A charging device for a substation intelligent inspection robot

Abstract

The present invention relates to the field of robot charging technology, and specifically to a charging device for a substation intelligent inspection robot, comprising a charging device body, a groove is provided at the inner upper end of the charging device body, a charger is slidably inserted at the inner lower end of the groove; a positioning mechanism is movably inserted at the inner upper end of the groove; the positioning mechanism comprises a supporting platform, the supporting platform is rotatably inserted at the inner upper end of the groove, mounting grooves are provided on both sides of the upper end of the supporting platform, gears are rotatably installed on both sides of the inner part of the mounting groove, and the robot and the charger can be automatically positioned by setting the positioning mechanism, and the robot does not need to be positioned by a program, which is conducive to improving the accuracy of positioning, and also does not need the robot to consume its own power for positioning, which avoids the robot's power being exhausted during the positioning process. As long as the robot drives to the upper end of the supporting platform, the robot can be positioned and charged.

Description

Technical Field

[0001] The present invention relates to the technical field of robot charging, and in particular to a charging device for a substation intelligent inspection robot. Background Art

[0002] Substations are the hubs of the power transmission network. Equipment inspection in substation operation and maintenance is a basic work for the safe operation of substation equipment and improving the reliability of power supply. Traditionally, manual inspection and manual recording are widely used. With the expansion of substation scale, the inspection area continues to increase, and the operating environment becomes more complex, which makes the inspection scope and workload of substation on-site equipment larger. Simply relying on the senses and experience of inspectors, it is difficult to achieve comprehensive and accurate inspections, which brings hidden dangers to the safe operation of equipment and power grids. At present, most substations have been upgraded to unmanned substations, and there are basically no operation and maintenance personnel in the station during operation; the temperature of reactive electrical equipment in the substation is high during normal operation, and it is necessary to pay attention to the temperature changes of such electrical equipment in real time. With the development and maturity of robot technology, intelligent inspection robots assist operation and maintenance personnel in daily inspections of substation equipment, greatly reducing the workload of on-duty personnel in the station.

[0003] When charging, traditional substation intelligent inspection robots usually arrive at designated charging points and are then connected to a power source by staff. Some robots can adjust their own position for charging, but during use, the robot needs to be adjusted multiple times before it can be accurately positioned with the charger. The adjustment process is always very power-consuming. Since the robot itself needs to be charged, the robot's battery may be exhausted during positioning, and the robot is still not connected to the charger, thereby reducing the robot's work efficiency, making it unable to operate continuously and unable to inspect the substation, which is prone to safety hazards.

[0004] Therefore, a charging device for a substation intelligent inspection robot is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a charging device for a substation intelligent inspection robot. By setting a positioning mechanism, the robot and the charger can be automatically positioned. The robot does not need to be positioned through a program, which is beneficial to improving the accuracy of positioning. At the same time, the robot does not need to consume its own power for positioning, thereby avoiding the robot's power being exhausted during the positioning process. As long as the robot drives to the upper end of the supporting platform, the robot can be positioned and charged. Even if the robot's power has been exhausted at this time, it will not affect the charging of the robot, which is beneficial to ensuring the robot's working efficiency, so as to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a charging device for a substation intelligent inspection robot, comprising a charging device body, wherein a groove is provided at the upper end of the inner part of the charging device body, and a charger is slidably inserted at the lower end of the inner part of the groove;

[0007] A positioning mechanism is movably inserted into the inner upper end of the groove;

[0008] The positioning mechanism includes a support platform, which is rotatably inserted in the upper end of the groove, and mounting grooves are provided on both sides of the upper end of the support platform. Gears are rotatably installed on both sides of the mounting groove, and a conveyor belt is rotatably sleeved on the outer surface of the gear. A rotating motor is fixedly installed at the rear end of one of the gears, and the rotating motor passes through the rear end of the support platform and extends to the outside of the support platform. Switches are movably inserted near the upper end on both sides of the inner rear end of the groove, and the switches cooperate with the rotating motor. A protective mechanism is movably provided at the lower end of the switch. A through groove is provided at the inner center of the support platform, and rotating shafts are rotatably inserted at both front and rear ends of the lower part of the support platform, and the rotating shaft is fixedly connected to the charging device body. A fixing plate is rotatably installed at one end of the fixing shaft close to the through groove, and the fixing plate is fixedly connected to the bottom of the groove.

[0009] The outer surface of the conveyor belt is evenly provided with anti-skid grooves, and the shape of the anti-skid grooves is linear.

[0010] It should be noted that the charging device body can be installed underground, and the upper end of the charging device body can be flush with the ground. The robot first travels from front to back to the upper end of the charging device body and is located at the upper end of the supporting platform. Since the robot is not necessarily in the middle position of the supporting platform when traveling, the force on both ends of the supporting platform is uneven. With the cooperation of the rotating shaft and the fixed plate, due to the uneven force on both ends of the supporting platform, the supporting platform can rotate inside the groove with the rotating shaft as the center, and the supporting platform tilts to the side with more gravity. At this time, the rotating motor on the side with more force contacts the switch, triggering the rotating motor to start running. During transportation, the rotating motor drives the gear to rotate inside the installation groove. Since the conveyor belt is mounted on the outer surface of the gear, the gear will drive the conveyor belt to rotate when it rotates. When the conveyor belt rotates, it can drive the robot to the center of the support platform. Movement, the anti-slip groove can increase the friction between the conveyor belt and the robot, and improve the robot's movement effect. When the robot moves to the center of the upper end of the support platform, the support platform is in a balanced state. At this time, the rotating motor is not in contact with the switch, so that the rotating motor can stop running, and the charger can pass through the through groove to connect with the robot, so as to charge the robot. By setting the positioning mechanism, the robot and the charger can be automatically positioned, and the robot does not need to be positioned through a program, which is beneficial to improve the positioning accuracy. At the same time, the robot does not need to consume its own power for positioning, and the robot's power is avoided from being exhausted during the positioning process. As long as the robot drives to the upper end of the support platform, the robot can be positioned and charged. Even if the robot's power is exhausted at this time, it does not affect the charging of the robot, which is beneficial to ensure the robot's work efficiency.

[0011] Preferably, the protection mechanism includes a support block, which is fixedly inserted on both sides of the rear end of the groove, and sliding rods are fixedly installed on both sides of the upper end of the support block. An installation rope is slidably inserted on the outer surface of the slide rod, and the installation rope is fixedly connected to the lower end of the switch, and a No. 2 spring is movablely sleeved on the outer surface of the slide rod, and the No. 2 spring is located between the support block and the installation rope.

[0012] With the cooperation of the positioning mechanism, when the support platform tilts due to uneven force, the support platform will drive the rotary motor on the side with heavier force to move downward. During the movement, the rotary motor contacts the switch. Since the heavier the force, the more the rotary motor moves downward, the rotary motor can drive the switch to move downward. When the switch moves downward, it drives the installation rope to slide downward on the outer surface of the slide bar. During this process, the installation rope will squeeze the second spring, causing the second spring to deform. When the support platform is balanced, the rotary motor no longer presses the switch. Thus, with the cooperation of the support block and under the elastic force of the second spring, it drives the installation rope to slide upward on the outer surface of the slide bar, enabling the installation rope and the switch to reset. By setting up the protection mechanism, it can drive the switch to move with the cooperation of the rotary motor, so that when the support platform tilts to different angles, the rotary motor can contact the switch. At the same time, as the tilt angle of the rotary motor increases, the pressure on the switch will not increase, which plays a certain protective role for the switch and is beneficial to extending the service life of the switch.

[0013] Preferably, a control mechanism is movably inserted at the center of the inner part of the groove. The control mechanism includes an induction module. The induction module is fixedly installed on both sides of the upper end of the support platform and is located between the two installation grooves. An electromagnet is fixedly installed at the center of the lower end of the support platform. A first magnet is fixedly installed at the lower end of the charger, and the first magnet is slidably connected to the fixing plate. The first magnet attracts the electromagnet.

[0014] The electromagnet is in the shape of a square frame with a hole in the middle, and the electromagnet cooperates with the induction module.

[0015] A limiting mechanism is movably arranged at the lower part of the first magnet. The limiting mechanism includes a movable groove. The movable groove is opened at the center of the bottom of the charging device body, and the movable groove communicates with the groove. A connecting rod is slidably inserted into the inner part of the movable groove, and the upper end of the connecting rod is fixedly connected to the lower end of the first magnet.

[0016] The inner part of the movable groove is filled with non-Newtonian fluid.

[0017] An opening and closing mechanism is movably arranged at the upper end of the first magnet. The opening and closing mechanism includes a fixing groove. The fixing groove is opened at the front and rear ends inside the support platform, and the fixing groove communicates with the through groove. A first spring is movably inserted into the inner part of the fixing groove at the end far from the through groove. One end of the first spring close to the through groove is fixedly installed with a baffle, and the baffle is slidably connected to the fixing groove. A connecting rope is fixedly installed at the end of the baffle far from the through groove at the lower part, and the end of the connecting rope far from the baffle is fixedly connected to the upper end of the first magnet.

[0018] When the robot is located at the center of the support platform, the rollers on both sides of the robot are located at the upper end of the sensing module, and the two sets of sensing modules are simultaneously subjected to pressure, so that the electromagnet is connected to the power supply. At this time, the electromagnet is magnetic and attracted to the No. 1 magnet. The No. 1 magnet moves upward between the two sets of fixed plates and drives the charger to move upward. Since the connecting rod is fixedly connected to the bottom of the No. 1 magnet, the connecting rod can move upward inside the movable groove. The interior of the movable groove is filled with non-Newtonian liquid, so that the speed of the connecting rod will not be too fast when moving upward. As the No. 1 magnet continues to move upward, the pulling force of the No. 1 magnet on the connecting rope gradually decreases. Under the elastic force of the No. 1 spring, the No. 1 spring pulls the baffle to slide inside the fixed groove in the direction away from the through groove. At this time, the through groove is in an open state. The No. 1 magnet can push the charger through the through groove and extend to the upper end of the support platform. The charger is connected to the robot and starts charging. It should be noted that in the initial state, the No. 1 magnet is located at the bottom of the groove. At this time, the No. 1 magnet pulls the connecting rope. When the robot is fully charged, the robot can automatically drive away. At this time, the pressure of the robot is lost in the induction module, and the electromagnet is disconnected from the power supply. The electromagnet is not charged and no longer attracts the No. 1 magnet. The No. 1 magnet drives the charger to reset under the action of gravity. By setting a control mechanism, the robot can automatically drive the charger upward when it is located at the center of the support platform, so that the charger can automatically connect to the robot. With the cooperation of the limit mechanism, the speed of the charger moving upward can be slowed down to avoid the charger moving too fast and causing damage to the charger and the robot. With the cooperation of the opening and closing mechanism, the opening and closing of the through slot can be automatically controlled as needed, so that the through slot is closed when charging is not needed to avoid external garbage falling into the inside of the groove through the through slot, which is beneficial to protecting the parts inside the groove.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. By setting up the positioning mechanism, the robot and the charger can be automatically positioned. The robot does not need to be positioned through a program, which is conducive to improving the accuracy of positioning. At the same time, the robot does not need to consume its own power for positioning, avoiding the robot's power being exhausted during the positioning process. As long as the robot drives to the upper end of the support platform, the robot can be positioned and charged. Even if the robot's power has been exhausted at this time, it will not affect the charging of the robot, which is conducive to ensuring the robot's working efficiency;

[0021] 2. By setting up a control mechanism, the robot can automatically drive the charger to move upward when it is located at the center of the supporting platform, so that the charger can automatically connect to the robot. With the cooperation of the limit mechanism, the speed of the charger moving upward can be slowed down to avoid the charger moving too fast and causing damage to the charger and the robot. With the cooperation of the opening and closing mechanism, the opening and closing of the through slot can be automatically controlled as needed, so that the through slot is in a closed state when charging is not needed, preventing external garbage from falling into the inside of the groove through the through slot, which is beneficial to protecting the parts inside the groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 It is a structural cross-sectional view of the present invention;

[0024] Figure 3 For the present invention Figure 2 A magnified view of the structure at A;

[0025] Figure 4 It is a partial structural cross-sectional view of the present invention;

[0026] Figure 5 For the present invention Figure 4 Enlarged view of the structure at B.

[0027] In the figure: 1. Charging device body; 101. Groove; 102. Charger; 2. Positioning mechanism; 201. Support platform; 202. Mounting groove; 203. Gear; 204. Conveyor belt; 205. Rotating motor; 206. Switch; 207. Through groove; 208. Rotating shaft; 209. Fixed plate; 3. Anti-skid groove; 4. Control mechanism; 401. Induction module; 402. Electromagnet; 403. No. 1 magnet; 5. Limiting mechanism; 501. Movable groove; 502. Connecting rod; 6. Opening and closing mechanism; 601. Fixed groove; 602. No. 1 spring; 603. Baffle; 604. Connecting rope; 7. Protection mechanism; 701. Support block; 702. Sliding rod; 703. No. 2 spring; 704. Mounting rope. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figures 1 to 5 , the present invention provides a technical solution:

[0030] A charging device for a substation intelligent inspection robot, such as Figures 1 to 5 As shown, it comprises a charging device body 1, wherein a groove 101 is provided at the inner upper end of the charging device body 1, and a charger 102 is slidably inserted at the inner lower end of the groove 101;

[0031] A positioning mechanism 2 is movably inserted into the upper end of the groove 101;

[0032] The positioning mechanism 2 includes a support platform 201, which is rotatably inserted into the upper end of the groove 101. The upper end of the support platform 201 is provided with mounting grooves 202 on both sides. Gears 203 are rotatably installed on both sides of the mounting grooves 202. A conveyor belt 204 is rotatably sleeved on the outer surface of the gear 203. A rotating motor 205 is fixedly installed at the rear end of one of the gears 203. The rotating motor 205 passes through the rear end of the support platform 201 and extends to the outside of the support platform 201. Switches 206 are movably installed on both sides of the rear end near the upper end, and the switch 206 cooperates with the rotating motor 205. A protective mechanism 7 is movably provided at the lower end of the switch 206. A through slot 207 is provided at the inner center of the support platform 201. A rotating shaft 208 is rotatably installed at both front and rear ends of the lower part of the support platform 201, and the rotating shaft 208 is fixedly connected to the charging device body 1. A fixed plate 209 is rotatably installed at one end of the rotating shaft 208 near the through slot 207, and the fixed plate 209 is fixedly connected to the bottom of the groove 101.

[0033] The outer surface of the conveyor belt 204 is evenly provided with anti-skid grooves 3, and the shape of the anti-skid grooves 3 is linear;

[0034] It should be noted that the charging device body 1 can be installed underground, and the upper end of the charging device body 1 can be flush with the ground. When working, the robot first travels from front to back to the upper end of the charging device body 1 and is located at the upper end of the support platform 201. Since the robot is not necessarily exactly in the middle position of the support platform 201 when traveling, the forces on both ends of the support platform 201 are uneven. Under the cooperation of the rotating shaft 208 and the fixing plate 209, due to the uneven forces on both ends of the support platform 201, the support platform 201 can rotate inside the groove 101 with the rotating shaft 208 as the center of the circle, and the support platform 201 tilts toward the side with more gravity. At this time, the rotating motor 205 on the side with more force contacts the switch 206, triggering the rotating motor 205 to start running. The rotating motor 205 drives the gear 203 to rotate inside the mounting groove 202 during transportation. Since the conveyor belt 204 is sleeved on the outer surface of the gear 203, the gear 203 will drive the conveyor belt 204 to rotate when it rotates. When the conveyor belt 204 rotates, When the robot moves to the center of the support platform 201, the anti-skid groove 3 can increase the friction between the conveyor belt 204 and the robot, thereby improving the effect of the robot's movement. When the robot moves to the center of the upper end of the support platform 201, the support platform 201 is in a balanced state. At this time, the rotating motor 205 is not in contact with the switch 206, so that the rotating motor 205 can stop running, and the charger 102 can pass through the through groove 207 to connect with the robot, so as to charge the robot. By setting the positioning mechanism 2, the robot and the charger 102 can be automatically positioned, and the robot does not need to be positioned by a program, which is conducive to improving the accuracy of positioning. At the same time, the robot does not need to consume its own power for positioning, thereby avoiding the robot's power being exhausted during the positioning process. As long as the robot travels to the upper end of the support platform 201, the robot can be positioned and charged. Even if the robot's power has been exhausted at this time, it does not affect the charging of the robot, which is conducive to ensuring the robot's working efficiency.

[0035] As an embodiment of the present invention, Figure 4 and Figure 5 As shown, the protection mechanism 7 includes a support block 701, and the support block 701 is fixedly inserted at both sides of the rear end of the groove 101, and a slide bar 702 is fixedly installed on both sides of the upper end of the support block 701, and a mounting rope 704 is slidably inserted on the outer surface of the slide bar 702, and the mounting rope 704 is fixedly connected to the lower end of the switch 206, and a second spring 703 is movably sleeved on the outer surface of the slide bar 702, and the second spring 703 is located between the support block 701 and the mounting rope 704;

[0036] During operation, with the cooperation of the positioning mechanism 2, when the support platform 201 tilts due to uneven force, the support platform 201 will drive the rotary motor 205 on the side with heavier force to move downward. During the movement, the rotary motor 205 contacts the switch 206. Since the greater the force, the more the rotary motor 205 moves downward, the rotary motor 205 can drive the switch 206 to move downward. When the switch 206 moves downward, it drives the installation rope 704 to slide downward on the outer surface of the slide bar 702. During this process, the installation rope 704 squeezes the second spring 703, causing the second spring 703 to deform. When the support platform 201 is balanced, at this time the rotary motor 205 no longer squeezes the switch 206. Thus, with the cooperation of the support block 701 and under the elastic force of the second spring 703, it drives the installation rope 704 to slide upward on the outer surface of the slide bar 702, enabling the installation rope 704 and the switch 206 to reset. By setting the protection mechanism 7, it can drive the switch 206 to move with the cooperation of the rotary motor 205, so that when the support platform 201 tilts to different angles, the rotary motor 205 can contact the switch 206. At the same time, as the tilt angle of the rotary motor 205 increases, the pressure on the switch 206 will not increase, which plays a certain protective role for the switch 206 and is beneficial to extending the service life of the switch 206.

[0037] As an implementation manner of the present invention, as Figures 1 to 4 shown, a control mechanism 4 is movably inserted at the center of the inside of the groove 101. The control mechanism 4 includes an induction module 401. The induction module 401 is fixedly installed on both sides of the upper end of the support platform 201 and is located between two installation grooves 202. An electromagnet 402 is fixedly installed at the center of the lower end of the support platform 201. A first magnet 403 is fixedly installed at the lower end of the charger 102, and the first magnet 403 is slidably connected to the fixing plate 209. The first magnet 403 attracts the electromagnet 402;

[0038] The electromagnet 402 is in the shape of a square frame, and the electromagnet 402 cooperates with the induction module 401;

[0039] A limiting mechanism 5 is movably arranged below the first magnet 403. The limiting mechanism 5 includes a movable groove 501. The movable groove 501 is opened at the center of the bottom of the charging device body 1, and the movable groove 501 communicates with the groove 101. A connecting rod 502 is slidably inserted into the inside of the movable groove 501, and the upper end of the connecting rod 502 is fixedly connected to the lower end of the first magnet 403;

[0040] The inside of the movable groove 501 is filled with non-Newtonian fluid;

[0041] An opening and closing mechanism 6 is movably provided at the upper end of the No. 1 magnet 403, and the opening and closing mechanism 6 includes a fixed slot 601, and the fixed slot 601 is provided at the front and rear ends of the support platform 201, and the fixed slot 601 is connected with the through slot 207, and a No. 1 spring 602 is movably inserted at one end of the fixed slot 601 away from the through slot 207, and a baffle 603 is fixedly installed at one end of the No. 1 spring 602 close to the through slot 207, and the baffle 603 is slidably connected to the fixed slot 601, and a connecting rope 604 is fixedly installed at one end of the lower part of the baffle 603 away from the through slot 207, and the end of the connecting rope 604 away from the baffle 603 is fixedly connected to the upper end of the No. 1 magnet 403;

[0042] During operation, when the robot is located at the center of the support platform 201, the rollers on both sides of the robot are located at the upper end of the sensing module 401, and the two groups of sensing modules 401 are simultaneously subjected to pressure, so that the electromagnet 402 is powered on. At this time, the electromagnet 402 is magnetic and attracted to the No. 1 magnet 403. The No. 1 magnet 403 moves upward between the two groups of fixed plates 209 and drives the charger 102 to move upward. Since the connecting rod 502 is fixedly connected to the bottom of the No. 1 magnet 403, the connecting rod 502 can move upward inside the movable groove 501. The interior of the movable groove 501 is filled with non-Newtonian liquid, so that the connecting rod 502 moves upward. When moving upward, the speed will not be too fast. As the No. 1 magnet 403 continues to move upward, the pulling force of the No. 1 magnet 403 on the connecting rope 604 gradually decreases. Under the elastic force of the No. 1 spring 602, the No. 1 spring 602 pulls the baffle 603 to slide inside the fixed groove 601 in the direction away from the through groove 207. At this time, the through groove 207 is in an open state. The No. 1 magnet 403 can push the charger 102 to pass through the through groove 207 and extend to the upper end of the supporting platform 201. The charger 102 is connected to the robot and starts charging. It should be noted that in the initial state, the No. 1 magnet 403 is located at the bottom of the groove 101. At this time, the No. 1 magnet The magnet 403 pulls the connecting rope 604 downward, and the pulling force of the connecting rope 604 on the baffle 603 is greater than the elastic force of the No. 1 spring 602 on the baffle 603. The two sets of baffles 603 are in contact. At this time, the through slot 207 is closed, and the charger 102 cannot pass through the through slot 207 to reach the upper end of the supporting platform 201. When the robot is fully charged, the robot can automatically drive away. At this time, the pressure of the robot is lost in the sensing module 401, and the electromagnet 402 is disconnected from the power supply. The electromagnet 402 is not charged and no longer attracts the No. 1 magnet 403. The No. 1 magnet 403 drives the charger 102 to reset under the action of gravity. By setting the control mechanism 4, When the robot is located at the center of the support platform 201, it can automatically drive the charger 102 to move upward, so that the charger 102 can automatically connect with the robot. With the cooperation of the limiting mechanism 5, the speed of the charger 102 moving upward can be slowed down to prevent the charger 102 from moving too fast and causing damage to the charger 102 and the robot. With the cooperation of the opening and closing mechanism 6, the opening and closing of the through slot 207 can be automatically controlled as needed, so that the through slot 207 is in a closed state when charging is not needed, thereby preventing external garbage from falling into the interior of the groove 101 through the through slot 207, thereby helping to protect the parts inside the groove 101.

[0043] Working principle:

[0044] When working, the robot first travels from front to back to the upper end of the charging device body 1 and is located at the upper end of the support platform 201. Since the robot is not necessarily in the middle position of the support platform 201 when traveling, the forces on both ends of the support platform 201 are uneven. With the cooperation of the rotating shaft 208 and the fixing plate 209, the support platform 201 can rotate inside the groove 101 with the rotating shaft 208 as the center. The support platform 201 tilts to the side with more gravity. At this time, the rotating motor 205 on the side with more force contacts the switch 206, triggering the rotating motor 205 to start running. The rotating motor 205 drives the gear 203 to rotate inside the mounting groove 202 during transportation. Due to the conveyor belt 2 04 is sleeved on the outer surface of the gear 203, so the gear 203 will drive the conveyor belt 204 to rotate when it rotates, and the conveyor belt 204 can drive the robot to move to the center of the support platform 201 when it rotates. The anti-skid groove 3 can increase the friction between the conveyor belt 204 and the robot, and improve the effect of the robot's movement. When the robot moves to the upper center of the support platform 201, the support platform 201 is in a balanced state. At this time, the rotating motor 205 does not contact the switch 206, so that the rotating motor 205 can stop running, and the charger 102 can pass through the through groove 207 to connect with the robot, so as to charge the robot. With the cooperation of the positioning mechanism 2, when the support platform 201 is tilted due to uneven force, The support platform 201 will drive the rotating motor 205 on the side with heavy force to move downward. During the movement, the rotating motor 205 contacts the switch 206. Since the heavier the force, the greater the distance the rotating motor 205 moves downward, the rotating motor 205 can drive the switch 206 to move downward. When the switch 206 moves downward, it drives the installation rope 704 to slide downward on the outer surface of the slide bar 702. During this process, the installation rope 704 will squeeze the No. 2 spring 703, causing the No. 2 spring 703 to deform. When the support platform 201 is balanced, the rotating motor 205 no longer squeezes the switch 206, so that with the cooperation of the support block 701 and the elastic force of the No. 2 spring 703, the installation rope 704 is driven to slide on the outer surface of the slide bar 702. The surface slides upward, so that the installation rope 704 and the switch 206 can be reset. When the robot is located at the center of the support platform 201, the rollers on both sides of the robot are located at the upper end of the sensing module 401. The two groups of sensing modules 401 are simultaneously subjected to pressure, so that the electromagnet 402 is powered on. At this time, the electromagnet 402 is magnetic and attracted to the No. 1 magnet 403. The No. 1 magnet 403 moves upward between the two groups of fixed plates 209 and drives the charger 102 to move upward. Since the connecting rod 502 is fixedly connected to the bottom of the No. 1 magnet 403, the connecting rod 502 can move upward inside the movable groove 501. The interior of the movable groove 501 is filled with non-Newtonian liquid, so that the speed of the connecting rod 502 will not be too fast when it moves upward.As the No. 1 magnet 403 continues to move upward, the pulling force of the No. 1 magnet 403 on the connecting rope 604 gradually decreases. Under the elastic force of the No. 1 spring 602, the No. 1 spring 602 pulls the baffle 603 to slide inside the fixed groove 601 in the direction away from the through groove 207. At this time, the through groove 207 is in an open state. The No. 1 magnet 403 can push the charger 102 through the through groove 207 and extend to the upper end of the support platform 201. The charger 102 is connected to the robot and starts charging. When the robot is fully charged, the robot can automatically drive away. At this time, the pressure of the robot is lost in the induction module 401, and the electromagnet 402 is disconnected from the power supply. The electromagnet 402 is not charged and no longer attracts the No. 1 magnet 403. The No. 1 magnet 403 drives the charger 102 to reset under the action of gravity.

[0045] Although 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 the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A charging device for a substation intelligent inspection robot, comprising a charging device body (1), characterized in that: A groove (101) is formed at the upper end inside the charging device body (1), and a charger (102) is slidably inserted at the lower end inside the groove (101). A positioning mechanism (2) is movably inserted at the upper end inside the groove (101). The positioning mechanism (2) includes a support platform (201). The support platform (201) is rotatably inserted at the upper end inside the groove (101). Installation grooves (202) are formed on both sides of the upper end of the support platform (201). Gears (203) are rotatably installed on both sides inside the installation grooves (202). A conveyor belt (204) is rotatably sleeved on the outer surface of the gears (203). A rotary motor (205) is fixedly installed at the rear end of one of the gears (203), and the rotary motor (205) penetrates through the rear end of the support platform (201) and extends to the outside of the support platform (201). Switches (206) are movably inserted at both sides near the upper end at the rear end inside the groove (101), and the switches (206) are matched with the rotary motor (205). A protection mechanism (7) is movably arranged at the lower end of the switch (206). A through groove (207) is formed at the center inside the support platform (201). Shafts (208) are rotatably inserted at the front and rear ends of the lower part of the support platform (201), and the shafts (208) are fixedly connected with the charging device body (1). A fixing plate (209) is rotatably installed at one end of the shaft (208) close to the through groove (207), and the fixing plate (209) is fixedly connected with the bottom of the groove (101). The protection mechanism (7) includes a support block (701). The support block (701) is fixedly inserted at both sides near the rear end inside the groove (101). Slide rods (702) are fixedly installed on both sides of the upper end of the support block (701). An installation rope (704) is slidably inserted on the outer surface of the slide rods (702), and the installation rope (704) is fixedly connected with the lower end of the switch (206). A second spring (703) is movably sleeved on the outer surface of the slide rods (702), and the second spring (703) is located between the support block (701) and the installation rope (704).

2. A charging device for a substation intelligent inspection robot according to claim 1, characterized in that: Anti-slip grooves (3) are uniformly formed on the outer surface of the conveyor belt (204), and the shape of the anti-slip grooves (3) is linear.

3. A charging device for a substation intelligent inspection robot according to claim 1, characterized in that: A control mechanism (4) is movably inserted at the center inside the groove (101). The control mechanism (4) includes an induction module (401). The induction module (401) is fixedly installed on both sides of the upper end of the support platform (201) and is located between two groups of installation grooves (202). An electromagnet (402) is fixedly installed at the center of the lower end of the support platform (201). A first magnet (403) is fixedly installed at the lower end of the charger (102), and the first magnet (403) is slidably connected with the fixing plate (209). The first magnet (403) is attracted to the electromagnet (402).

4. A charging device for a substation intelligent inspection robot according to claim 3, characterized in that: The electromagnet (402) is in the shape of a rectangular body with a hole in the middle, and the electromagnet (402) is matched with the induction module (401).

5. A charging device for a substation intelligent inspection robot according to claim 4, characterized in that: A limiting mechanism (5) is movably arranged at the lower part of the No. 1 magnet (403), and the limiting mechanism (5) comprises a movable groove (501), the movable groove (501) is arranged at the bottom center of the charging device body (1), and the movable groove (501) is connected to the groove (101), a connecting rod (502) is slidably inserted inside the movable groove (501), and the upper end of the connecting rod (502) is fixedly connected to the lower end of the No. 1 magnet (403).

6. A charging device for a substation intelligent inspection robot according to claim 5, characterized in that: The interior of the movable groove (501) is filled with non-Newtonian liquid.

7. A charging device for a substation intelligent inspection robot according to claim 4, characterized in that: An opening and closing mechanism (6) is movably provided at the upper end of the No. 1 magnet (403), and the opening and closing mechanism (6) comprises a fixed groove (601), the fixed groove (601) is arranged at the front and rear ends inside the supporting platform (201), and the fixed groove (601) is connected with the through groove (207), a No. 1 spring (602) is movably inserted into the end of the fixed groove (601) away from the through groove (207), a baffle (603) is fixedly installed at the end of the No. 1 spring (602) close to the through groove (207), and the baffle (603) is slidably connected to the fixed groove (601), a connecting rope (604) is fixedly installed at the end of the lower part of the baffle (603) away from the through groove (207), and the end of the connecting rope (604) away from the baffle (603) is fixedly connected to the upper end of the No. 1 magnet (403).

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