Automatic power replacement device for power inspection robot

Abstract

The present invention discloses an automatic battery replacement device for an electric power inspection robot, which relates to the field of battery replacement technology, including a charging station, wherein the charging station includes a charging compartment and a battery replacement mechanism, wherein the interior of the charging compartment forms a charging cavity with an open side, and the battery replacement mechanism can push or move the battery horizontally from the open portion of the charging cavity into the charging cavity in a side-sliding manner; the two ends of the charging compartment are symmetrically fixedly equipped with support members, and the support members include a horizontal axis fixedly connected to the charging compartment at one end and a vertical axis connected to the other end of the horizontal axis. The present invention optimizes the battery replacement mechanism so that the battery replacement mechanism has two battery fork holder assemblies, namely a first battery fork holder assembly and a second battery fork holder assembly. When working, the two battery fork holder assemblies can work synchronously to quickly and conveniently complete the battery replacement work of the inspection robot after taking out the battery in the inspection robot, thereby improving the endurance and ease of use of the inspection robot.

Description

Technical Field

[0001] The present invention relates to the technical field of battery replacement, and in particular to an automatic battery replacement device for an electric power inspection robot. Background Art

[0002] Power inspection robots are gradually replacing manual inspections of power equipment inside substations, which not only reduces the intensity of manual labor, but also helps improve the efficiency of inspections. Most inspection robots are powered by batteries. When the battery in the inspection robot is exhausted, the battery is usually charged directly by wire transmission. The general battery charging time is 3-4 hours, and the inspection robot needs to wait for the battery to be fully charged before it can be put into use again. Due to the long charging time, this charging method not only interrupts the work process, but also wastes the utilization rate of the rail-mounted inspection robot and delays the progress of the inspection work.

[0003] For example, Chinese patent CN113696777B discloses a battery replacement device and a battery replacement method for an electric power inspection robot. This patent can push the battery to be charged out of the vehicle body through the cooperation of a push-pull mechanism, a charging seat, a conveyor belt and a turntable, and then use the turntable to drive the battery to be replaced to rotate to the end close to the conveyor belt, and place the battery to be replaced on the conveyor belt through the suction mechanism on the turntable, and then use the conveyor belt to transport the battery to be replaced to the end away from the turntable, and then use the push-pull mechanism to pull the battery to the inside of the vehicle body, and the charging seat charges the battery to be replaced in advance, effectively reducing the waiting time for the vehicle body to be charged. However, the battery replacement operation is relatively cumbersome, and the battery replacement speed needs to be improved.

[0004] For example, Chinese patent CN117162859B discloses an automatic charging and battery replacement device for a rail-hanging inspection robot. The patent sets a telescopic fork assembly installed on a rotating switching assembly, and the rotating switching assembly is installed on a lifting assembly, and a battery limiting structure is connected above the upper plate of the telescopic fork assembly. The lifting assembly drives the rotating switching assembly and the telescopic fork assembly to move in the vertical direction, and the rotating switching assembly drives the telescopic fork assembly to rotate in the horizontal direction, so as to adjust the position of the battery limiting structure on the telescopic fork assembly, and ensure the accuracy of the position of the battery limiting structure when taking and putting down the battery of the rail-hanging inspection robot. Through the cooperation of the lifting assembly and the rotating switching assembly, the fully automated operation of the battery picking and placing process of the rail-hanging inspection robot by the telescopic fork assembly is realized, which reduces the labor intensity of manual battery replacement, reduces the time of battery replacement, reduces the number of employees, reduces safety risks, saves production costs, and improves the work efficiency and utilization rate of the rail-hanging inspection robot. Similarly, the battery replacement operation is also relatively cumbersome, and the battery replacement speed needs to be improved. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic battery replacement device for an electric power inspection robot to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0007] The present invention provides an automatic battery replacement device for an electric power inspection robot, comprising a charging station, wherein the charging station comprises a charging compartment and a battery replacement mechanism, wherein the interior of the charging compartment forms a charging cavity with one side open, and the battery replacement mechanism can push or move the battery horizontally from the open portion of the charging cavity into the charging cavity in a side-sliding manner;

[0008] The two ends of the charging compartment are symmetrically fixedly equipped with support members, and the support member includes a horizontal axis fixedly connected to the charging compartment at one end and a vertical axis connected to the other end of the horizontal axis, wherein the horizontal axis is arranged horizontally;

[0009] The battery replacement mechanism includes a first battery fork seat assembly, a second battery fork seat assembly and a circumferential rotation assembly, wherein the first battery fork seat assembly and the second battery fork seat assembly are respectively arranged on the front and back of the charging compartment; the circumferential rotation assembly is respectively connected to the first battery fork seat assembly and the second battery fork seat assembly, and the circumferential rotation assembly can drive the first battery fork seat assembly and the second battery fork seat assembly to rotate circumferentially on the outer side of the charging compartment around the central axis of the horizontal axis;

[0010] The first battery fork seat assembly and the second battery fork seat assembly both include a receiving seat, a rotating component, a suction cup component and a transverse driving component, wherein the top of the receiving seat has a horizontal receiving surface, the rotating component is connected to the receiving seat and can synchronously drive the receiving seat to rotate when the circumferential rotating component is working so that the receiving surface of the receiving seat is always horizontal, and the suction cup component is installed on the receiving surface in a horizontal sliding manner through the transverse driving component.

[0011] Furthermore, the circumferential rotating component includes an outer rotating plate symmetrically rotatably assembled on the transverse axis, the outer rotating plate includes a rotating ring coaxially arranged on the outside of the transverse axis, and extensions symmetrically arranged on both sides of the rotating ring and extending in the radial direction of the rotating ring, wherein a positioning ring is coaxially fixed to the outside of the transverse axis through a connecting rod, the positioning ring and the rotating ring are rotationally matched, and the first battery fork seat assembly and the second battery fork seat assembly are respectively assembled between two opposite extensions of a pair of outer rotating plates; the circumferential rotating component also includes a driving device for driving the rotating ring of the outer rotating plate to rotate.

[0012] Furthermore, the rotating component includes a pair of inner rotating plates symmetrically arranged between the extension parts of the outer rotating plates, and a rotating shaft is vertically fixed at the center position of the opposite sides of the pair of inner rotating plates, the rotating shafts respectively penetrate the corresponding extension parts of the outer rotating plates, and the rotating shafts are rotatably matched with the corresponding extension parts, and the receiving seat is assembled on the opposite sides of the pair of inner rotating plates; the rotating component also includes a driving structure, and the driving structure is used to drive one of the rotating shafts to rotate.

[0013] Furthermore, the driving structure includes a transmission member fixedly mounted on one end of the two rotating shafts and a central gear arranged between the two transmission members, the central gear is fixedly connected to the transverse axis through a connecting member and is coaxial with the transverse axis, the transmission member includes a gear box fixedly mounted on the extension part, the output shaft of the gear box is fixedly connected to one end of the rotating shaft, and the input shaft of the gear box is fixedly mounted with a sub-gear meshing with the central gear.

[0014] Further, a horizontal slide rail is symmetrically arranged on opposite sides of the two inner rotating plates, and a sliding block is slidably mounted on the slide rail, the sliding block comprises a sliding portion slidably connected to the slide rail and a columnar portion vertically arranged on the sliding portion, the receiving seat is arranged between the two sliding blocks, and the columnar portions of the two sliding blocks are fixedly connected to the receiving seat;

[0015] A connecting frame is arranged between the two sliding blocks on the same side, the horizontal axis passes through the inner side of the connecting frame, and both ends of the connecting frame are fixed with rings rotatably connected to the columnar part of the sliding block, a first cross bar is connected between the two connecting frames, a second cross bar is arranged on the rotating ring between the two outer rotating plates, a first electric push rod is arranged between the second cross bar and the first cross bar, and both ends of the first electric push rod are rotatably connected to the second cross bar and the first cross bar respectively.

[0016] Furthermore, a guide structure is provided on the side of the receiving surface away from the suction cup component, and the guide structure includes guide plates symmetrically fixed on the receiving surface, and a guide channel is formed between a pair of guide plates, and the guide channel includes a first channel and a second channel, the first channel is close to one side of the suction cup component, the first channel is adapted to the size of the battery, and the second channel increases continuously from one end to the other end of the first channel.

[0017] Furthermore, the suction cup component includes a main body and a suction cup, a slide groove is provided on one side of the main body, the suction cup is slidably arranged in the slide groove, and return springs are provided between both ends of the suction cup and both ends of the slide groove, and balls are evenly embedded on the supporting surface.

[0018] Furthermore, the lateral driving component includes a fixed plate fixed on the side of the supporting surface close to the suction cup component, a guide rod horizontally penetrating through both ends of the fixed plate, and a second electric push rod fixed between the fixed plate and the main body, and the two guide rods are fixedly connected to the main body at one end close to the main body.

[0019] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0020] The present invention optimizes the battery replacement mechanism so that the battery replacement mechanism has two battery fork holder assemblies, namely a first battery fork holder assembly and a second battery fork holder assembly. When working, the two battery fork holder assemblies can work synchronously to quickly and conveniently complete the battery replacement work of the inspection robot after the battery in the inspection robot is taken out, thereby improving the endurance and ease of use of the inspection robot.

[0021] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] Figure 1 It is a schematic diagram of the structure of the present invention from a first viewing angle;

[0024] Figure 2 is a schematic diagram of the structure of the present invention from a second viewing angle;

[0025] Figure 3 It is a schematic diagram of the split structure of the charging compartment and the battery replacement mechanism of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the charging bin and the circumferential rotating assembly of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure after the second battery fork assembly and the circumferential rotating assembly of the present invention are separated;

[0028] Figure 6 is a schematic structural diagram of a second battery fork assembly of the present invention;

[0029] Figure 7 It is a schematic diagram of the connection frame structure of the present invention;

[0030] Figure 8 It is a schematic diagram of the top view of the structure of the present invention;

[0031] Fig. 9 It is a schematic structural diagram of another state of the circumferential rotating assembly of the present invention;

[0032] Fig.10 It is a structural schematic diagram of another state of the receiving seat of the present invention.

[0033] In the figure:

[0034] 1-charging compartment; 11-charging chamber; 12-supporting member; 121-horizontal axis; 122-vertical axis;

[0035] 2-battery replacement mechanism; 21-first battery fork seat assembly; 22-second battery fork seat assembly; 23-circumferential rotation assembly; 231-outer rotating plate; 2311-rotating ring; 2312-extension portion; 232-positioning ring;

[0036] 3- receiving seat; 31- receiving surface;

[0037] 4-rotating component; 41-inner rotating plate; 42-rotating shaft; 43-central gear; 44-gear box; 45-sub-gear;

[0038] 5-suction cup component; 51-main body; 52-suction cup; 53-slideway; 54-reset spring;

[0039] 6-lateral driving component; 61-fixed plate; 62-guide rod; 63-second electric push rod;

[0040] 71-slide rail; 72-slide block; 721-slide portion; 722-columnar portion; 73-connection frame; 74-ring; 75-first crossbar; 76-second crossbar; 77-first electric push rod;

[0041] 8-guide plate; 81-guide channel; 811-first channel; 812-second channel. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0043] See also Figure 1-Figure 10 The present invention provides an automatic battery replacement device for an electric power inspection robot, including a charging station, wherein the charging station includes a charging compartment 1 and a battery replacement mechanism 2, wherein the specific reference Figure 2As shown, the interior of the charging compartment 1 forms a charging cavity 11 with an open side, and the battery replacement mechanism 2 can push the battery horizontally from the open end of the charging cavity 11 into the charging cavity 11 or move the battery into the charging cavity 11 in a side-sliding manner; the charging station of the present invention can charge the battery of the inspection robot. Specifically, when the inspection robot moves to the charging compartment 1 of the charging station, the battery replacement mechanism 2 can take out the empty battery with depleted capacity inside the inspection robot and send it to the charging cavity 11 of the charging compartment 1 for charging, and then send the full-capacity battery to the inspection robot to complete the battery replacement work of the power inspection robot.

[0044] In order to ensure that the inspection robot can quickly and conveniently replace the battery, thereby improving the endurance and ease of use of the inspection robot, the present invention optimizes the battery replacement mechanism:

[0045] Specifically, Figure 1 and Figure 3 As shown, the two ends of the charging compartment 1 are symmetrically fixedly equipped with support members 12, and the support member 12 includes a horizontal axis 121 fixedly connected to the charging compartment 1 at one end and a vertical axis 122 connected to the other end of the horizontal axis 121, wherein the horizontal axis 121 is arranged horizontally. The charging compartment 1 is arranged overhead by a pair of support members 12 at both ends, wherein there is enough space on the outside of the charging compartment 1 between the pair of vertical axes 122 for the battery replacement mechanism 2 to move during the battery replacement process to complete the battery replacement operation.

[0046] like Figure 1 As shown, the battery replacement mechanism 2 includes a first battery fork holder assembly 21, a second battery fork holder assembly 22 and a circumferentially rotating assembly 23. The first battery fork holder assembly 21 and the second battery fork holder assembly 22 are respectively arranged on the front and back of the charging compartment 1. It can be understood that the opening of the charging cavity 11 of the charging compartment 1 corresponds to the front of the front of the charging compartment 1, and the other side of the charging compartment 1 relative to the opening of the charging cavity 11 corresponds to the back of the charging compartment 1; the circumferentially rotating assembly 23 is respectively connected to the first battery fork holder assembly 21 and the second battery fork holder assembly 22, and the circumferentially rotating assembly 23 can drive the first battery fork holder assembly 21 and the second battery fork holder assembly 22 to rotate circumferentially on the outside of the charging compartment 1 around the central axis of the horizontal axis 121.

[0047] In the process of battery replacement, the first battery fork seat assembly 21 and the second battery fork seat assembly 22 are respectively located at the front and back of the charging compartment 1, wherein the first battery fork seat assembly 21 corresponds to the battery with full capacity in the charging cavity 11, and the second battery fork seat assembly 22 corresponds to the battery compartment of the inspection robot;

[0048] When replacing the battery, the first battery fork holder assembly 21 and the second battery fork holder assembly 22 work synchronously, the first battery fork holder assembly 21 takes out the full-capacity battery in the charging chamber 11, and the second battery fork holder assembly 22 takes out the empty battery with depleted capacity in the inspection robot, and then, driven by the circumferential rotation assembly 23, the first battery fork holder assembly 21 and the second battery fork holder assembly 22 rotate 180 degrees around the central axis of the horizontal axis 121, and the positions of the first battery fork holder assembly 21 and the second battery fork holder assembly 22 are swapped. At this time, the first battery fork holder assembly 21 delivers the full-capacity battery into the battery compartment of the inspection robot, and the second battery fork holder assembly 22 delivers the empty battery with depleted capacity into the charging chamber 11 of the charging compartment 1, thereby completing the battery replacement operation.

[0049] That is, the battery replacement mechanism 2 of the present invention has two battery fork holder assemblies, namely a first battery fork holder assembly 21 and a second battery fork holder assembly 22. When working, the two battery fork holder assemblies can work synchronously, so that after the battery in the inspection robot is taken out, the full-capacity battery can be quickly delivered into the inspection robot.

[0050] In order to avoid the risk of the battery slipping off the receiving surface 31 during the circumferential rotation of the first battery fork assembly 21 and the second battery fork assembly 22, and to make the charging port of the battery correspond to the charging port in the charging cavity 11. Figure 1 As shown, the first battery fork seat assembly 21 and the second battery fork seat assembly 22 both include a receiving seat 3, a rotating component 4, a suction cup component 5 and a transverse driving component 6, wherein the top of the receiving seat 3 has a horizontal receiving surface 31, and the rotating component 4 is connected to the receiving seat 3 and can synchronously drive the receiving seat 3 to rotate when the circumferential rotating component 23 is working so that the receiving surface 31 of the receiving seat 3 is always horizontal (refer to Figure 1 and Fig. 9 As shown), the suction cup component 5 is installed on the receiving surface 31 in a horizontal sliding manner through the lateral driving component 6.

[0051] like Figure 1 As shown, before battery replacement, in the first battery fork seat assembly 21, the suction cup component 5 on the receiving surface 31 of the receiving seat 3 is located on the side away from the charging compartment 1, and in the second battery fork seat assembly 22, the suction cup component 5 on the receiving surface 31 of the receiving seat 3 is located on the side close to the charging compartment 1.

[0052] During operation, the transverse driving component 6 can drive the suction cup component 5 to move on the receiving surface 31 so that the suction cup component 5 can suck the battery, and then, driven by the transverse driving component 6, the battery is moved to the receiving surface 31 for transfer, or moved out of the receiving surface 31 for placement.

[0053] It should be noted that, in the process that the circumferential rotating assembly 23 drives the first battery fork assembly 21 and the second battery fork assembly 22 to rotate 180 degrees around the central axis of the horizontal axis 121, the rotating component 4 can synchronously drive the receiving seat 3 to rotate, so that the receiving surface 31 of the receiving seat 3 is always horizontal (refer to Figure 1 and Fig. 9 As shown), it can be understood that the receiving surface 31 can always be at the bottom of the battery to support the battery. On the one hand, it can avoid the risk of the battery slipping on the receiving surface 31 during the battery transfer process. On the other hand, it can keep the battery in its original posture, so that after the battery enters the charging chamber 11 or enters the inspection robot, the battery can maintain electrical connection with the corresponding mechanism.

[0054] like Figure 4 and Figure 5 As shown, in a specific embodiment of the present invention, the circumferential rotating component 23 includes an outer rotating plate 231 symmetrically rotatably assembled on the transverse axis 121, and the outer rotating plate 231 includes a rotating ring 2311 coaxially arranged on the outer side of the transverse axis 121, and extensions 2312 symmetrically arranged on both sides of the rotating ring 2311 and extending along the radial direction of the rotating ring 2311, wherein a positioning ring 232 is coaxially fixed to the outer side of the transverse axis 121 through a connecting rod, and the positioning ring 232 is rotationally matched with the rotating ring 2311, and the first battery fork seat assembly 21 and the second battery fork seat assembly 22 are respectively assembled between two opposite extensions 2312 of a pair of outer rotating plates 231; the circumferential rotating component 23 also includes a driving device for driving the rotating ring 2311 of the outer rotating plate 231 to rotate, and the driving device may include a motor. When in use, the output end transmission mechanism of the motor is connected to the rotating ring 2311 to drive the rotating ring 2311 of the outer rotating plate 231 to rotate, thereby completing the position conversion of the first battery fork seat assembly 21 and the second battery fork seat assembly 22. The identification of the rotation angle of the first battery fork seat assembly 21 and the second battery fork seat assembly 22 can be achieved with the help of sensors in the prior art, such as angle sensors.

[0055] like Figure 5 and Figure 6 As shown, in a specific embodiment of the present invention, the rotating component 4 includes a pair of inner rotating plates 41 symmetrically arranged between the extension portions 2312 of the outer rotating plate 231, and a rotating shaft 42 is vertically fixed at the center position of the opposite sides of the pair of inner rotating plates 41, and the rotating shaft 42 respectively passes through the corresponding extension portions 2312 of the outer rotating plates 231, and the rotating shaft 42 is rotatably matched with the corresponding extension portions 2312, and the receiving seat 3 is assembled on the opposite sides of the pair of inner rotating plates 41; the rotating component 4 also includes a driving structure, and the driving structure is used to drive one of the rotating shafts 42 to rotate.

[0056] During use, when the outer rotating plate 231 rotates, the driving structure can synchronously drive the rotating shaft 42 to rotate, so that the receiving surface 31 of the receiving seat 3 is always horizontal.

[0057] In some specific embodiments of the present invention, the driving structure may include a stepper motor, an encoder and a sensor in conventional technology. When in use, the stepper motor drives the rotating shaft 42 to rotate, and the sensor identifies whether the receiving surface 31 is horizontal.

[0058] In other embodiments of the present invention, Figure 5 As shown, the driving structure includes a transmission component fixedly assembled at one end of the two rotating shafts 42 and a central gear 43 arranged between the two transmission components, the central gear 43 is fixedly connected to the transverse axis 121 through a connecting piece and is coaxial with the transverse axis 121, the transmission component includes a sub-gear 45 and a gear box 44 fixedly assembled on the extension portion 2312, the output shaft of the gear box 44 is fixedly connected to one end of the rotating shaft 42, and the input shaft of the gear box 44 is fixedly assembled with the sub-gear 45 meshing with the central gear 43.

[0059] refer to Fig. 9 As shown, based on the above design, in the process of the outer rotating plate 231 driving the first battery fork seat assembly 21 and the second battery fork seat assembly 22 to rotate, the gear box 44 will move together with the outer rotating plate 231. Since the sub-gear 45 of the input shaft of the gear box 44 is engaged with the central gear 43, during this process, the sub-gear 45 will rotate through the transmission of the gear box 44 and then drive the rotating shaft 42 to complete the corresponding rotation, so that the receiving surface 31 of the receiving seat 3 can always be horizontal (the gear box 44, the sub-gear 45 and the central gear 43 are designed with reasonable parameters).

[0060] like Figure 5-Figure 7 As shown, in a specific embodiment of the present invention, a horizontal slide rail 71 is symmetrically arranged on opposite sides of the two inner rotating plates 41, and a sliding block 72 is slidably mounted on the slide rail 71, and the sliding block 72 includes a sliding portion 721 slidably connected to the slide rail 71, and a columnar portion 722 vertically arranged on the sliding portion 721, and the receiving seat 3 is arranged between the two sliding blocks 72, and the columnar portions 722 of the two sliding blocks 72 are fixedly connected to the receiving seat 3;

[0061] Combination Figure 5 , Figure 6 and Figure 7As shown, a connecting frame 73 is provided between the two sliding blocks 72 on the same side, the horizontal axis 121 passes through the inner side of the connecting frame 73, and both ends of the connecting frame 73 are fixed with rings 74 rotatably connected to the columnar portion 722 of the sliding block 72, a first cross bar 75 is connected between the two connecting frames 73, a second cross bar 76 is provided on the rotating ring 2311 between the two outer rotating plates 231, a first electric push rod 77 is provided between the second cross bar 76 and the first cross bar 75, and both ends of the first electric push rod 77 are rotatably connected to the second cross bar 76 and the first cross bar 75 respectively.

[0062] Based on the above design, Figure 1 and Fig.10 As shown, when placing or removing the battery, the first electric push rod 77 can be started to extend the electric push rod so that the two connecting frames 73 move synchronously, thereby moving the receiving seat 3 of the first battery fork seat assembly 21 and the second battery fork seat assembly 22 toward the charging bin 1 and the inspection robot, so that the supporting seat is close to the charging bin 1 and the inspection robot to facilitate the removal and placement of the battery. After the battery is taken out and placed, the electric push rod is shortened to drive the receiving seat 3 to reset. At this time, the columnar portion 722 of the sliding block 72 is coaxial with the rotating shaft 42, and will not affect the normal rotation of the receiving seat 3 driven by the rotating component 4.

[0063] like Figure 8 As shown, in a specific embodiment of the present invention, a guide structure is provided on the side of the receiving surface 31 away from the suction cup component 5, and the guide structure includes guide plates 8 symmetrically fixed on the receiving surface 31, and a guide channel 81 is formed between a pair of guide plates 8, and the guide channel 81 includes a first channel 811 and a second channel 812, wherein the first channel 811 is close to one side of the suction cup component 5, the first channel 811 is adapted to the size of the battery, and the second channel 812 increases continuously from one end of the first channel 811 to the other end.

[0064] Based on the above design, when the suction cup component 5 absorbs the battery and gradually pulls the battery toward the receiving surface 31, the guide structure can guide the battery through its second channel 812 to move the battery into the second channel 812, ensuring that the battery corresponds to the charging cavity 11 or the battery compartment of the inspection robot.

[0065] like Figure 6As shown, in a specific embodiment of the present invention, the suction cup component 5 includes a main body 51 and a suction cup 52, a slide groove 53 is provided on one side of the main body 51, the suction cup 52 is slidably arranged in the slide groove 53, and a return spring 54 is provided between both ends of the suction cup 52 and both ends of the slide groove 53, and balls are evenly embedded on the receiving surface 31. Based on the above design, the suction cup 52 is initially located at the center of the slide groove 53. During the process of guiding the battery, the suction cup 52 can move laterally in the slide groove 53 to adapt to the movement of the battery during the guiding process, and the balls can reduce the friction between the battery and the receiving surface 31 during the movement.

[0066] like Figure 6 As shown, in a specific embodiment of the present invention, the lateral driving component 6 includes a fixing plate 61 fixed to the side of the receiving surface 31 close to the suction cup component 5, a guide rod 62 horizontally penetrating the two ends of the fixing plate 61, and a second electric push rod 63 fixed between the fixing plate 61 and the main body 51. One end of the two guide rods 62 close to the main body 51 is fixedly connected to the main body 51. Based on the above design, the guide rod 62 can limit the sliding direction of the main body 51, and the second electric push rod 63 can drive the main body 51 to move, so that the suction cup 52 completes the action of adsorbing the battery.

[0067] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic battery replacement device for a power inspection robot, comprising a charging station, wherein the charging station comprises a charging compartment and a battery replacement mechanism, wherein: The interior of the charging compartment forms a charging cavity with an open side, and the battery replacement mechanism can push or move the battery horizontally from the open side of the charging cavity into the charging cavity in a side-sliding manner; Characterized in that the two ends of the charging bin are symmetrically fixedly equipped with support members, the support member comprises a horizontal axis fixedly connected to the charging bin at one end and a vertical axis connected to the other end of the horizontal axis, wherein the horizontal axis is arranged horizontally; The battery replacement mechanism includes a first battery fork seat assembly, a second battery fork seat assembly and a circumferential rotation assembly, wherein the first battery fork seat assembly and the second battery fork seat assembly are respectively arranged on the front and back of the charging compartment; the circumferential rotation assembly is respectively connected to the first battery fork seat assembly and the second battery fork seat assembly, and the circumferential rotation assembly can drive the first battery fork seat assembly and the second battery fork seat assembly to rotate circumferentially on the outer side of the charging compartment around the central axis of the horizontal axis; The first battery fork seat assembly and the second battery fork seat assembly each include a receiving seat, a rotating component, a suction cup component and a transverse driving component, wherein the top of the receiving seat has a horizontal receiving surface, the rotating component is connected to the receiving seat and can synchronously drive the receiving seat to rotate when the circumferential rotating component is working so that the receiving surface of the receiving seat is always horizontal, and the suction cup component is installed on the receiving surface in a horizontal sliding installation manner through the transverse driving component; The circumferential rotating assembly comprises an outer rotating plate symmetrically rotatably mounted on the transverse axis, the outer rotating plate comprises a rotating ring coaxially arranged on the outer side of the transverse axis, and extensions symmetrically arranged on both sides of the rotating ring and extending in the radial direction of the rotating ring, wherein a positioning ring is coaxially fixed to the outer side of the transverse axis through a connecting rod, the positioning ring and the rotating ring are rotatably matched, the first battery fork seat assembly and the second battery fork seat assembly are respectively mounted between two opposite extensions of a pair of outer rotating plates; the circumferential rotating assembly also comprises a driving device for driving the rotating ring of the outer rotating plate to rotate; The rotating component includes a pair of inner rotating plates symmetrically arranged between the extension parts of the outer rotating plates, and a rotating shaft is vertically fixed at the center position of the opposite sides of the pair of inner rotating plates. The rotating shafts respectively penetrate the corresponding extension parts of the outer rotating plates, and the rotating shafts are rotatably matched with the corresponding extension parts. The receiving seat is assembled on the opposite sides of the pair of inner rotating plates; the rotating component also includes a driving structure, which is used to drive one of the rotating shafts to rotate.

2. The automatic battery replacement device of the power inspection robot according to claim 1 is characterized in that: The driving structure includes a transmission component fixedly mounted on one end of the two rotating shafts and a central gear arranged between the two transmission components. The central gear is fixedly connected to the transverse axis through a connecting piece and is coaxial with the transverse axis. The transmission component includes a gear box fixedly mounted on the extension part, the output shaft of the gear box is fixedly connected to one end of the rotating shaft, and the input shaft of the gear box is fixedly mounted with a sub-gear meshing with the central gear.

3. The automatic battery replacement device of the power inspection robot according to claim 1 is characterized in that: A horizontal slide rail is symmetrically arranged on opposite sides of the two inner rotating plates, and a sliding block is slidably mounted on the slide rail, the sliding block comprises a sliding portion slidably connected to the slide rail and a columnar portion vertically arranged on the sliding portion, the receiving seat is arranged between the two sliding blocks, and the columnar portions of the two sliding blocks are fixedly connected to the receiving seat; A connecting frame is arranged between the two sliding blocks on the same side, the horizontal axis passes through the inner side of the connecting frame, and both ends of the connecting frame are fixed with rings rotatably connected to the columnar part of the sliding block, a first cross bar is connected between the two connecting frames, a second cross bar is arranged on the rotating ring between the two outer rotating plates, a first electric push rod is arranged between the second cross bar and the first cross bar, and both ends of the first electric push rod are rotatably connected to the second cross bar and the first cross bar respectively.

4. The automatic battery replacement device for the power inspection robot according to claim 1, characterized in that: A guide structure is provided on the side of the receiving surface away from the suction cup component, and the guide structure includes guide plates symmetrically fixed on the receiving surface. A guide channel is formed between a pair of guide plates, and the guide channel includes a first channel and a second channel. The first channel is close to the side of the suction cup component, and the first channel is adapted to the size of the battery. The second channel increases continuously from one end of the first channel to the end away from the first channel.

5. The automatic battery replacement device for the power inspection robot according to claim 4, characterized in that: The suction cup component includes a main body and a suction cup. A slide groove is arranged on one side of the main body. The suction cup is slidably arranged in the slide groove. Reset springs are arranged between both ends of the suction cup and both ends of the slide groove. Ball bearings are also evenly embedded on the bearing surface.

6. The automatic battery replacement device for the power inspection robot according to claim 5, characterized in that: The lateral driving component includes a fixing plate fixed on the side of the receiving surface close to the suction cup component, a guide rod horizontally penetrating through both ends of the fixing plate, and a second electric push rod fixed between the fixing plate and the main body. The two guide rods are fixedly connected to the main body at one end close to the main body.

Images