A power plant inspection robot charging platform

Abstract

The application belongs to the technical field of inspection robots, and discloses a power plant inspection robot charging platform, which comprises a base, the front face of the base is fixedly provided with a slope, the back face of the base is fixedly provided with a back plate, the middle part of the back plate is provided with a clamping groove, the bottom end of the back face of the back plate is provided with a lifting assembly, and the front face of the back plate is provided with a horizontal rod located in front of the clamping groove. The weight of the robot is further utilized when the robot leaves the device, the automatic closing of the electromagnet is realized, the baffle is restored to the flush state to ensure the smooth removal of the robot, when the baffle remains flush, the light touch switch continues to contact and close, the automatic lowering of the horizontal rod is realized, and the sliding groove enters the hidden state, the whole process is automatically completed without manual assistance intervention, the intelligent degree is high, the automatic release of the charging assembly during charging and the automatic hiding of the charging assembly when not charging are realized, and the damage of the charging assembly is effectively avoided.

Description

Technical Field

[0001] This invention belongs to the field of inspection robot technology, specifically a charging platform for a power plant inspection robot. Background Technology

[0002] Patrol inspections are periodic or random inspections conducted during the production and manufacturing process of products. Their purpose is to promptly identify quality issues. In the daily operations of power plants, to promptly eliminate safety hazards, staff are often assigned to patrol and inspect the power plant area, reducing potential safety risks during work. Due to the large workload of patrol inspections and the need for 24-hour on-call service, current technology for power plant patrol inspections has shifted from traditional manual patrols to patrol robot patrols.

[0003] Currently, the inspection robots used in power plants can perform various inspection operations according to programmed settings. Conventional inspection robots generally use electricity as their power source. Since they need to move freely, they are usually powered by batteries. When the battery is about to run out of power, it needs to be recharged in time. Conventional robots generally have a charging platform. When the battery is about to run out of power, the robot will automatically locate the charging platform and complete the charging process autonomously. Charging is generally carried out by contact. However, the charging components of traditional charging platforms are generally directly exposed. They are in a predetermined position both when not charging and when charging. Inspection robots are generally used outdoors, which means that the charging components on the charging platform are prone to damage due to harsh environments. Therefore, it is very necessary to know how to keep the charging components in the predetermined position when the robot is charging and not in the predetermined position when not charging.

[0004] Since the inspection robot does not require human intervention during autonomous charging, it is generally charged by contacting metal contacts. That is, the metal contacts on the charging platform contact the metal contacts on the back of the robot, and the charging process is completed by positioning through the contact between the two. However, since both the inspection robot and the charging platform are used outdoors, the long-term exposure of the metal contacts will cause oxidation on the contact surface, which will prevent the two contacts from charging when they are aligned. Manual assistance in wiping is required to complete the charging process, which urgently needs to be improved. Summary of the Invention

[0005] The purpose of this invention is to provide a charging platform for a power plant inspection robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a charging platform for a power plant inspection robot, comprising a base, a ramp fixedly installed on the front of the base, a back plate fixedly installed on the back of the base, a slot in the middle of the back plate, a lifting assembly at the bottom of the back of the back plate, a crossbar on the front of the back plate located in front of the slot, a charging contact on the front of the crossbar, and guide and correction assemblies on both the left and right sides of the bottom of the crossbar. A groove is formed in the middle of the front of the ramp near the upper part, a pressure sensor is installed at the top of the base near the back plate, the top of the pressure sensor is flush with the top of the base, a baffle is movably connected to the inside of the groove near the lower part via a rotating shaft, and a torsion spring is movably sleeved on the outer side of the rotating shaft. The left and right ends of the torsion spring are respectively connected to one side of the groove and one side of the baffle. An anti-slip groove is formed on the front of the ramp below the groove.

[0007] When using the device, it must be used in conjunction with a matching inspection robot. Place the device on a flat surface and connect it to the power supply. At the same time, set the coordinates of the device on the inspection robot's map to ensure that the inspection robot can successfully locate the device's coordinates to complete the charging process.

[0008] As a further technical solution of the present invention, an extension column is fixedly installed in the middle of the bottom end of the baffle away from the rotating shaft, and electromagnets are fixedly installed on both the left and right sides of the bottom end of the baffle away from the rotating shaft. A tactile switch is fixedly installed at the end of the inner cavity of the baffle away from the rotating shaft. When the front of the baffle is flush with the front of the slope, the bottom end of the extension column contacts the top end of the tactile switch.

[0009] Before charging begins, the baffle is tilted up, meaning there is an angle between the baffle and the ramp. During charging, the inspection robot can climb and move along the ramp. When the bottom of the robot contacts the baffle, a certain downward pressure is applied to the baffle, compressing the torsion spring and causing the baffle to rotate until the front of the baffle is flush with the front of the ramp. When the baffle and the ramp are flush, the extension column can contact the tactile switch, which is in the closed state. At the same time, the bottom of the electromagnet contacts the bottom of the ramp, and the electromagnet power is activated to maintain the attraction to the ramp, thus keeping the baffle flush.

[0010] As a further technical solution of the present invention, the lifting assembly includes a locking block, which is movably engaged with a locking slot, and the front of the locking block is fixedly connected to the back of the crossbar.

[0011] As a further technical solution of the present invention, the lifting assembly also includes a guide rail, which is fixedly connected to the bottom end of the back panel. A mounting base is fixedly installed on the side of the guide rail, and a servo motor is fixedly installed on the top of the mounting base. Movable blocks are symmetrically and movably installed on both the left and right sides of the inner cavity of the guide rail.

[0012] As a further technical solution of the present invention, a second fixed seat is fixedly installed on the top of each movable block. The end of the second fixed seat away from the movable block is movably connected to a connecting rod through a rotating shaft. The end of the connecting rod away from the second fixed seat is movably connected to a first fixed seat through a rotating shaft. The tops of the two first fixed seats are connected to the left and right sides of the bottom of the block.

[0013] As a further technical solution of the present invention, the inner side of the movable block is threaded with a lead screw, the left and right ends of the lead screw pass through the left and right sides of the guide rail and one end of the lead screw is connected to the output end of the servo motor. The thread directions of the left and right sides of the outer side of the lead screw are opposite and the thread directions of the corresponding thread grooves inside the movable block are the same.

[0014] When the tactile switch is powered on, a signal is transmitted to the servo motor, which then starts and rotates the lead screw. Since the threads at the left and right ends of the lead screw are opposite in direction, while the threads in the corresponding movable blocks are in the same direction, when the servo motor rotates forward, it drives the lead screw to rotate forward, causing the two movable blocks to move closer together. When the two movable blocks are close together, the connecting rod deflects inward, reducing the angle between the two connecting rods. This causes the locking block to move upward, moving the crossbar upward as well. The sliding groove on the front of the crossbar also moves upward, changing its position from a hidden state to an active state. Furthermore, when the inspection robot moves to an oblique position... When the inspection robot's contact point is at the top of the slope and in contact with the chute, the charging process can begin. At this time, the pressure sensor is pressed, the electromagnet power is disconnected, the torsion spring automatically resets, causing the baffle to automatically reset and tilt upwards. At this time, the extension column is not in contact with the tactile switch, and the servo motor stops rotating. When charging is finished, the inspection robot moves towards the back plate, the pressure sensor is no longer pressed, the electromagnet power is closed, and the electromagnet attracts the slope. The baffle continues to remain flush for the robot to move out of the device. At the same time, the tactile switch remains closed, the servo motor reverses, and the crossbar and chute descend, turning into a hidden state.

[0015] By combining a tactile switch with a servo motor and a pressure sensor with an electromagnet, the pressure applied to the baffle by the robot during charging activates the tactile switch, causing the crossbar to rise automatically and the chute to enter the working state. The robot's weight then causes the electromagnet to close, automatically tilting the baffle to limit and stop the robot. When the robot leaves the device, its weight further activates the electromagnet to close automatically, restoring the baffle to a flat state and ensuring the robot's smooth exit. Simultaneously, while the baffle remains flat, the tactile switch remains closed, automatically lowering the crossbar and causing the chute to retract. The entire process is automated without manual intervention, demonstrating a high degree of intelligence. It automatically releases the charging components during charging and automatically retracts them when not charging, effectively preventing damage to the charging components.

[0016] As a further technical solution of the present invention, the left and right sides of the front of the crossbar are provided with sliding grooves, and sliders are symmetrically and movably installed inside the sliding grooves. Clamping blocks are fixedly installed on the front of the sliders, and guide rods are fixedly installed on the front of the clamping blocks. Cleaning cloths are fixedly installed on the relatively close ends of the two sliders. The back of the cleaning cloths is in contact with the front of the crossbar, and the front of the charging contacts is flush with the front of the crossbar.

[0017] When the inspection robot enters the top of the base, it moves towards the back plate. At this time, the back of the robot can contact the inner side of the two guide rods. As the robot moves further, the two guide rods are subjected to a spreading force, which is transmitted to the clamping blocks and causes the two sliders to move away from each other. At this time, the two clamping blocks and guide rods also move away from each other until the two ends of the inspection robot contact the inner side of the clamping blocks to complete the clamping and positioning. At the same time, when the two sliders move away from each other, the two cleaning cloths also move away from each other, relying on friction to clean the front of the charging contacts and the charging contacts of the inspection robot, removing the oxide layer, until the contacts of the inspection robot contact the charging contacts to complete the charging process.

[0018] By utilizing the movement of the robot as it enters the charging platform, the guide rod guides the two clamping blocks to move away from each other, and clamps the robot in place. Simultaneously, the displacement of the clamping blocks allows for the movement of two cleaning cloths, enabling them to clean the charging contacts and the robot's contact points. This automatic cleaning avoids the problem of exposed contacts causing oxide layers that prevent charging, a common issue with traditional robots. It not only automatically clamps the robot in place and automatically hides the charging contacts when not charging, but also automatically cleans both the charging and robot contacts, significantly improving the charging success rate.

[0019] As a further technical solution of the present invention, an extension rod is fixedly installed at the ends of the two sliders that are relatively far apart. Oil storage pipes are fixedly installed on both sides of the crossbar. The extension rod passes through one end of the oil storage pipe and is movably installed with a pressure plate. A first return spring is movably sleeved on the outer side of the extension rod. The left and right sides of the first return spring are respectively connected to one end of the slider and one end of the slide groove. The end of the extension rod away from the slider passes through the crossbar and one end of the oil storage pipe and is fixedly connected with a pressure plate. The pressure plate is movably sleeved with the oil storage pipe. An oil drain pipe is fixedly connected to the bottom end of the oil storage pipe away from the crossbar.

[0020] As a further technical solution of the present invention, the guiding and correcting assembly includes a temporary storage tube located below the oil storage tube. A fixing frame is fixedly installed at the left end of the temporary storage tube. The temporary storage tube is connected to the back plate through the fixing frame. An oil inlet is fixedly connected to the top end of the temporary storage tube near the left side. A corrugated pipe is fixedly connected to the top end of the oil inlet. The top end of the corrugated pipe is connected to the bottom end of the oil drain pipe. A piston plate is movably sleeved inside the temporary storage tube. A piston rod is fixedly connected to the end of the piston plate away from the fixing frame. The end of the piston rod away from the piston plate passes through one end of the temporary storage tube and is fixedly connected to a correction rod. The correction rod is located below the clamping block. Guide wheels are movably installed at equal intervals on the inner side of the correction rod. A second return spring located inside the temporary storage tube is fixedly connected to the end of the piston plate near the fixing frame. The other end of the second return spring is fixedly connected to the left end of the inner cavity of the temporary storage tube.

[0021] When the two sliders move away from each other, the two extension rods also move away from each other. The extension rods and pressure plate then move away from the sliders. At this time, the first return spring is compressed, and the hydraulic oil inside the oil reservoir is pressured and discharged from the drain pipe. It then enters the temporary storage pipe through the bellows and the inlet. The piston plate moves to the right under the pressure of the hydraulic oil, and the second return spring is stretched. The piston plate and piston rod move to the right, driving the correction rod to move towards the center of the base. At this time, both correction rods move closer to the center, which corrects the displacement of the inspection robot inward, ensuring that the distance between the two ends is consistent. At the same time, the guide wheel can rotate by friction with the outer side of the robot to guide the robot and ensure that the robot enters the charging position smoothly. When the robot leaves, both the second and first return springs automatically reset, causing the hydraulic oil to flow back into the oil reservoir. At the same time, the two correction rods move away from each other, returning to the initial state.

[0022] By reusing the movement of the robot as it enters the charging platform, the force exerted during the chute deployment is converted into hydraulic pressure. This hydraulic pressure causes two correction rods to move inward, making contact with the robot's outer side. Since the two correction rods have the same displacement relative to the base side, they can correct the robot's left and right distances, ensuring a correct path. At the same time, the guide wheels ensure the robot smoothly enters the charging position. The entire process remains automated, further improving the charging success rate and reducing the number of manual interventions, making it suitable for use in power plants.

[0023] As a further technical solution of the present invention, the output terminal of the tactile switch is electrically connected to the input terminal of the servo motor, and the output terminal of the pressure sensor is electrically connected to the input terminal of the electromagnet.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. This invention utilizes the combination of a tactile switch and a servo motor, as well as the combination of a pressure sensor and an electromagnet. The pressure applied to the baffle by the robot during charging activates the tactile switch, causing the crossbar to automatically rise and the chute to enter working mode. The robot's weight also causes the electromagnet to close, automatically raising the baffle to limit and block the robot. When the robot leaves the device, its weight further activates the electromagnet to close automatically, restoring the baffle to a level position and ensuring smooth robot exit. Simultaneously, while the baffle remains level, the tactile switch remains closed, automatically lowering the crossbar and causing the chute to retract. The entire process is automated without manual intervention, exhibiting a high degree of intelligence. It automatically releases the charging component during charging and automatically retracts it when not charging, effectively preventing damage to the charging component.

[0026] 2. This invention utilizes the movement of the robot as it enters the charging platform. The guide rod guides the two clamping blocks to move away from each other, and clamps the robot in place. Simultaneously, the displacement of the clamping blocks allows for the movement of two cleaning cloths, cleaning the charging contacts and the robot's contact points. This automatic cleaning avoids the problem of exposed contacts causing oxide layers that prevent charging, a common issue with traditional robots. This invention not only automatically clamps the robot in place and automatically hides the charging contacts when not charging, but also automatically cleans both the charging and robot contacts, significantly improving the charging success rate.

[0027] 3. This invention reuses the movement of the robot as it enters the charging platform, converting the force exerted during the chute deployment into hydraulic oil pressure. This hydraulic oil pressure causes two correction rods to move inward, making contact with the robot's outer side. Since the two correction rods have the same displacement relative to the base side, they can correct the robot's left and right distances, ensuring a correct path. At the same time, the guide wheels ensure the robot smoothly enters the charging position. The entire process is still automated, further improving the charging success rate and reducing the number of manual interventions, making it suitable for use in power plants. Attached Figure Description

[0028] Figure 1 This is a front view of the overall structure of the present invention;

[0029] Figure 2 This is a rear view of the overall structure of the present invention;

[0030] Figure 3 This is a schematic diagram of the internal structure of the groove in this invention;

[0031] Figure 4 This is an exploded view of the lifting assembly and backplate structure of the present invention;

[0032] Figure 5 This is a schematic diagram showing the cooperation between the lifting assembly, the crossbar, and the guide correction assembly structure of the present invention;

[0033] Figure 6 This is a separate exploded view of the lifting component of the present invention;

[0034] Figure 7 This is a cross-sectional schematic diagram of the internal structure of the crossbar of the present invention;

[0035] Figure 8 This is a separate schematic diagram of the guiding and correction component structure of the present invention;

[0036] Figure 9 This is a schematic diagram of the workflow of the present invention.

[0037] In the diagram: 1. Base; 2. Slope; 3. Back plate; 4. Anti-slip groove; 5. Baffle; 6. Torsion spring; 7. Electromagnet; 8. Extension column; 9. Tactile switch; 10. Slot; 11. Lifting assembly; 111. Guide rail; 112. Mounting base; 113. Servo motor; 114. Lead screw; 115. Movable block; 116. Locking block; 117. First fixed base; 118. Second fixed base; 119. Connecting rod; 12. Crossbar; 13. Charging contact; 14. Slide groove; 15. 16. Slider; 17. Clamping block; 18. Guide rod; 19. Cleaning cloth; 20. Extension rod; 21. Pressure plate; 22. Oil storage pipe; 23. First return spring; 24. Oil drain pipe; 24. Guide and correction assembly; 241. Temporary storage pipe; 242. Bellows pipe; 243. Oil inlet; 244. Second return spring; 245. Fixing bracket; 246. Piston rod; 247. Piston plate; 248. Correction rod; 249. Guide wheel; 25. Groove; 26. Pressure sensor. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] like Figures 1 to 9 As shown in the embodiment of the present invention, a charging platform for a power plant inspection robot includes a base 1. A ramp 2 is fixedly installed on the front of the base 1, and a back plate 3 is fixedly installed on the back of the base 1. A slot 10 is provided in the middle of the back plate 3. A lifting component 11 is provided at the bottom of the back of the back plate 3. A crossbar 12 is provided on the front of the slot 10 on the front of the back plate 3. A charging contact 13 is provided on the front of the crossbar 12. Guide correction components 24 are provided on both the left and right sides of the bottom of the crossbar 12. A groove 25 is provided in the middle of the front of the ramp 2 near the top. A pressure sensor 26 is installed at the top of the base 1 near the back plate 3. The top of the pressure sensor 26 is flush with the top of the base 1. A baffle 5 is movably connected to the inside of the groove 25 near the bottom through a rotating shaft. A torsion spring 6 is movably sleeved on the outer side of the rotating shaft. The left and right ends of the torsion spring 6 are respectively connected to one side of the groove 25 and one side of the baffle 5. An anti-slip groove 4 is provided on the front of the ramp 2 below the groove 25.

[0040] When using the device, it must be used in conjunction with a matching inspection robot. Place the device on a flat surface and connect it to the power supply. At the same time, set the coordinates of the device on the inspection robot's map to ensure that the inspection robot can successfully locate the device's coordinates to complete the charging process.

[0041] like Figure 1 and Figure 3 As shown, an extension column 8 is fixedly installed in the middle of the bottom end of the baffle 5 away from the rotating shaft. Electromagnets 7 are fixedly installed on both the left and right sides of the bottom end of the baffle 5 away from the rotating shaft. A tactile switch 9 is fixedly installed at the end of the inner cavity of the baffle 5 away from the rotating shaft. When the front of the baffle 5 is flush with the front of the slope 2, the bottom end of the extension column 8 contacts the top end of the tactile switch 9.

[0042] Before charging begins, baffle 5 is tilted up, meaning there is an angle between baffle 5 and ramp 2. During charging, the inspection robot can climb and move via ramp 2. When the bottom of the robot contacts baffle 5, a certain downward pressure is applied to baffle 5, compressing torsion spring 6 and causing baffle 5 to rotate until the front of baffle 5 is flush with the front of ramp 2. When baffle 5 and ramp 2 are flush, extension column 8 can contact tactile switch 9, which is closed. At the same time, the bottom of electromagnet 7 contacts the bottom of ramp 2, and the electromagnet 7 is powered on to maintain its attraction to ramp 2, thus keeping baffle 5 flush.

[0043] like Figure 1 and Figure 4 as well as Figure 5 and Figure 6 As shown, the lifting assembly 11 includes a locking block 116, which is movably engaged with the locking slot 10. The front of the locking block 116 is fixedly connected to the back of the crossbar 12. The lifting assembly 11 also includes a guide rail 111, which is fixedly connected to the bottom end of the back of the back plate 3. A mounting base 112 is fixedly installed on the side of the guide rail 111, and a servo motor 113 is fixedly installed on the top of the mounting base 112. Movable blocks 115 are symmetrically and movably installed on both the left and right sides of the inner cavity of the guide rail 111. A second fixed seat 118 is fixedly installed on the top of each movable block 115, and the second fixed seat 118 is located away from the movable block 11. One end of 5 is movably connected to a connecting rod 119 via a rotating shaft. The end of the connecting rod 119 away from the second fixed seat 118 is movably connected to a first fixed seat 117 via a rotating shaft. The tops of the two first fixed seats 117 are connected to the left and right sides of the bottom of the locking block 116. The inner side of the movable block 115 is threaded with a lead screw 114. The left and right ends of the lead screw 114 pass through the left and right sides of the guide rail 111, and one end of the lead screw 114 is connected to the output end of the servo motor 113. The thread directions on the left and right sides of the outer side of the lead screw 114 are opposite, and the thread directions of the corresponding thread grooves inside the movable block 115 are the same.

[0044] First embodiment:

[0045] When the power to the tactile switch 9 is closed, a signal is transmitted to the servo motor 113. The servo motor 113 then starts, causing the lead screw 114 to rotate. Since the threads at the left and right ends of the lead screw 114 are opposite in direction, and the threads in the corresponding movable blocks 115 are in the same direction, when the servo motor 113 rotates forward, it drives the lead screw 114 to rotate forward, causing the two movable blocks 115 to move closer together. When the two movable blocks 115 move closer together, the connecting rod 119 deflects inward, reducing the angle between the two connecting rods 119. At this time, the locking block 116 moves upward, causing the crossbar 12 to move upward. The sliding groove 14 on the front of the crossbar 12 also moves upward, changing the sliding groove 14 from a hidden state to a working state. When the inspection robot moves to the top of the ramp 2 and its contact point contacts the slide 14, the charging process can begin. At this time, the pressure sensor 26 is pressed, the power supply to the electromagnet 7 is disconnected, the torsion spring 6 automatically resets, causing the baffle 5 to automatically reset and tilt up. At this time, the extension column 8 is not in contact with the tactile switch 9, and the servo motor 113 stops rotating. When the charging is finished, the inspection robot moves towards the back plate 3, the pressure sensor 26 is no longer pressed, the power supply to the electromagnet 7 is closed, the electromagnet 7 attracts the ramp 2, the baffle 5 continues to remain flat for the robot to move out of the device, and the tactile switch 9 remains closed, the servo motor 113 reverses, and the crossbar 12 and the slide 14 descend and become hidden.

[0046] By cooperating with the tactile switch 9 and the servo motor 113, and with the pressure sensor 26 and the electromagnet 7, the pressure applied to the baffle 5 during robot charging is used to achieve the contact closure of the tactile switch 9, enabling the crossbar 12 to automatically rise and the slide 14 to enter the working state. The robot's gravity is used to achieve the closure of the electromagnet 7, enabling the baffle 5 to automatically tilt and limit the robot. When the robot leaves the device, the robot's weight is further used to achieve the automatic closure of the electromagnet 7, allowing the baffle 5 to return to a flat state and ensuring the smooth movement of the robot. At the same time, when the baffle 5 remains flat, the tactile switch 9 continues to be closed, enabling the crossbar 12 to automatically descend and the slide 14 to enter the hidden state. The entire process is completed automatically without human intervention, with a high degree of intelligence. It realizes the automatic release of the charging component during charging and the automatic hiding of the charging component when not charging, effectively avoiding damage to the charging component.

[0047] like Figure 5 and Figure 7As shown, the left and right sides of the front of the crossbar 12 are provided with sliding grooves 14. Slider 15 is symmetrically and movably installed inside the sliding grooves 14. Clamping blocks 16 are fixedly installed on the front of the slider 15. Guide rods 17 are fixedly installed on the front of the clamping blocks 16. Cleaning cloths 18 are fixedly installed on the relatively close ends of the two sliders 15. The back of the cleaning cloth 18 is in contact with the front of the crossbar 12. The front of the charging contact 13 is flush with the front of the crossbar 12.

[0048] Second embodiment:

[0049] When the inspection robot enters the top of the base 1, as the robot moves towards the back plate 3, its back can contact the inner sides of the two guide rods 17. As the robot moves further, the two guide rods 17 are subjected to a spreading force, which is transmitted to the clamping block 16, causing the two sliders 15 to move away from each other. At this time, the two clamping blocks 16 and the guide rods 17 also move away from each other until the two ends of the inspection robot contact the inner sides of the clamping blocks 16 to complete the clamping and positioning. At the same time, when the two sliders 15 move away from each other, the two cleaning cloths 18 also move away from each other, relying on friction to clean the front of the charging contacts 13 and the charging contacts of the inspection robot, removing the oxide layer, until the contacts of the inspection robot contact the charging contacts 13 to complete the charging process.

[0050] By utilizing the movement of the robot as it enters the charging platform, the guide rod 17 guides the two clamping blocks 16 to move away from each other, and clamps the robot in place. Simultaneously, the displacement of the clamping blocks 16 allows the displacement of the two cleaning cloths 18, enabling them to clean the charging contacts 13 and the robot's contact points. This achieves automatic cleaning and avoids the problem of exposed contacts causing an oxide layer that prevents charging in traditional robots. It not only enables automatic clamping after the robot is in place and automatic hiding of the charging contacts 13 when not charging, but also automatic cleaning of the charging contacts 13 and the robot's contacts, significantly improving the charging success rate.

[0051] like Figure 5 and Figure 7 as well as Figure 8As shown, extension rods 19 are fixedly installed at the ends of the two sliders 15 that are relatively far apart. Oil storage pipes 21 are fixedly installed on both sides of the crossbar 12. The extension rod 19 passes through one end of the oil storage pipe 21 and is movably mounted with a pressure plate 20. A first return spring 22 is movably sleeved on the outer side of the extension rod 19. The left and right sides of the first return spring 22 are respectively connected to one end of the slider 15 and one end of the slide groove 14. The end of the extension rod 19 away from the slider 15 passes through the crossbar 12 and one end of the oil storage pipe 21 and is fixedly connected with the pressure plate 20. The pressure plate 20 is movably sleeved with the oil storage pipe 21. The bottom end of the oil storage pipe 21 away from the crossbar 12 is fixedly connected to the drain pipe 23. The guide correction component 24 includes a temporary storage pipe 241. The temporary storage pipe 241 is located below the oil storage pipe 21. A fixing bracket 245 is fixedly installed on the left end of the temporary storage pipe 241. The temporary storage pipe 241 is connected to the fixed bracket 245 through the fixed bracket 245. The fixed frame 245 is connected to the back plate 3. The top of the temporary storage tube 241 near the left side is fixedly connected to the oil inlet 243. The top of the oil inlet 243 is fixedly connected to the bellows 242. The top of the bellows 242 is connected to the bottom of the oil drain pipe 23. The piston plate 247 is movably sleeved inside the temporary storage tube 241. The piston rod 246 is fixedly connected to the end of the piston plate 247 away from the fixed frame 245. The end of the piston rod 246 away from the piston plate 247 passes through one end of the temporary storage tube 241 and is fixedly connected to the correction rod 248. The correction rod 248 is located below the clamping block 16. The guide wheels 249 are movably installed at equal distances on the inner side of the correction rod 248. The second return spring 244 located inside the temporary storage tube 241 is fixedly connected to the end of the piston plate 247 near the fixed frame 245. The other end of the second return spring 244 is fixedly connected to the left end of the inner cavity of the temporary storage tube 241.

[0052] Third embodiment:

[0053] When the two sliders 15 move away from each other, the two extension rods 19 also move away from each other. The extension rods 19 and the pressure plate 20 then move away from the sliders 15. At this time, the first return spring 22 is compressed, and the hydraulic oil inside the oil reservoir 21 is pressured and discharged from the drain pipe 23, and enters the temporary storage pipe 241 through the bellows 242 and the inlet 243. At this time, the piston plate 247 is pressured by the hydraulic oil and moves to the right. The second return spring 244 is then stretched, and the piston plate 247 and the piston rod 246 move to the right, driving... The correction rod 248 moves towards the center of the base 1. At this time, both correction rods 248 move closer to the center, which can correct the displacement of the inspection robot inward and ensure that the distance between the two ends is consistent. At the same time, the guide wheel 249 can rotate by friction with the outer side of the robot to guide the robot and ensure that the robot enters the charging position smoothly. When the robot leaves, the second reset spring 244 and the first reset spring 22 can automatically reset, causing the hydraulic oil to flow back into the oil reservoir 21. At the same time, the two correction rods 248 move away from each other and return to the initial state.

[0054] By reusing the movement of the robot into the charging platform, the force exerted when the slide 14 unfolds is converted into hydraulic oil pressure. This hydraulic oil pressure causes the two correction rods 248 to move closer to the inner side, making contact with the outer side of the robot. Since the two correction rods 248 have the same displacement relative to the side of the base 1, they can correct the robot's left and right distances, ensuring the correct path. At the same time, the guide wheel 249 ensures that the robot smoothly enters the charging position. The entire process is still completed automatically, further improving the charging success rate and reducing the number of manual interventions, making it suitable for use in power plants.

[0055] like Figure 9 As shown, the output terminal of the tactile switch 9 is electrically connected to the input terminal of the servo motor 113, and the output terminal of the pressure sensor 26 is electrically connected to the input terminal of the electromagnet 7.

[0056] Working principle and usage process:

[0057] Before charging begins, baffle 5 is tilted up, meaning there is a certain angle between baffle 5 and ramp 2. During charging, the inspection robot can climb and move via ramp 2. When the bottom of the robot contacts baffle 5, a certain downward pressure can be applied to baffle 5, and torsion spring 6 is compressed, causing baffle 5 to rotate until the front of baffle 5 is flush with the front of ramp 2. When baffle 5 and ramp 2 are flush, extension column 8 can contact tactile switch 9, which is in a closed state. At the same time, the bottom of electromagnet 7 contacts the bottom of ramp 2, and the electromagnet 7 is powered on to maintain its attraction to ramp 2, thus keeping baffle 5 in a flush state.

[0058] When the power to the tactile switch 9 is closed, a signal is transmitted to the servo motor 113. The servo motor 113 then starts, causing the lead screw 114 to rotate. Since the threads at the left and right ends of the lead screw 114 are opposite in direction, and the threads in the corresponding movable blocks 115 are in the same direction, when the servo motor 113 rotates forward, it drives the lead screw 114 to rotate forward, causing the two movable blocks 115 to move closer together. When the two movable blocks 115 move closer together, the connecting rod 119 deflects inward, reducing the angle between the two connecting rods 119. At this time, the locking block 116 moves upward, causing the crossbar 12 to move upward. The sliding groove 14 on the front of the crossbar 12 also moves upward, changing the sliding groove 14 from a hidden state to a working state. When the inspection robot moves to the top of the ramp 2 and its contact point contacts the slide 14, the charging process can begin. At this time, the pressure sensor 26 is pressed, the power supply to the electromagnet 7 is disconnected, the torsion spring 6 automatically resets, causing the baffle 5 to automatically reset and tilt up. At this time, the extension column 8 is not in contact with the tactile switch 9, and the servo motor 113 stops rotating. When the charging is finished, the inspection robot moves towards the back plate 3, the pressure sensor 26 is no longer pressed, the power supply to the electromagnet 7 is closed, the electromagnet 7 is attracted to the ramp 2, the baffle 5 continues to remain flat for the robot to move out of the device, and the tactile switch 9 continues to be closed. The servo motor 113 reverses accordingly, and the crossbar 12 and the slide 14 descend and become hidden.

[0059] When the inspection robot enters the top of the base 1, as the robot moves towards the back plate 3, the back of the robot can contact the inner side of the two guide rods 17. As the robot moves further, the two guide rods 17 are subjected to a spreading force, which is transmitted to the clamping block 16 and drives the two sliders 15 to move away from each other. At this time, the two clamping blocks 16 and the guide rods 17 move away from each other until the two ends of the inspection robot contact the inner side of the clamping block 16 to complete the clamping and positioning. At the same time, when the two sliders 15 move away from each other, the two cleaning cloths 18 also move away from each other, relying on friction to clean the front of the charging contact 13 and the charging contact part of the inspection robot, removing the oxide layer, until the contact of the inspection robot contacts the charging contact 13 to complete the charging process.

[0060] When the two sliders 15 move away from each other, the two extension rods 19 also move away from each other. The extension rods 19 and the pressure plate 20 then move away from the sliders 15. At this time, the first return spring 22 is compressed, and the hydraulic oil inside the oil reservoir 21 is pressured and discharged from the drain pipe 23, and enters the temporary storage pipe 241 through the bellows 242 and the inlet 243. At this time, the piston plate 247 is pressured by the hydraulic oil and moves to the right. The second return spring 244 is then stretched, and the piston plate 247 and the piston rod 246 move to the right, driving... The correction rod 248 moves towards the center of the base 1. At this time, both correction rods 248 move closer to the center, which can correct the displacement of the inspection robot inward and ensure that the distance between the two ends is consistent. At the same time, the guide wheel 249 can rotate by friction with the outer side of the robot to guide the robot and ensure that the robot enters the charging position smoothly. When the robot leaves, the second reset spring 244 and the first reset spring 22 can automatically reset, causing the hydraulic oil to flow back into the oil reservoir 21. At the same time, the two correction rods 248 move away from each other and return to the initial state.

[0061] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A charging platform for a power plant inspection robot, comprising a base (1), characterized in that: A ramp (2) is fixedly installed on the front of the base (1), and a back plate (3) is fixedly installed on the back of the base (1). A slot (10) is provided in the middle of the back plate (3). A lifting component (11) is provided at the bottom of the back of the back plate (3). A crossbar (12) is provided on the front of the back plate (3) in front of the slot (10). A charging contact (13) is provided on the front of the crossbar (12). Guide correction components (24) are provided on both the left and right sides of the bottom of the crossbar (12). A ramp (2) is provided on the front of the ramp (2) near the top. There is a groove (25). A pressure sensor (26) is installed at the top of the base (1) near the back plate (3). The top of the pressure sensor (26) is flush with the top of the base (1). A baffle (5) is movably connected to the inside of the groove (25) near the bottom through a rotating shaft. A torsion spring (6) is movably sleeved on the outer side of the rotating shaft. The left and right ends of the torsion spring (6) are connected to one side of the groove (25) and one side of the baffle (5), respectively. An anti-slip groove (4) is opened on the front of the ramp (2) below the groove (25). The guiding and correcting assembly (24) includes a temporary storage tube (241), which is located below the oil storage tube (21). A fixing bracket (245) is fixedly installed at the left end of the temporary storage tube (241). The temporary storage tube (241) is connected to the back plate (3) through the fixing bracket (245). An oil inlet (243) is fixedly connected to the top end of the temporary storage tube (241) near the left side. A bellows pipe (242) is fixedly connected to the top end of the oil inlet (243). The top end of the bellows pipe (242) is connected to the bottom end of the oil drain pipe (23). A piston plate (247) is movably sleeved inside the temporary storage tube (241). 247) A piston rod (246) is fixedly connected to one end away from the fixed frame (245). The piston rod (246) is connected to one end of the temporary storage tube (241) through the other end away from the piston plate (247) and is fixedly connected to a correction rod (248). The correction rod (248) is located below the clamping block (16). Guide wheels (249) are equidistantly installed on the inner side of the correction rod (248). A second reset spring (244) is fixedly connected to one end of the piston plate (247) near the fixed frame (245). The other end of the second reset spring (244) is fixedly connected to the left end of the inner cavity of the temporary storage tube (241).

2. The charging platform for a power plant inspection robot according to claim 1, characterized in that: An extension column (8) is fixedly installed in the middle of the bottom end of the baffle (5) away from the rotating shaft. Electromagnets (7) are fixedly installed on both the left and right sides of the bottom end of the baffle (5) away from the rotating shaft. A tactile switch (9) is fixedly installed at the end of the inner cavity of the baffle (5) away from the rotating shaft. When the front of the baffle (5) is flush with the front of the slope (2), the bottom end of the extension column (8) contacts the top end of the tactile switch (9).

3. The charging platform for a power plant inspection robot according to claim 1, characterized in that: The lifting assembly (11) includes a locking block (116), which is movably engaged with the slot (10), and the front of the locking block (116) is fixedly connected to the back of the crossbar (12).

4. The charging platform for a power plant inspection robot according to claim 3, characterized in that: The lifting assembly (11) also includes a guide rail (111), which is fixedly connected to the bottom of the back of the back plate (3). A mounting base (112) is fixedly installed on the side of the guide rail (111), and a servo motor (113) is fixedly installed on the top of the mounting base (112). Movable blocks (115) are symmetrically installed on the left and right sides of the inner cavity of the guide rail (111).

5. The charging platform for a power plant inspection robot according to claim 4, characterized in that: The top of each movable block (115) is fixedly installed with a second fixed seat (118). The end of the second fixed seat (118) away from the movable block (115) is movably connected to a connecting rod (119) via a rotating shaft. The end of the connecting rod (119) away from the second fixed seat (118) is movably connected to a first fixed seat (117) via a rotating shaft. The tops of the two first fixed seats (117) are connected to the left and right sides of the bottom of the locking block (116).

6. The charging platform for a power plant inspection robot according to claim 4, characterized in that: The inner side of the movable block (115) is threaded with a lead screw (114). The left and right ends of the lead screw (114) pass through the left and right sides of the guide rail (111), and one end of the lead screw (114) is connected to the output end of the servo motor (113). The thread directions on the left and right sides of the outer side of the lead screw (114) are opposite, and the thread directions of the corresponding thread grooves inside the movable block (115) are the same.

7. The charging platform for a power plant inspection robot according to claim 1, characterized in that: The crossbar (12) has grooves (14) on both the left and right sides of its front side. Slider (15) is symmetrically and movably installed inside the groove (14). Clamping blocks (16) are fixedly installed on the front side of each slider (15). Guide rods (17) are fixedly installed on the front side of each clamping block (16). Cleaning cloths (18) are fixedly installed on the relatively close ends of the two sliders (15). The back of the cleaning cloth (18) is in contact with the front side of the crossbar (12). The front side of the charging contact (13) is flush with the front side of the crossbar (12).

8. The charging platform for a power plant inspection robot according to claim 7, characterized in that: An extension rod (19) is fixedly installed at the opposite ends of the two sliders (15). An oil storage pipe (21) is fixedly installed on both the left and right sides of the crossbar (12). The extension rod (19) passes through one end of the oil storage pipe (21) and is movably installed with a pressure plate (20). A first return spring (22) is movably sleeved on the outer side of the extension rod (19). The left and right sides of the first return spring (22) are respectively connected to one end of the slider (15) and one end of the slide groove (14). The end of the extension rod (19) away from the slider (15) passes through the crossbar (12) and one end of the oil storage pipe (21) and is fixedly connected with a pressure plate (20). The pressure plate (20) is movably sleeved with the oil storage pipe (21). An oil drain pipe (23) is fixedly connected to the bottom end of the oil storage pipe (21) away from the crossbar (12).

9. A charging platform for a power plant inspection robot according to claim 2, characterized in that: The output terminal of the tactile switch (9) is electrically connected to the input terminal of the servo motor (113), and the output terminal of the pressure sensor (26) is electrically connected to the input terminal of the electromagnet (7).

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