A wheeled inspection robot that is easy to dock stably

Abstract

The present invention discloses a wheeled inspection robot which is convenient for stable docking, comprising a robot main body and a charging base arranged on one side of the robot main body, a charging box being fixedly connected to the outer wall of the robot main body, an electric telescopic rod being fixedly installed on the charging base, and a charging plug being fixedly connected to the top of the electric telescopic rod, and air in a second sliding cavity is extracted into first sliding cavities on both sides by an air pump, and the second piston plate is acted upon by air pressure to drive a fixed draw hook to move upward, and the fixed draw hook pulls the docking mechanism to move upward synchronously until the wiring terminal is docked with the conductive plug, so as to charge the robot, and at the same time, the first piston plate pushes the pin rod to move downward, and the pin rod squeezes the floating sphere, so that the floating sphere slides out of the spherical groove, and then a part of the floating sphere extends out of the tiger's mouth and engages with the outer annular groove on the outer wall of the charging plug, and then the charging plug is clamped, so that the charging plug and the charging box are stably docked.

Description

Technical Field

[0001] The present invention belongs to the technical field related to inspection robots, and in particular relates to a wheeled inspection robot that is easy to stably dock. Background Art

[0002] The inspection robot can remotely diagnose with experts on the collaborative platform, which is a visual collaborative solution specially designed for industrial inspection intelligent robots. It can realize visual maintenance command, remote expert guidance, efficient and timely elimination of defects, etc.

[0003] The existing inspection robot technology has the following problems: when charging, the docking is not stable enough, resulting in poor contact of the connectors and unstable transmission voltage, which can easily cause safety accidents and shorten the service life of the robot. In addition, if it is hit during the charging process, it is easy to cause disconnection and charging interruption, affecting normal charging. Summary of the invention

[0004] The object of the present invention is to provide a wheeled inspection robot that is easy to dock stably, so as to solve the problem of unstable docking and easy disconnection mentioned in the above background technology.

[0005] In order to solve the above technical problems, the present invention is implemented by the following technical solutions:

[0006] A wheeled inspection robot that is easy to dock stably comprises a robot body and a charging base arranged on one side of the robot body, a charging box is fixedly connected to the outer wall of the robot body, an electric telescopic rod is fixedly installed on the charging base, a charging plug is fixedly connected to the top of the electric telescopic rod, an outer annular groove is provided on the outer wall of the charging plug, a third sliding cavity is provided inside the upper end of the charging plug, a docking mechanism is provided in the third sliding cavity, and a plug assembly is provided in the docking mechanism;

[0007] The lower end of the charging box is provided with an alignment groove adapted to the charging plug, the upper end of the alignment groove is provided with a second sliding cavity, a pneumatic lifting mechanism for lifting the docking mechanism is provided in the second sliding cavity, a terminal assembly adapted to the plug assembly is provided on the top inner wall of the alignment groove, first sliding cavities are provided on both sides of the alignment groove, and a pneumatic locking mechanism for locking the charging plug is provided in the first sliding cavity;

[0008] An air pump is fixedly arranged in the charging box, and the air pump is connected with the second sliding cavity and the two first sliding cavities through an air guide pipe.

[0009] Furthermore, the docking mechanism includes a cylinder, a limiting slide groove is provided on the inner wall of the third slide cavity, the cylinder is slidably connected to the limiting slide groove, a second elastic member is sleeved on the outer side of the cylinder, one end of the second elastic member is fixedly connected to the cylinder, and the other end of the second elastic member is fixedly connected to the inner wall of the limiting slide groove, and an inner annular groove is provided on the inner wall of the cylinder.

[0010] Furthermore, the plug assembly includes a tube body, one end of the tube body is fixedly connected to the cylinder body, and the other end of the tube body is fixedly connected to a conductive plug.

[0011] Furthermore, the second elastic member is a spring.

[0012] Furthermore, the pneumatic lifting mechanism includes a second piston plate, which is slidably connected to the second sliding cavity. The bottom surface of the second piston plate is hinged with two symmetrical fixed hooks, and a first elastic member is arranged between the two fixed hooks. Both ends of the first elastic member are fixedly connected with electromagnets, and the two electromagnets are respectively fixed on the two fixed hooks.

[0013] Furthermore, the terminal assembly includes a wiring terminal, and fixing rods are fixedly connected on both sides of the wiring terminal. A fixing clamp is fixedly connected to one end of the fixing rod, and the fixing clamp is fixedly connected to the top inner wall of the alignment groove. The fixing hook is provided with a slot for the fixing rod to slide up and down.

[0014] Furthermore, the first elastic member is a spring.

[0015] Furthermore, the pneumatic locking mechanism includes a first piston plate, which is slidably connected to the first sliding cavity, a latch rod is fixedly connected to the bottom surface of the first piston plate, a slider is fixedly connected to the side wall of the latch rod, a guide groove is provided on the lower side of the first sliding cavity, the slider is slidably connected to the guide groove, a tiger's mouth connected to the alignment groove is provided on one side of the bottom of the guide groove, and a floating ball is embedded in the tiger's mouth.

[0016] Furthermore, a spherical groove adapted to the floating sphere is formed at the bottom end of the latch rod.

[0017] Furthermore, the bottom end of the alignment groove is trumpet-shaped.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects: the present invention provides a wheeled inspection robot that is easy to dock stably. The air in the second sliding cavity is extracted into the first sliding cavities on both sides by an air pump. The second piston plate is acted upon by air pressure to drive the fixed draw hook to move upward, and the fixed draw hook pulls the docking mechanism to move upward synchronously until the terminal is docked with the conductive plug to charge the robot. At the same time, the first piston plate pushes the latch rod to move downward, and the latch rod squeezes the floating sphere to make the floating sphere slide out of the spherical groove, thereby making a part of the floating sphere extend out of the tiger's mouth and engage with the outer annular groove on the outer wall of the charging plug. The charging plug is clamped and further reinforced, so that the charging plug and the charging box can be stably connected and have strong impact resistance; a pneumatic locking mechanism is set up, and under normal conditions, the pin rod is at the upper part of the guide groove, and the floating sphere shrinks in the tiger's mouth due to gravity and fits with the spherical groove at the bottom of the pin rod, thereby not affecting the insertion of the charging plug; an electromagnet is set on the fixed hook, and the fixed hook is retracted inward by the suction of the two electromagnets, and then the electric telescopic rod is controlled to retract the charging plug downward, so that the charging plug is separated from the charging box, and the plug separation action can be automatically completed to ensure safe operation.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a schematic diagram of the structure of a wheeled inspection robot that is easy to dock stably proposed by the present invention;

[0022] Figure 2 This is a schematic diagram of the first state structure of the charging box and the conductive plug proposed by the present invention;

[0023] Figure 3 This is a schematic diagram of the second state structure of the charging box and the conductive plug proposed by the present invention;

[0024] Figure 4 This is a schematic diagram of the third state structure of the charging box and the conductive plug proposed by the present invention;

[0025] Figure 5 The present invention proposes Figure 2 A schematic diagram of the partially enlarged structure at center A;

[0026] Figure 6 The present invention proposes Figure 2 A schematic diagram of the partially enlarged structure at B in the middle;

[0027] In the figure: 1, robot body; 2, charging box; 21, alignment groove; 22, pneumatic locking mechanism; 221, first piston plate; 222, latch rod; 223, slider; 224, floating sphere; 23, first sliding cavity; 231, tiger's mouth; 232, guide groove; 24, second sliding cavity; 25, air pump; 26, pneumatic lifting mechanism; 261, second piston plate; 262, fixed hook; 263, first elastic member; 264, Electromagnet; 27, air duct; 28, terminal assembly; 281, terminal; 282, fixing splint; 283, fixing rod; 3, charging plug; 31, outer annular groove; 32, docking mechanism; 321, cylinder; 322, inner annular groove; 323, second elastic member; 33, third slide cavity; 331, limit slide groove; 34, plug assembly; 341, tube body; 342, conductive plug; 4, electric telescopic rod; 5, charging base. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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 Figure 1-Figure 6 The present invention provides a wheeled inspection robot that is easy to dock stably, including a robot body 1 and a charging base 5 arranged on one side of the robot body 1. A charging box 2 is fixedly connected to the outer wall of the robot body 1, and an electric telescopic rod 4 is fixedly installed on the charging base 5. The top of the electric telescopic rod 4 is fixedly connected to a charging plug 3. An outer annular groove 31 is provided on the outer wall of the charging plug 3. When the power of the wheeled inspection robot body 1 is insufficient, the wheeled inspection robot body 1 automatically drives above the charging base 5. After the charging base 5 senses that the charging box 2 is aligned with the charging plug 3, the electric telescopic rod 4 is controlled to extend the charging plug 3, so that the charging plug 3 and the charging box 2 are stably docked.

[0030] It should be noted that a third sliding cavity 33 is provided inside the upper end of the charging plug 3, and a docking mechanism 32 is provided in the third sliding cavity 33. The docking mechanism 32 includes a cylinder 321, and a limiting sliding groove 331 is provided on the inner wall of the third sliding cavity 33. The cylinder 321 is slidably connected with the limiting sliding groove 331. A second elastic member 323 is sleeved on the outer portion of the cylinder 321, and one end of the second elastic member 323 is fixedly connected to the cylinder 321, and the other end of the second elastic member 323 is fixedly connected to the inner wall of the limiting sliding groove 331. An inner annular groove 322 is provided on the inner wall of the cylinder 321. In a natural state, the cylinder 321 is subjected to the elastic force of the second elastic member 323 and is attached to the inner bottom surface of the third sliding cavity 33. In this embodiment, the second elastic member 323 is a spring.

[0031] A plug assembly 34 is provided in the docking mechanism 32. The plug assembly 34 includes a tube body 341. One end of the tube body 341 is fixedly connected to the cylinder 321, and the other end of the tube body 341 is fixedly connected to a conductive plug 342. After docking, the robot can be charged through the conductive plug 342.

[0032] Specifically, a positioning groove 21 adapted to the charging plug 3 is provided inside the lower end of the charging box 2, and the bottom end of the positioning groove 21 is trumpet-shaped, which can improve the fault tolerance rate, and a second sliding cavity 24 is provided at the upper end of the positioning groove 21. A pneumatic lifting mechanism 26 for lifting the docking mechanism 32 is provided in the second sliding cavity 24. The pneumatic lifting mechanism 26 includes a second piston plate 261, and the second piston plate 261 is slidably connected to the second sliding cavity 24. The bottom surface of the second piston plate 261 is hinged with two symmetrical fixed hooks 262, and a second fixed hook 262 is provided between the two fixed hooks 262. An elastic member 263, both ends of the first elastic member 263 are fixedly connected with electromagnets 264, and the two electromagnets 264 are respectively fixed on the two fixed hooks 262. When the charging plug 3 is inserted from the bottom opening of the alignment groove 21, it can slide along the groove wall to fit the top inner wall of the alignment groove 21. In this process, the two fixed hooks 262 are squeezed by the charging plug 3 and retracted inward, and slide down along the inner wall of the cylinder 321 to the inner annular groove 322, and are automatically stuck in the inner annular groove 322 under the elastic force of the first elastic member 263. In this embodiment, the first elastic member 263 is a spring.

[0033] A terminal assembly 28 compatible with the plug assembly 34 is provided on the top inner wall of the alignment groove 21, and the terminal assembly 28 includes a wiring terminal 281, and fixing rods 283 are fixedly connected on both sides of the wiring terminal 281, and one end of the fixing rod 283 is fixedly connected to a fixing clamp 282, and the fixing clamp 282 is fixedly connected to the top inner wall of the alignment groove 21. A slot for the fixing rod 283 to slide up and down is opened on the fixing hook 262. When the fixing hook 262 moves up and down, the fixing rod 283 can move in the slot, and thus will not affect the up and down movement of the fixing hook 262. When the fixing hook 262 pulls the cylinder 321 to move upward, the wiring terminal 281 can be correctly docked with the conductive plug 342.

[0034] Specifically, first sliding cavities 23 are provided on both sides of the alignment groove 21, and a pneumatic locking mechanism 22 for locking the charging plug 3 is provided in the first sliding cavity 23. The pneumatic locking mechanism 22 includes a first piston plate 221, and the first piston plate 221 is slidably connected to the first sliding cavity 23. A latch rod 222 is fixedly connected to the bottom surface of the first piston plate 221, and a slider 223 is fixedly connected to the side wall of the latch rod 222. A guide groove 232 is provided on the lower side of the first sliding cavity 23, and the slider 223 is slidably connected to the guide groove 232. A tiger's mouth 231 connected to the alignment groove 21 is provided on one side of the bottom of the guide groove 232. A floating sphere 224 is embedded in 231, and a spherical groove matched with the floating sphere 224 is formed at the bottom end of the latch rod 222. In a normal state, the latch rod 222 is located at the upper part of the guide groove 232, and the floating sphere 224 shrinks in the tiger's mouth 231 due to gravity and fits with the spherical groove at the bottom end of the latch rod 222. When the latch rod 222 is subjected to a thrust, the latch rod 222 can push the floating sphere 224 to slide out of the spherical groove, thereby causing a part of the floating sphere 224 to extend out of the tiger's mouth 231 and engage with the outer annular groove 31 on the outer wall of the charging plug 3, thereby fixing the charging plug 3.

[0035] Furthermore, an air pump 25 is fixedly installed in the charging box 2, and the air pump 25 is connected with the second sliding cavity 24 and the two first sliding cavities 23 through the air duct 27. When the charging plug 3 is fully inserted into the alignment groove 21, the air pump 25 starts to work, and draws air in the second sliding cavity 24 into the first sliding cavities 23 on both sides, thereby lifting the pneumatic lifting mechanism 26 upward and moving the pneumatic locking mechanism 22 downward.

[0036] The working principle and use process of the present invention are as follows: when in use, the wheeled inspection robot body 1 automatically moves to the top of the charging base 5 when the power is low, and after the charging base 5 senses the alignment of the charging box 2 and the charging plug 3, the electric telescopic rod 4 is controlled to push the charging plug 3 upward, so that the charging plug 3 is inserted into the bottom opening of the alignment groove 21 (such as Figure 2The first state is shown in the figure), and slides along the groove wall to fit the top inner wall of the alignment groove 21. During this process, the two fixed hooks 262 are squeezed by the charging plug 3 and retracted inward, and slide downward along the inner wall of the cylinder 321 to the inner annular groove 322, and are automatically stuck in the inner annular groove 322 under the elastic force of the first elastic member 263 (as shown in the figure). Figure 3 The second state shown);

[0037] The air pump 25 starts working, extracting air from the second sliding cavity 24 into the first sliding cavities 23 on both sides. The second piston plate 261 is acted upon by air pressure, driving the fixed hook 262 to move upward, and the fixed hook 262 pulls the docking mechanism 32 to move upward synchronously until the connection terminal 281 is docked with the conductive plug 342 (as shown in FIG. Figure 4 The robot is charged;

[0038] At the same time, the first piston plate 221 is pushed downward by the air pressure to push the latch rod 222, and the latch rod 222 squeezes the floating ball 224, so that the floating ball 224 slides out of the spherical groove, and then a part of the floating ball 224 extends out of the tiger's mouth 231 and engages with the outer annular groove 31 on the outer wall of the charging plug 3, thereby fixing the charging plug 3 (such as Figure 4 The third state shown in the figure is further reinforced so that the charging plug 3 and the charging box 2 can be stably docked;

[0039] After charging is completed, the air pump 25 works again to restore the original air pressure of the second sliding cavity 24 and the first sliding cavity 23. The second piston plate 261 and the first piston plate 221 drive the fixed hook 262 and the latch rod 222 to return to their original positions. The docking mechanism 32 is automatically reset by the elastic force of the second elastic member 323, so that the terminal 281 is disconnected from the conductive plug 342. At the same time, the floating ball 224 shrinks in the jaws 231 due to gravity and fits into the spherical groove at the bottom of the latch rod 222.

[0040] The electromagnet 264 is energized, and the fixed hook 262 is retracted inwardly by the suction force of the electromagnet 264 , and then the electric telescopic rod 4 is controlled to retract the charging plug 3 downward, so that the charging plug 3 is separated from the charging box 2 .

[0041] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A wheeled inspection robot that is easy to dock stably, comprising a robot body (1) and a charging base (5) arranged on one side of the robot body (1), a charging box (2) being fixedly connected to the outer wall of the robot body (1), an electric telescopic rod (4) being fixedly mounted on the charging base (5), and a charging plug (3) being fixedly connected to the top end of the electric telescopic rod (4), characterized in that: An outer annular groove (31) is provided on the outer wall of the charging plug (3), a third sliding cavity (33) is provided inside the upper end of the charging plug (3), a docking mechanism (32) is provided in the third sliding cavity (33), and a plug assembly (34) is provided in the docking mechanism (32); The lower end of the charging box (2) is provided with an alignment groove (21) adapted to the charging plug (3), the upper end of the alignment groove (21) is provided with a second sliding cavity (24), the second sliding cavity (24) is provided with a pneumatic lifting mechanism (26) for lifting the docking mechanism (32), the top inner wall of the alignment groove (21) is provided with a terminal assembly (28) adapted to the plug assembly (34), the two sides of the alignment groove (21) are provided with a first sliding cavity (23), the first sliding cavity (23) is provided with a pneumatic locking mechanism (22) for locking the charging plug (3); An air pump (25) is fixedly arranged in the charging box (2), and the air pump (25) is connected to the second sliding cavity (24) and the two first sliding cavities (23) through an air guide tube (27); The docking mechanism (32) comprises a cylinder (321), a limiting sliding groove (331) is provided on the inner wall of the third sliding cavity (33), the cylinder (321) is slidably connected to the limiting sliding groove (331), a second elastic member (323) is sleeved on the outside of the cylinder (321), one end of the second elastic member (323) is fixedly connected to the cylinder (321), the other end of the second elastic member (323) is fixedly connected to the inner wall of the limiting sliding groove (331), and an inner annular groove (322) is provided on the inner wall of the cylinder (321); The plug assembly (34) comprises a tube body (341), one end of the tube body (341) is fixedly connected to the cylinder body (321), and the other end of the tube body (341) is fixedly connected to a conductive plug (342); The pneumatic lifting mechanism (26) comprises a second piston plate (261), the second piston plate (261) is slidably connected to the second sliding cavity (24), the bottom surface of the second piston plate (261) is hinged with two symmetrical fixed hooks (262), a first elastic member (263) is arranged between the two fixed hooks (262), both ends of the first elastic member (263) are fixedly connected with electromagnets (264), and the two electromagnets (264) are respectively fixed on the two fixed hooks (262); The terminal assembly (28) comprises a connecting terminal (281), two sides of the connecting terminal (281) are fixedly connected with fixing rods (283), one end of the fixing rod (283) is fixedly connected with a fixing clamp (282), the fixing clamp (282) is fixedly connected to the top inner wall of the alignment groove (21), and the fixing hook (262) is provided with a notch for the fixing rod (283) to slide up and down; The pneumatic locking mechanism (22) comprises a first piston plate (221), the first piston plate (221) is slidably connected to the first sliding cavity (23), a latch rod (222) is fixedly connected to the bottom surface of the first piston plate (221), a slider (223) is fixedly connected to the side wall of the latch rod (222), a guide groove (232) is provided on the lower side of the first sliding cavity (23), the slider (223) is slidably connected to the guide groove (232), a tiger's mouth (231) connected to the alignment groove (21) is provided on one side of the bottom of the guide groove (232), and a floating ball (224) is embedded in the tiger's mouth (231); A spherical groove matching the floating sphere (224) is formed at the bottom end of the latch rod (222).

2. A wheeled inspection robot that is easy to dock stably according to claim 1, characterized in that: The second elastic member (323) is a spring.

3. The wheeled inspection robot that is easy to dock stably according to claim 1, characterized in that: The first elastic member (263) is a spring.

4. The wheeled inspection robot that is easy to dock stably according to claim 1, characterized in that: The bottom end of the alignment groove (21) is trumpet-shaped.

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