11 is composed of wall panels, a roof, a floor and railings, and the floor has a flap door that can only be opened upward.

[0068] In this embodiment, specifically, the support frame 10 is a frame formed by connecting a plurality of vertical and horizontal rods, and part of the housing 11 is modularly designed and applicable to inspection tracks of different heights. Part of the housing 11 includes structural members such as a floor, wall panels, railings, and a roof.

[0069] A flap door that can be turned up is provided on the floor. The flap door is located directly below the lifting system, allowing maintenance personnel to enter the charging dock through the ladder 12, and also allowing the robot to pass through the floor when lifting between the ground and the charging dock. After the flap door is closed, a complete in-dock space is formed, and maintenance personnel can have the largest operating space. Since the flap door can only be opened upward, it is difficult to accidentally open during personnel operation, which also plays a role in protecting personnel working at heights.

[0070] The wall panels are arranged on both sides of the housing 11 system, parallel to the track, forming the main structure of the housing 11 system, and at the same time playing the function of mounting charging dock equipment such as distribution boxes and control boxes.

[0071] The railings are arranged in the front and back of the housing 11 system, perpendicular to the track, and only half the height of the wall panels. On the one hand, they are used to connect the wall panels on both sides to play a reinforcement role, and on the other hand, they protect maintenance personnel working at heights. At the same time, the open upper space allows the robot to freely enter and exit.

[0072] The roof is arranged on the top of the housing 11 system, playing a protective role in shielding rain and snow. At the same time, it also plays a role in forming a complete housing 11 structure, a suspended charging system, and a lifting system.

[0073] As a further preferred embodiment of this embodiment, please refer to Figure 5 , the second extension rail 2 is directly connected or connected to the lower part of the positioning frame 4 through a connecting mechanism. When the lifting frame 3 rises to a preset height and is positioned, the first extension rail 1 and the second extension rail 2 are automatically aligned, and after connection, the robot can move freely between the first extension rail 1 and the second extension rail 2, and the positioning frame 4 and the connecting mechanism can avoid the robot moving along the second extension rail 2.

[0074] In this embodiment, the extension rail is in the shape of a round rod, and the connecting mechanism is a C-shaped plate 13. The positioning frame 4 is connected through the C-shaped plate 13. The effect is that it can avoid the robot sliding in along the second extension rail 2 without affecting its sliding. When the extension rail adopts other suitable shapes, the connecting mechanism may not be provided, and the positioning frame 4 can also not affect the movement of the robot. For example, when an L-shaped track is adopted, the vertical section of the L-shaped track is connected to the positioning frame 4, and the horizontal section is used for the movement of the robot.

[0075] Alternatively, the C-shaped plate 13 can also be in other forms, such as a U-shaped plate or a frame-shaped plate, as long as it does not affect the sliding of the robot.

[0076] As a further preferred embodiment of this embodiment, please refer to Figure 5 , the positioning frame 4 has a U-shaped portion, the fixing frame 5 is U-shaped, and the U-shaped portion enters the fixing frame 5 to achieve insertion and is fixed relative to each other by means of a pin 14.

[0077] This embodiment specifically provides the form of the mutual insertion of the positioning frame 4 and the fixing frame 5 and the shapes of both. When the positioning frame 4 rises to a preset height, its U-shaped portion will enter the fixing frame 5 to achieve insertion, and is fixed relative to each other by the pin 14 passing through the through holes on both of them at the same time.

[0078] The effect is that the structure is simple and convenient, and the effect is good.

[0079] As a further preferred embodiment of this embodiment, please refer to Figure 5 , the second extension rail 2 is provided with insertion holes, and a pluggable pin 15 is provided for limiting the movement of the robot, and the first extension rail 1 is connected to the support system through a suspension structure.

[0080] In this embodiment, the suspension structure can adopt the suspension form of being suspended on the support system by the above-mentioned fixing frame 5. At the same time, in order not to affect the movement of the robot on the first extension rail 1, the suspension structure can be connected to the side of the first extension rail 1 through the avoidance frame 16 to avoid the movement of the robot.

[0081] The beneficial effect of this embodiment is that when the robot moves to the second extension rail 2, by inserting the pin shaft 15 into the jack, the robot can be limited on the rail to prevent further sliding, and then lifting can be performed. The avoidance frame 16 also does not affect the movement of the robot on the first extension rail 1.

[0082] The beneficial effects of the present invention are as follows: It simultaneously meets three contradictory requirements, namely, the robot can be maintained at high altitude, it is convenient for the robot to be mounted and dismounted, and the floor area is reduced. It has the advantages of strong adaptability, simple structure, easy operation, and safety.

[0083] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. Maintenance and charging dock for track robots, characterized in that It includes a charging system, a lifting system and a support system; The charging system is set at the same height as the track where the robot is located and can be docked with the robot to achieve robot charging; the charging system includes a first extension rail docked with the robot running track and a charging device provided on the first extension rail; The lifting system is used to transport the robot between the track and the ground; the lifting system includes a lifting frame and a pulley assembly for driving the lifting frame to lift. The lifting frame has a second extension rail that can be docked with the first extension rail; the lifting frame has a positioning frame, and a fixed frame is provided on the support system. When the lifting frame is lifted to a preset height, the positioning frame is inserted into the fixed frame to achieve the positioning of the lifting frame; the second extension rail is directly connected or connected to the lower part of the positioning frame through a connecting mechanism. When the lifting frame rises to the preset height and is positioned, the first extension rail and the second extension rail are automatically aligned, and after connection, the robot can move freely between the first extension rail and the second extension rail, and the positioning frame and the connecting mechanism can avoid the robot moving along the second extension rail; the connecting mechanism is a C-shaped plate, and the positioning frame is connected through the C-shaped plate; And The support system is used to carry the charging system and the lifting system and has a climbing mechanism; the first extension rail is suspended on the support system.

2. The maintenance and charging dock for track robots according to claim 1, characterized in that The pulley assembly includes: A driving winch provided on the support system; A fixed pulley provided on the support system; At least two movable pulleys provided on the lifting frame; and A cable wound around the driving winch, and the leading end is sequentially wound around the fixed pulley and the movable pulley and then fixed to the support system.

3. The maintenance and charging dock for track robots according to claim 1, characterized in that The support system includes: A support frame provided on the ground; A housing provided on the support frame, and both the charging system and the lifting system are provided in the housing; and The climbing mechanism is a ladder connected to one side of the support frame and extending from the ground to the housing.

4. The maintenance and charging dock for track robots according to claim 3, characterized in that The housing is composed of a wall panel, a roof, a floor and a railing, and the floor has a flap door that can only be opened upward.

5. The maintenance and charging dock for track robots according to claim 1, characterized in that The positioning frame has a U-shaped part, the fixed frame is U-shaped, and the U-shaped part enters the fixed frame to achieve insertion and is relatively fixed by means of a bolt.

6. The maintenance and charging dock for track robots according to claim 1, characterized in that The second extension rail is provided with a jack, and a pluggable pin shaft is provided for limiting the movement of the robot. The first extension rail is connected to the support system through a suspension structure.

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