Self-service charging device and alignment method for inspection robot used for power plant area inspection

Abstract

The present invention relates to the technical field of robot self-service charging equipment, and discloses a self-service charging device for an inspection robot used for power plant area inspections and an alignment method thereof. The device comprises a robot self-service charging device body, the lower surface of which is fixedly connected to a hollow base, the inner wall of which is fixedly connected to a positioning mechanism, and the outer walls of the robot self-service charging device body on both sides are respectively provided with a mounting through-hole and a rectangular through-hole, each of which is movably connected to an electric push rod. The self-service charging device for an inspection robot used for power plant area inspections and the alignment method thereof enable the inspection robot charging device used for power plant area inspections to have the functions of automatic alignment and self-service charging, without the need for staff assistance, saving time and effort, and improving the convenience and efficiency of charging the inspection robot used for power plant area inspections, while reducing the workload of staff.

Description

Technical Field

[0001] The present invention relates to the technical field of robot self-service charging equipment, and in particular to a self-service charging device and an alignment method of an inspection robot used for regional inspection in a power plant. Background Art

[0002] With the development of artificial intelligence technology, intelligent inspection robot technology and its related applications have become relatively mature in the power industry. Compared with traditional manual operations, robot inspection is more efficient and comprehensive. Therefore, the feasibility study of robot inspection in the power generation industry will also serve as the main means of intelligent transformation of power plants. The intelligent robot inspection system is a system that integrates intelligent equipment, new technologies and advanced management concepts. The intelligent robot inspection system is based on the Internet of Things and combines new technologies such as big data, artificial intelligence, three-dimensional, video recognition, and infrared recognition to realize automatic inspection of production sites, automatic identification of abnormalities, and automatic alarm of abnormalities. Through three-dimensional video fusion technology, the on-site inspection situation is monitored in a three-dimensional and intuitive manner, guiding the construction of the power plant's intelligent inspection system, realizing efficient, safe and reliable inspection work, reducing equipment management costs, and improving equipment reliability.

[0003] Currently, inspection robots used for regional inspections in power plants require manual assistance when charging through charging devices. Without the assistance of staff, the inspection robots cannot align with the charging heads for charging, which makes the charging process of the inspection robots more cumbersome, thereby affecting the convenience of charging the inspection robots and increasing the workload of staff. Summary of the Invention

[0004] In response to the deficiencies in the prior art, the present invention provides a self-service charging device and an alignment method for an inspection robot used for area inspection in power plants. The device has the function of self-charging the inspection robot and does not require the assistance of staff, thus saving time and effort. It can improve the convenience and efficiency of charging the inspection robot used for area inspection in power plants, and reduce the workload of staff. It solves the problem that the inspection robot used for area inspection in power plants currently requires manual assistance when charging through a charging device, and the charging process of the inspection robot is relatively cumbersome, thereby affecting the convenience of charging the inspection robot and increasing the workload of staff.

[0005] In order to realize the self-service charging device of the inspection robot for patrol inspection in the power plant area, the self-service charging function of the inspection robot is provided, and no staff assistance is required, which saves time and effort, can improve the convenience and efficiency of charging the inspection robot for patrol inspection in the power plant area, and reduce the workload of the staff, the present invention provides the following technical solutions: the self-service charging device of the inspection robot for patrol inspection in the power plant area includes a robot self-service charging device body, the lower surface of the robot self-service charging device body is fixedly connected to a hollow base, the inner wall of the hollow base is fixedly connected to a positioning mechanism, and the robot self-service charging device body The outer walls on both sides are respectively provided with mounting through holes and rectangular through holes, and the mounting through holes are movably connected to an electric push rod, and the outer wall of the electric push rod is fixedly sleeved with two retaining rings, and the outer wall of one of the retaining rings is provided with a threaded hole, and the hole wall of the threaded hole is threadedly connected with a bolt, the output end of the electric push rod is fixedly connected to an adjustment mechanism, the side wall of the adjustment mechanism is fixedly connected to a connecting bracket, the inner wall of the connecting bracket is fixedly connected to a charging head, the connecting end of the charging head is electrically connected to the output end of the robot self-service charging device body through a wire, and the inner wall of the robot self-service charging device body is fixedly connected to a controller.

[0006] Preferably, the positioning mechanism includes two rolling bearings fixedly connected to the inner wall of the hollow base, the inner walls of the two rolling bearings are fixedly connected with a screw rod, the rod walls of the two screw rods are threadedly sleeved with a threaded cylinder, the upper surface of the hollow base is provided with two rectangular movable holes, the hole walls of the two rectangular movable holes are movably connected to two U-shaped blocks, the bottom ends of the two U-shaped blocks are respectively fixedly connected to the outer walls of the adjacent threaded cylinders, the top outer walls of the two U-shaped blocks are fixedly connected with a push plate, the outer wall of the hollow base is fixedly connected to a drive motor, the output end of the drive motor passes through the side wall of the hollow base and is fixedly connected to the side end of one of the screw rods, and the opposite sides of the two screw rods are fixedly connected to each other.

[0007] Preferably, the adjustment mechanism includes two L-shaped plates fixedly connected to the output end of the electric push rod, the inner walls of the two L-shaped plates are commonly fixedly connected to a screw, the rod wall of the screw is movably sleeved with a movable sleeve, the rod wall of the screw is threadedly connected with a first nut and a second nut, the outer wall of the movable sleeve is fixedly connected to the outer wall of the connecting bracket, and the outer wall of one of the L-shaped plates is fixedly connected to a ranging radar.

[0008] Preferably, the outer walls of both sides of the two U-shaped blocks are fixedly connected with cylinders, and the inner walls of the two cylinders on the same side are movably connected to a limiting rod, and both ends of the limiting rod are fixedly connected to the inner wall of the hollow base.

[0009] Preferably, the side wall of the hollow base is fixedly connected with a guide bevel block, and the upper surface of the hollow base is fixedly connected with a shift plate of the inspection robot.

[0010] Preferably, the threads of the two screw rods rotate in opposite directions.

[0011] A method for aligning a self-service charging device of an inspection robot for regional inspection in a power plant comprises the following steps:

[0012] S1. Preparation before charging: First, the inspection robot enters the hollow base of the device through the guiding inclined block, and at the same time, the side of the inspection robot approaches the inspection robot stop plate;

[0013] S2. The inspection robot adjusts its position by starting the drive motor, which causes the two screws to rotate simultaneously. The two screws cause the two threaded barrels to move toward each other. The threaded barrels then move the two push plates toward each other through the U-shaped block. Finally, the two push plates push the inspection robot to the center of the hollow base.

[0014] S3. Calibrate the charging head position. When the inspection robot reaches the center position on the hollow base, insert the charging head into the charging port of the inspection robot. Then, use the adjustment mechanism to fix the position of the charging head on the electric push rod. At the same time, determine the position of the charging port of the inspection robot of this specification. Finally, pull out the charging head through the electric push rod.

[0015] S4, the inspection robot self-aligns and charges. After the inspection robot has gone through steps S1 and S2, the ranging radar on the adjustment structure detects the inspection robot, and then the ranging radar sends a signal to the controller. The controller not only sends a signal to the robot self-service charging device body to enable the robot self-service charging device body to power the charging head, but also controls the electric push rod to start. The electric push rod pushes the charging head directly into the inspection robot charging port located in the center of the hollow base, completing the inspection robot self-alignment and charging work without manual operation.

[0016] Compared with the prior art, the present invention provides a self-service charging device and alignment method for an inspection robot used for regional inspection in a power plant, which has the following beneficial effects:

[0017] The self-service charging device and alignment method of the inspection robot for power plant area inspection are provided with an adjustment mechanism and a positioning mechanism. When the inspection robot for power plant area inspection needs to be charged, the charging position of the inspection robot is first determined by the adjustment mechanism, and the position of the charging head connected to the main body of the robot's self-service charging device is adjusted to be consistent with the position of the inspection robot's charging port. The inspection robot then enters the hollow base of the device through the guiding bevel, and the side end of the inspection robot approaches the inspection robot's shift plate. At this time, the drive motor is started to work, and the drive motor causes the two screw rods to rotate simultaneously. The two screw rods cause the two threaded barrels to move toward each other, and then the threaded barrels cause the two push plates to approach each other through the U-shaped block. Finally, the two push plates push the inspection robot to When it reaches the center of the hollow base, the ranging radar detects the inspection robot, and then the ranging radar generates a signal to the controller. The controller not only sends a signal to the robot's self-service charging device body to enable the robot's self-service charging device body to power the charging head, but also controls the electric push rod to start. The electric push rod pushes the charging head directly into the inspection robot charging port located in the center of the hollow base, completing the inspection robot's self-alignment and charging work without manual operation. This mechanism enables the inspection robot charging device for power plant area inspection to have the functions of automatic alignment and self-service charging, and does not require staff assistance, saving time and effort, and can improve the convenience and efficiency of charging the inspection robot for power plant area inspection, and reduce the workload of staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural schematic diagram of the self-service charging device and alignment method of the inspection robot for power plant area inspection proposed by the present invention;

[0019] Figure 2 This is a structural diagram of a partial device of the self-service charging device and alignment method of the inspection robot for regional inspection in a power plant proposed by the present invention;

[0020] Figure 3 for Figure 1 Schematic diagram of the structure of part A;

[0021] Figure 4 for Figure 1 Schematic diagram of the structure of part B.

[0022] In the figure: 1 robot self-service charging device body, 2 hollow base, 3 adjustment mechanism, 31 rolling bearing, 32 screw, 33 threaded barrel, 34 rectangular movable hole, 35 U-shaped block, 36 push plate, 37 drive motor, 4 mounting through hole, 5 rectangular through hole, 6 electric push rod, 7 retaining ring, 8 bolt, 9 adjustment mechanism, 91 L-shaped plate, 92 screw, 93 movable sleeve, 94 first nut, 95 second nut, 96 ranging radar, 10 connecting bracket, 11 charging head, 12 controller, 13 cylinder, 14 limit rod, 15 guide inclined block, 16 inspection robot shift plate. DETAILED DESCRIPTION

[0023] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0024] See also Figure 1-4 , a self-service charging device for an inspection robot for inspection in a power plant area, comprising a robot self-service charging device body 1, a hollow base 2 being fixedly connected to the lower surface of the robot self-service charging device body 1, a guide bevel 15 being fixedly connected to the side wall of the hollow base 2, and an inspection robot shift plate 16 being fixedly connected to the upper surface of the hollow base 2, the inspection robot shift plate 16 being capable of preventing the inspection robot from getting too close to the robot self-service charging device body 1, a positioning mechanism 3 being fixedly connected to the inner wall of the hollow base 2, a mounting through-hole 4 and a rectangular through-hole 5 being respectively provided on the outer walls on both sides of the robot self-service charging device body 1, an electric push rod 6 being movably connected to the mounting through-hole 4, and two retaining rings 7 being fixedly sleeved on the outer wall of the electric push rod 6, one of which is a retaining ring. A threaded hole is provided on the outer wall of the ring 7, and a bolt 8 is threadedly connected to the wall of the threaded hole. The output end of the electric push rod 6 is fixedly connected to the adjustment mechanism 9, and the side wall of the adjustment mechanism 9 is fixedly connected to the connecting bracket 10. The inner wall of the connecting bracket 10 is fixedly connected to the charging head 11. The connecting end of the charging head 11 is electrically connected to the output end of the robot self-service charging device body 1 through a wire, and the inner wall of the robot self-service charging device body 1 is fixedly connected to the controller 12. This mechanism enables the inspection robot charging device for power plant area inspection to have the functions of automatic alignment and self-service charging, and does not require staff assistance, saves time and effort, can improve the convenience and efficiency of charging the inspection robot for power plant area inspection, and reduce the workload of staff.

[0025] The positioning mechanism 3 includes two rolling bearings 31 fixedly connected to the inner wall of the hollow base 2. The inner walls of the two rolling bearings 31 are fixedly connected with screw rods 32. The threads of the two screw rods 32 rotate in opposite directions, which can ensure that the two screw rods 32 rotate in the same direction so that the two threaded cylinders 33 approach each other at the same speed. The rod walls of the two screw rods 32 are threadedly sleeved with threaded cylinders 33. Two rectangular movable holes 34 are provided on the upper surface of the hollow base 2. The hole walls of the two rectangular movable holes 34 are movably connected to two U-shaped blocks 35. The outer walls of both sides of the two U-shaped blocks 35 are fixedly connected to the cylinder 13. The inner walls of the two cylinders 13 on the same side are movably connected to the limit rod 14. Both ends of the limit rod 14 are connected to the hollow base The inner wall of the seat 2 is fixedly connected, and the cylinder 13 and the limit rod 14 can ensure that the U-shaped block 35 moves stably without deflection. The bottom ends of the two U-shaped blocks 35 are fixedly connected to the outer walls of the adjacent threaded cylinders 33 respectively, and the top outer walls of the two U-shaped blocks 35 are fixedly connected with a push plate 36. The outer wall of the hollow base 2 is fixedly connected with a drive motor 37, and the output end of the drive motor 37 passes through the side wall of the hollow base 2 and is fixedly connected to the side end of one of the screw rods 32. The opposite sides of the two screw rods 32 are fixedly connected to each other. This mechanism enables the inspection robot to have the ability to automatically adjust its position, ensuring that the charging head 11 can automatically align with the charging interface of the inspection robot without manual operation, saving time and effort.

[0026] The adjusting mechanism 9 includes two L-shaped plates 91 fixedly connected to the output end of the electric push rod 6. The inner walls of the two L-shaped plates 91 are fixedly connected with a screw 92. The rod wall of the screw 92 is movably sleeved with a movable sleeve 93. The rod wall of the screw 92 is threadedly connected with a first nut 94 and a second nut 95. The outer wall of the movable sleeve 93 is fixedly connected to the outer wall of the connecting bracket 10. The outer wall of one of the L-shaped plates 91 is fixedly connected with a ranging radar 96. This mechanism can conveniently adjust the position of the charging head 11, so that the robot self-service charging equipment can adapt to inspection robots of different specifications.

[0027] A method for aligning a self-service charging device of an inspection robot for regional inspection in a power plant comprises the following steps:

[0028] S1. Preparation before charging: First, the inspection robot enters the hollow base 2 of the device through the guiding inclined block 15, and at the same time, the side end of the inspection robot approaches the inspection robot stop plate 16;

[0029] S2. The inspection robot adjusts its position by starting the drive motor 37. The drive motor 37 causes the two screw rods 32 to rotate simultaneously. The two screw rods 32 cause the two threaded cylinders 33 to move toward each other. Then, the threaded cylinders 33 move the two push plates 36 toward each other through the U-shaped block 35. Finally, the two push plates 36 push the inspection robot to the center of the hollow base 2.

[0030] S3, charging head position calibration, when the inspection robot reaches the center position on the hollow base 2, the charging head 11 is inserted into the charging port of the inspection robot, and then the position of the charging head 11 on the electric push rod 6 is fixed by the adjustment mechanism 9, and the position of the charging port of the inspection robot of this specification is determined at the same time, and finally the charging head 11 is pulled out through the electric push rod 6;

[0031] S4, the inspection robot performs self-service alignment and charging. After the inspection robot has completed steps S1 and S2, the ranging radar 96 on the adjustment structure 9 detects the inspection robot, and then the ranging radar 96 sends a signal to the controller 12. The controller 12 not only sends a signal to the robot self-service charging device body 1, so that the robot self-service charging device body 1 supplies power to the charging head 11, but also controls the electric push rod 6 to start. The electric push rod 6 pushes the charging head 11 directly into the inspection robot charging port located in the center position of the hollow base 2, completing the inspection robot's self-service alignment and charging work without manual operation.

[0032] In summary, the self-service charging device and alignment method of the inspection robot for patrol inspection in the power plant area, when the inspection robot for patrol inspection in the power plant area needs to be charged, first determine the position of the charging head 11 of the inspection robot through the adjustment mechanism 9, first place the inspection robot in the center of the hollow base 2, and then insert the charging head 11 into the charging interface of the inspection robot, then adjust the position of the movable sleeve 93, and then the movable sleeve 93 is fixed in position by the first nut 94 and the second nut 95, and at the same time, the position of the electric push rod 6 is fixed by the retaining ring 7 and the bolt 8, and then the inspection robot enters the hollow base 2 of the device through the guide bevel 15 when self-charging, and at the same time, the side end of the inspection robot approaches the inspection robot shift plate 16, and at this time, the drive motor 37 is started to work, and the drive motor 37 causes the two screw rods 32 to rotate at the same time, and the two screw rods 32 cause the two threaded barrels 33 to move toward each other, and then the threaded barrel 33 The two push plates 36 are moved toward each other through the U-shaped block 35, and finally the two push plates 36 push the inspection robot to the center position of the hollow base 2. At this time, the ranging radar 96 detects the inspection robot, and then the ranging radar 96 sends a signal to the controller 12. The controller 12 not only sends a signal to the robot self-service charging device body 1, so that the robot self-service charging device body 1 supplies power to the charging head 1, but also controls the electric push rod 6 to start. The electric push rod 6 pushes the charging head 11 directly into the inspection robot charging port located at the center position of the hollow base 2, completing the self-alignment and charging of the inspection robot without manual operation. This mechanism enables the inspection robot charging device for power plant area inspection to have the functions of automatic alignment and self-service charging, and does not require staff assistance, saving time and effort, and can improve the convenience and efficiency of charging the inspection robot for power plant area inspection, and reduce the workload of staff.

[0033] It should be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not preclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0034] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A self-service charging device for an inspection robot used for regional inspection in a power plant, characterized in that: The invention comprises a robot self-service charging device body (1), wherein the lower surface of the robot self-service charging device body (1) is fixedly connected to a hollow base (2), the inner wall of the hollow base (2) is fixedly connected to a positioning mechanism (3), and the outer walls of both sides of the robot self-service charging device body (1) are respectively provided with a mounting through hole (4) and a rectangular through hole (5), the mounting through hole (4) is movably connected to an electric push rod (6), and the outer wall of the electric push rod (6) is fixedly sleeved with two retaining rings (7), one of which is A threaded hole is provided on the outer wall, and a bolt (8) is threadedly connected to the hole wall of the threaded hole, the output end of the electric push rod (6) is fixedly connected to an adjustment mechanism (9), the side wall of the adjustment mechanism (9) is fixedly connected to a connecting bracket (10), the inner wall of the connecting bracket (10) is fixedly connected to a charging head (11), the connecting end of the charging head (11) is electrically connected to the output end of the robot self-service charging device body (1) through a wire, and the inner wall of the robot self-service charging device body (1) is fixedly connected to a controller (12); The positioning mechanism (3) comprises two rolling bearings (31) fixedly connected to the inner wall of the hollow base (2), the inner walls of the two rolling bearings (31) are fixedly connected with a screw rod (32), the rod walls of the two screw rods (32) are threadedly sleeved with a threaded cylinder (33), the upper surface of the hollow base (2) is provided with two rectangular movable holes (34), the hole walls of the two rectangular movable holes (34) are movably connected to two U-shaped blocks (35), the bottom ends of the two U-shaped blocks (35) are respectively fixedly connected to the outer walls of the adjacent threaded cylinders (33), the top outer walls of the two U-shaped blocks (35) are fixedly connected with a push plate (36), the outer wall of the hollow base (2) is fixedly connected with a driving motor (37), the output end of the driving motor (37) passes through the side wall of the hollow base (2) and is fixedly connected to the side end of one of the screw rods (32), and the opposite sides of the two screw rods (32) are fixedly connected to each other; The threads of the two screw rods (32) rotate in opposite directions; The regulating mechanism (9) comprises two L-shaped plates (91) fixedly connected to the output end of the electric push rod (6); the inner walls of the two L-shaped plates (91) are fixedly connected to a screw rod (92); the rod wall of the screw rod (92) is movably sleeved with a movable sleeve (93); the rod wall of the screw rod (92) is threadedly connected to a first nut (94) and a second nut (95); the outer wall of the movable sleeve (93) is fixedly connected to the outer wall of the connecting bracket (10); and the outer wall of one of the L-shaped plates (91) is fixedly connected to a ranging radar (96); The outer walls of both sides of the two U-shaped blocks (35) are fixedly connected to a cylinder (13), and the inner walls of the two cylinders (13) on the same side are movably connected to a limit rod (14), and both ends of the limit rod (14) are fixedly connected to the inner wall of the hollow base (2); A guide bevel (15) is fixedly connected to the side wall of the hollow base (2); The upper surface of the hollow base (2) is fixedly connected to a patrol robot shift plate (16).

2. The method for aligning the self-service charging device of the inspection robot for power plant area inspection according to claim 1 is characterized in that: The following steps are involved: S1. Preparation before charging: First, the inspection robot enters the hollow base (2) of the device through the guiding inclined block (15), and at the same time, the side end of the inspection robot approaches the inspection robot stop plate (16); S2, the inspection robot is adjusted by starting the driving motor (37), which causes the two screw rods (32) to rotate simultaneously. The two screw rods (32) cause the two threaded cylinders (33) to move toward each other. Then, the threaded cylinders (33) move the two push plates (36) toward each other through the U-shaped block (35). Finally, the two push plates (36) push the inspection robot to the center of the hollow base (2). S3, calibrating the position of the charging head. When the inspection robot reaches the center position on the hollow base (2), the charging head (11) is inserted into the charging port of the inspection robot. Then, the position of the charging head (11) on the electric push rod (6) is fixed by the adjustment mechanism (9). At the same time, the position of the charging port of the inspection robot of this specification is determined. Finally, the charging head (11) is pulled out through the electric push rod (6); S4, the patrol robot performs self-service alignment and charging. After the patrol robot has been operated through steps S1 and S2, the ranging radar (96) on the adjustment structure (9) detects the patrol robot, and then the ranging radar (96) generates a signal to the controller (12). The controller (12) not only sends a signal to the robot self-service charging device body (1) to enable the robot self-service charging device body (1) to supply power to the charging head (11), but also controls the electric push rod (6) to start. The electric push rod (6) pushes the charging head (11) to be directly inserted into the patrol robot charging port located at the center of the hollow base (2), completing the patrol robot's self-service alignment and charging work without manual operation.

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