A charging device, system and method for an inspection robot

Abstract

This invention discloses a charging device, system, and method for an inspection robot, including a wireless charging bracket, a wireless charging box, and a limiting unit. The wireless charging bracket includes first, second, and third support arms. The first end of the first support arm is fixed to a power tower; the second support arm is perpendicular to the first support arm, and its first end is fixedly connected to the first end of the first support arm; the third support arm is perpendicular to the first support arm, and its first end is fixedly connected to the second end of the first support arm; the wireless charging box is located at the second end of the second support arm; the limiting unit includes a guide bar and a traction column. The guide bar includes a parking section and an entry section, with an obtuse angle between them. The parking section is parallel to the charging rail, and the entry section is parallel to the ground. The guide bar is fixedly connected to the second end of the third support arm; the traction column is fixed to the inspection robot. When the inspection robot moves towards the wireless charging box, the traction column moves along the guide bar. This invention enables the inspection robot to quickly and accurately reach the charging position.

Description

Technical Field

[0001] This invention relates to the technical field of charging inspection robots, and in particular to a charging device, system and method for inspection robots. Background Technology

[0002] High-altitude power grid inspection robots require intermittent charging due to limited battery reserves during operation. Please refer to [link / reference needed]. Figure 1 This diagram illustrates a charging scenario for an inspection robot. Typically, the charging station B for inspection robot A is located on power tower C. Inspection robot A enters charging station B from the tower-crossing track D to charge. However, due to the often high wind speeds at high altitudes, the inspection robot sways from side to side on the track when the wind is strong, making it difficult to reach the correct charging location and resulting in a lack of stability during charging, leading to low charging efficiency. Summary of the Invention

[0003] The primary objective of this invention is to overcome the shortcomings and deficiencies of the prior art and provide a charging device for inspection robots that can effectively enable inspection robots to quickly and accurately reach the charging position while maintaining stability.

[0004] The second objective of this invention is to provide a charging system for an inspection robot.

[0005] A third objective of this invention is to provide a charging method for an inspection robot.

[0006] The first objective of this invention is achieved through the following technical solution: a charging device for an inspection robot, used for charging an inspection robot on a power tower, comprising a wireless charging bracket, a wireless charging box, and a limiting unit, wherein the wireless charging bracket comprises a first support arm, a second support arm, and a third support arm, a first end of the first support arm being fixed to the power tower; the second support arm being perpendicular to the first support arm, and a first end of the second support arm being fixedly connected to the first end of the first support arm; the third support arm being perpendicular to the first support arm, and a first end of the third support arm being fixedly connected to the second end of the first support arm;

[0007] The wireless charging box has a built-in wireless charging device, a charging port is provided on the side of the wireless charging box, and the wireless charging box is located at the second end of the second support arm;

[0008] The limiting unit includes a guide bar and a traction column. The guide bar includes a parking section and an inlet section. The angle between the parking section and the inlet section is an obtuse angle. The parking section is parallel to the charging port, and the inlet section is parallel to the ground. The guide bar is fixedly connected to the second end of the third support arm. The traction column is used to fix the inspection robot to the inspection robot. When the inspection robot moves toward the wireless charging box, the traction column moves along the guide bar.

[0009] Preferably, the wireless charging bracket further includes a charging rail, which is perpendicular to the first support arm, the second support arm, and the third support arm, and parallel to the parking section of the guide bar. The charging rail is connected to the second end of the first support arm, and both ends of the charging rail are used to connect with the tower crossing track. The inspection robot can transfer from the tower crossing track to the charging rail, thereby entering the charging position.

[0010] Preferably, a roller is fitted onto the traction column.

[0011] Preferably, the limiting unit further includes a limiting block, which is disposed opposite to the mooring section.

[0012] Preferably, the limiting unit further includes a limiting groove and a limiting buckle. The limiting groove is disposed at both ends of the guide strip, and the limiting buckle is movably connected to the inspection robot. The limiting buckle is used to lock into the limiting groove.

[0013] Preferably, the guide bar includes two guide segments, which are disposed at both ends of the mooring segment.

[0014] Preferably, the top of the wireless charging box is provided with a device inlet, through which a wireless charging device can be placed into or removed from the wireless charging box. The device inlet of the wireless charging box is connected to a movable top cover, which covers the entire device inlet when the wireless charging box is closed.

[0015] The second objective of the present invention is achieved by the following technical solution: a charging system for an inspection robot for power towers, comprising an inspection robot and the above-mentioned charging device for the inspection robot.

[0016] Preferably, the inspection robot includes two wheels, two booms, and a testing box. The wheels are used to move on the power grid track, and one wheel corresponds to one boom. One end of each boom is connected to the corresponding wheel, and the other end is connected to the testing box. The limiting buckle of the inspection robot's charging device is located on the outside of the boom. The testing box contains a testing device and a wireless charging receiver panel, and the traction column of the inspection robot's charging device is located on the top of the testing box.

[0017] The third objective of this invention is achieved through the following technical solution: a charging method for an inspection robot, using the aforementioned inspection robot charging device. When the inspection robot needs charging, it moves along the tower-crossing track to the charging guide rail of the inspection robot charging device. Simultaneously, the traction column of the inspection robot charging device enters the guide bar's inlet section. As the inspection robot continues to move forward, the traction column, guided by the guide bar, enters the parking section. At this time, the inspection robot's wireless charging receiver panel faces the wireless charging device's charging panel. When the inspection robot senses the charging current, it controls the limit buckle to rotate, so that the limit buckle is engaged in the limit groove, thereby limiting the inspection robot in all four directions: front, back, left, and right.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0019] This invention enables inspection robots to navigate along a pre-set path by using guide bars to guide the traction column even when the robot is swaying at height, allowing it to quickly and accurately reach the charging station. Simultaneously, it restricts the robot's forward, backward, left, and right movements during charging, ensuring its stability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a charging scenario for an inspection robot in the background technology.

[0021] Figure 2 This is a schematic diagram of the structure of a charging device for an inspection robot according to one embodiment.

[0022] Figure 3 This is a schematic diagram of the structure of a charging system for an inspection robot according to one embodiment. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0024] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0025] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0026] In the description of this application, it should be understood that the terms "first," "second," "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0027] Please see Figure 2 This is a schematic diagram of the structure of a charging device for an inspection robot according to one embodiment. The device includes a wireless charging bracket 11, a wireless charging box 12, and a limiting unit 13. The wireless charging bracket 11 is fixed on the power tower and connected to the tower-crossing track. The wireless charging bracket 11 is used to support the inspection robot, the wireless charging box 12, and the limiting unit 13. The wireless charging box 12 is fixed on the wireless charging bracket 11 and contains a wireless charging device. The limiting unit 13 is connected to the wireless charging bracket 11 and is used to limit the inspection robot when it arrives at the charging station, so that the inspection robot can accurately enter the charging position and will not shake or move during the charging process.

[0028] Specifically, the wireless charging bracket 11 includes a first support arm 111, a second support arm 112, a third support arm 113, and a charging rail 114. The first end of the first support arm 111 is used to fix it on the power tower. When the wireless charging bracket 11 is fixed on the power tower, the first support arm 111 is parallel to the ground.

[0029] The second support arm 112 is arranged perpendicular to the first support arm 111. The first end of the second support arm 112 is connected to the first end of the first support arm 111, or the first end of the second support arm 112 is connected to the power tower. The second end of the second support arm 112 is used to fix the wireless charging box 12.

[0030] The third support arm 113 is arranged perpendicular to the first support arm 111. The first end of the third support arm 113 is connected to the second end of the first support arm 111. The second end of the third support arm 113 is used to fix the limiting unit 13.

[0031] The charging rail 114 is perpendicular to the first support arm 111, and also perpendicular to the second support arm 112 and the third support arm 113. The charging rail 114 is connected to the second end of the first support arm 111, and both ends of the charging rail 114 are used to connect with the tower crossing track. Thus, the inspection robot can be transferred from the tower crossing track to the charging rail 114, thereby entering the charging position.

[0032] The wireless charging box 12 is a hollow box with a charging port on one side. This charging port allows the charging panel of the wireless charging device to be accessed from the outside when it is placed inside the wireless charging box 12. The side of the wireless charging box 12 opposite to the charging port is fixedly connected to the second end of the second support arm 112. In an optional embodiment, the top of the wireless charging box 12 has a device inlet, through which a wireless charging device can be placed into or removed from the wireless charging box 12. Simultaneously, the device inlet of the wireless charging box 12 is also connected to a movable top cover, which covers the entire device inlet when the wireless charging box 12 is closed.

[0033] The wireless charging box 12 has a built-in wireless charging device (not shown in the figure). The wireless charging device provides wireless charging for the inspection robot. The wireless charging device is placed inside the wireless charging box 12 of the charging device, and its charging panel is aligned with the charging port of the wireless charging box 12.

[0034] The limiting unit 13 includes a guide bar 131 and a traction column 132. The guide bar 131 includes a parking section and an entry section, which are connected at an obtuse angle. Therefore, the guide bar 131 has a trapezoidal shape with the parking section protruding from it. The guide bar 131 is fixedly connected to the second end of the third support arm 113. The parking section of the guide bar 131 is parallel to the charging rail 114 and the charging port of the wireless charging box 12, while the entry section is parallel to the ground. If the inspection robot moves unidirectionally on the rail, only one entry section can be provided on the guide bar 131, located on the side where the inspection robot enters the charging position. If the inspection robot moves bidirectionally on the rail, two entry sections can be provided on the guide bar 131, located on both sides of the parking section.

[0035] The traction column 132 is used to fix itself to the inspection robot. When the inspection robot moves toward the wireless charging box 12, the traction column 132 moves along the guide bar 131. Preferably, a roller can be fitted on the traction column 132, thereby reducing the friction between the traction column 132 and the guide bar 131 when it moves.

[0036] Therefore, when the inspection robot moves toward the wireless charging box 12, the traction column 132 enters the guide bar 131 and then reaches the parking section along the guide bar 131. At this time, the inspection robot reaches the charging position, and its wireless charging panel is facing the charging port of the wireless charging box 12.

[0037] Specifically, the limiting unit 13 also includes a limiting block 133, which is arranged opposite to the parking section of the guide bar 131. Thus, when the traction column 132 reaches the parking section, the traction column 132 cannot move left or right under the restriction of the limiting block 133 and the parking section, thereby reducing the shaking of the inspection robot when charging.

[0038] Specifically, the limiting unit 13 further includes a limiting groove 134 and a limiting buckle 135. The limiting groove 134 is disposed at both ends of the guide strip 131, and the limiting buckle 135 is movably connected to the inspection robot. When the inspection robot arrives at the charging position for charging, the limiting buckle 135 is engaged in the limiting groove 134. This prevents the inspection robot from moving back and forth during charging.

[0039] Based on the above-mentioned inspection robot charging device, the following describes an inspection robot charging system. Please refer to [link / reference]. Figure 3 This is a schematic diagram of the structure of an inspection robot charging system according to one embodiment. The system includes a charging device 10 and an inspection robot 20. The charging device 10 is the same as that described in the embodiment of the inspection robot charging device, and will not be repeated here.

[0040] The inspection robot 20 includes two wheels 21, two booms 22, and a testing box 23. The wheels 21 are used to move on the power grid track, and one wheel 21 corresponds to one boom 22. One end of the boom 22 is connected to the corresponding wheel 21, and the other end is connected to the testing box 23. The limiting buckle 135 of the inspection robot charging device is set on the outside of the boom 22. The testing box 23 is equipped with testing equipment and a wireless charging receiving panel. The traction column 132 of the inspection robot charging device is set on the top of the testing box 23.

[0041] When the inspection robot 20 needs charging, it moves along the tower crossing track to the charging guide rail 114 of the inspection robot charging device. At the same time, the traction column 132 of the inspection robot charging device enters the guide section of the guide bar 131. As the inspection robot 20 continues to move forward, the traction column 132 enters the parking section under the guidance of the guide bar 131. At this time, the wireless charging receiver panel of the inspection robot 20 is facing the charging panel of the wireless charging device. When the inspection robot 20 senses the charging current, it controls the limit buckle 135 to rotate so that the limit buckle 135 is locked in the limit groove 134, thereby limiting the inspection robot 20 in all four directions: front, back, left, and right.

[0042] In summary, compared to existing technologies, this invention can guide the inspection robot onto a preset path by using guide bars to guide the traction column, enabling it to quickly and accurately reach the charging position even when the robot is swaying at high altitudes. Simultaneously, during charging, the forward, backward, left, and right movements of the inspection robot can be restricted, ensuring its stability during charging.

[0043] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A charging device for an inspection robot, used to charge the inspection robot on a power tower, characterized in that: The device includes a wireless charging stand (11), a wireless charging box (12), and a limiting unit (13). The wireless charging stand (11) includes a first support arm (111), a second support arm (112), and a third support arm (113). The first end of the first support arm (111) is used to fix it to the power tower. The second support arm (112) is perpendicular to the first support arm (111), and the first end of the second support arm (112) is fixedly connected to the first end of the first support arm (111). The third support arm (113) is perpendicular to the first support arm (111), and the first end of the third support arm (113) is fixedly connected to the second end of the first support arm (111). The wireless charging box (12) has a built-in wireless charging device, and a charging port is provided on the side of the wireless charging box (12). The wireless charging box (12) is located at the second end of the second support arm (112). The limiting unit (13) includes a guide bar (131) and a traction column (132). The guide bar (131) includes a parking section and an inlet section. The angle between the parking section and the inlet section is an obtuse angle. The parking section is parallel to the charging port, and the inlet section is parallel to the ground. The guide bar (131) is fixedly connected to the second end of the third support arm (113). The traction column (132) is used to fix the inspection robot. When the inspection robot moves toward the wireless charging box (12), the traction column (132) moves along the guide bar (131). The wireless charging bracket (11) also includes a charging guide rail (114), which is perpendicular to the first support arm (111), the second support arm (112) and the third support arm (113) and parallel to the parking section of the guide bar (131). The charging guide rail (114) is connected to the second end of the first support arm (111), and both ends of the charging guide rail (114) are used to connect with the tower crossing track. The inspection robot can transfer from the tower crossing track to the charging guide rail (114) to enter the charging position.

2. The charging device for an inspection robot according to claim 1, characterized in that: A roller is fitted onto the traction column (132).

3. The charging device for an inspection robot according to claim 1, characterized in that: The limiting unit (13) further includes a limiting block (133), which is disposed opposite to the mooring section.

4. A charging device for an inspection robot according to claim 1 or 3, characterized in that: The limiting unit (13) further includes a limiting groove (134) and a limiting buckle (135). The limiting groove (134) is disposed at both ends of the guide strip (131), and the limiting buckle (135) is movably connected to the inspection robot. The limiting buckle (135) is used to lock into the limiting groove (134).

5. The charging device for an inspection robot according to claim 1, characterized in that: The guide bar (131) includes two guide sections, which are located at both ends of the mooring section.

6. The charging device for an inspection robot according to claim 1, characterized in that: The top of the wireless charging box (12) is provided with a device entrance, through which a wireless charging device can be put into or taken out of the wireless charging box (12). The device entrance of the wireless charging box (12) is connected to a movable cover. When the movable cover is closed with the wireless charging box (12), the movable cover covers the entire device entrance.

7. A charging system for an inspection robot, used on a power tower, characterized in that: Includes the inspection robot (20) and the inspection robot charging device according to any one of claims 1-6.

8. The inspection robot charging system according to claim 7, characterized in that: The inspection robot (20) includes two walking wheels (21), two booms (22) and a testing box (23). The walking wheels (21) are used to walk on the power grid track, and one walking wheel (21) corresponds to one boom (22). One end of the boom (22) is connected to the corresponding walking wheel (21), and the other end is connected to the testing box (23). The limiting buckle (135) of the inspection robot charging device is set on the outside of the boom (22). The testing box (23) is equipped with testing equipment and a wireless charging receiving panel. The traction column (132) of the inspection robot charging device is set on the top of the testing box (23).

9. A charging method for an inspection robot, characterized in that: Using the inspection robot charging device according to any one of claims 1-6, when the inspection robot (20) needs to be charged, it moves along the tower crossing track to the charging guide rail (114) of the inspection robot charging device. At the same time, the traction column (132) of the inspection robot charging device enters the inlet section of the guide bar (131). As the inspection robot (20) continues to move forward, the traction column (132) enters the parking section under the guidance of the guide bar (131). At this time, the wireless charging receiving panel of the inspection robot (20) is facing the charging panel of the wireless charging device. When the inspection robot (20) senses the charging current, it controls the limit buckle (135) to rotate so that the limit buckle (135) is locked in the limit groove (134). Thus, the inspection robot (20) is limited in all four directions: front, back, left, and right.

Images