A charging docking device and docking method for an inspection robot

Abstract

The present invention discloses a charging docking device and docking method for an inspection robot, and relates to the technical field of inspection robot charging, including a track, on which an inspection robot body and a charging pile body are arranged, a charging interface is provided on one side of the charging pile body, a U-shaped frame is connected to the top of the charging pile body, two sets of movable baffles are provided on the U-shaped frame, a charging head is installed on the left side wall of the inspection robot body, a U-shaped frame is slidably connected to the rear outer wall of the inspection robot body, a synchronization rod is installed at one end of the U-shaped frame close to the charging head, a fixed box is provided at the other end of the synchronization rod, a movable tooth plate is slidably connected in the fixed box, and a shielding disc is installed on one side of the movable tooth plate close to the charging head. The inspection robot can automatically return to complete charging docking, and the movable baffle and the shielding disc can shield the charging interface and the charging head, which can reduce the corrosion of the charging interface and the charging head by dust and water vapor in the air, and ensure the charging efficiency of the inspection robot after charging docking.

Description

Technical Field

[0001] The present invention relates to the technical field of patrol robot charging, and in particular to a patrol robot charging docking device and a docking method. Background Art

[0002] Inspection robots are automated devices that are mainly used to regularly check and monitor the status of equipment or environments. They can move within a preset route or area, collect data in real time, shoot videos or images, and transmit the results to the control center. This type of robot is widely used in industrial plants, power equipment, transportation facilities and other fields. It can reduce the workload of manual inspections, improve efficiency, and promptly detect potential problems, thereby improving safety and reliability. Users only need to sit in the monitoring room or dispatching room, and all other tasks are left to the inspection robot to operate, greatly reducing the intensity of human operations.

[0003] When the operating power of an existing inspection robot falls below a specified threshold, the robot will automatically return on track to dock with a charging pile for charging. Most of the existing inspection robots, the charging heads and charging interfaces on the charging piles are exposed to the external environment. When the inspection robot is running, dust, water vapor and other impurities in the air will come into contact with the charging interface and the charging head. As time goes by, dust, water vapor and other impurities will corrode the charging interface and the charging head, affecting their service life and the charging efficiency of the inspection robot after charging and docking. To this end, we propose a charging docking device and a docking method for an inspection robot. Summary of the invention

[0004] The purpose of the present invention is to provide a charging docking device and docking method for a patrol robot, so as to solve the problem raised in the above background technology that the charging interface and charging head exposed to the air come into contact with impurities such as dust and water vapor, which will corrode the charging interface and charging head, thereby affecting the charging efficiency of the patrol robot after charging and docking.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A charging docking device for an inspection robot comprises a track, a reciprocating inspection robot body is arranged on the track, a fixed plate is installed at the left end of the track, a top plate is welded to the side wall of the fixed plate, two groups of connecting rods are arranged at the bottom of the top plate, a charging pile body is installed at the bottom of the two groups of connecting rods, a charging interface is provided on the side of the charging pile body close to the inspection robot body, a U-shaped frame is connected to the top of the charging pile body, and two groups of movable baffles for shielding the charging interface are arranged on the U-shaped frame, and a travel switch is installed on the side of the track close to the charging pile body;

[0007] A charging head that is compatible with the charging interface is installed on the left side wall of the inspection robot body, and the central axis of the charging head and the charging interface are on the same horizontal line. A U-shaped frame is slidably connected to the outer wall of the rear side of the inspection robot body. A synchronization rod is installed at one end of the U-shaped frame close to the charging head, and a fixed box is provided at the other end of the synchronization rod. A movable tooth plate is slidably connected in the fixed box, and both ends of the movable tooth plate pass through both ends of the fixed box, and a shielding disc is installed on one side of the movable tooth plate close to the charging head.

[0008] Preferably, the open end of the U-shaped frame is opposite to the rear outer wall of the inspection robot body, and a stepper motor is provided on the top of the U-shaped frame, the output end of the stepper motor is connected to a rotating shaft, the bottom end of the rotating shaft is rotatably connected to the inner wall of the U-shaped frame through a bearing, a traveling gear is sleeved on the rotating shaft, and a plurality of sets of meshing grooves are provided on the rear side wall of the inspection robot body, and the meshing grooves are meshingly connected with the traveling gears, and a T-shaped slide groove is also provided on the rear side wall of the inspection robot body, a T-shaped slider is slidably connected in the T-shaped slide groove, and a linkage rod is installed on the outer side wall of the T-shaped slider, and the other end of the linkage rod is connected to the bottom wall of the U-shaped frame, and the U-shaped frame slides in the left and right directions on the rear outer wall surface of the inspection robot body, and the moving direction of the moving tooth plate is perpendicular to the sliding direction of the U-shaped frame.

[0009] Preferably, a telescopic rod is connected to a side of the fixed box close to the inspection robot body, a reduction motor is installed on the upper surface of the fixed box, a rotating rod is connected to the output end of the reduction motor, the bottom end of the rotating rod is rotatably connected to the inner wall of the fixed box through a bearing, a rotating gear is sleeved on the rotating rod, and the rotating gear is meshingly connected to the movable tooth plate, and through holes are provided at both ends of the fixed box, which are meshingly connected to the movable tooth plate.

[0010] Preferably, the open end of the U-shaped frame faces the charging head, and a servo motor is installed on the front outer wall of the U-shaped frame. The output end of the servo motor is connected to a bidirectional lead screw, and the bottom end of the bidirectional lead screw is rotatably connected to the inner wall of the U-shaped frame through a bearing. Two groups of threaded blocks are threadedly connected on the bidirectional lead screw, and a cross bar is installed on the inner wall of the U-shaped frame and located on the outside of the bidirectional lead screw, and two groups of sliders are slidably connected to the cross bar, and the two ends of the two groups of sliders are respectively connected to the two groups of threaded blocks and two groups of movable baffles.

[0011] Preferably, the outer wall of the charging pile body is connected to an external cable, the top of the charging pile body is provided with an emergency stop switch and a switch knob, the front outer wall of the inspection robot body is provided with a start button and a status indicator light, and a ball camera is installed on the right outer wall of the inspection robot body.

[0012] Preferably, a top seat is provided on the top of the inspection robot body, an RFID is provided on the front end surface of the top seat, and a limiting piece of a limiting track is provided on the top seat, an antenna, a sonar and an emergency stop button are provided on the left end of the front end surface of the inspection robot body, and a camera is connected to the outer wall of the left end of the inspection robot body.

[0013] Preferably, the inner cavity of the inspection robot body is provided with two sets of drive motors, and the output ends of the two sets of drive motors are equipped with running wheels, the two sets of running wheels are rotatably connected to the front and rear ends of the top seat respectively, and the running wheels are rollingly connected to the track.

[0014] S1: First, install the inspection robot on the track, press the start button to start it, and after the inspection robot is turned on, the status indicator lights up, and the two sets of walking wheels on the inspection robot rotate synchronously to walk on the track. The inspection robot can inspect back and forth along the track according to the pre-configured route, monitor the production environment in real time, and complete the specified inspection tasks;

[0015] S2: When the power of the inspection robot body is lower than the specified threshold, it will automatically return on the track. When the inspection robot body returns and contacts the travel switch, the reduction motor on the fixed box works to drive the rotating gear on the rotating rod to rotate. Since the rotating gear is meshed with the moving tooth plate, the shielding disc on the moving tooth plate is away from the charging head. The stepper motor on the U-shaped frame works to drive the travel gear on the rotating rod to rotate. Since the travel gear is meshed with multiple sets of meshing grooves and the U-shaped frame is limited by the sliding of the linkage rod, the T-shaped slider and the T-shaped slide groove, the U-shaped frame moves on the rear side wall of the inspection robot body, and drives the fixed box and the shielding disc to move toward one side of the inspection robot body through the synchronization rod, so that it is close to the outer wall of the inspection robot body and exposes the charging head.

[0016] S3: When the reduction motor and the stepper motor are working, the servo motor drives the bidirectional screw to rotate. After the two sets of threaded blocks connected to the bidirectional screw pass through the sliding limit of the cross bar and the slider, the two sets of sliders drive the two sets of movable baffles to move in opposite directions away from the charging interface, so that the charging interface is exposed, and the charging head on the inspection robot body is connected to the charging interface, that is, the charging docking of the inspection robot body is completed, and the charging pile body charges the inspection robot body;

[0017] S4: Finally, after the inspection robot body is charged, the two sets of walking wheels on the inspection robot body roll on the track, and the charging head is away from the charging interface, so that the inspection robot body is away from the charging pile body, and the servo motor, reduction motor and stepper motor work synchronously to move the two sets of movable baffles in relative directions to block the charging interface, and the movable gear plate moves in the fixed box to make the blocking disc face the charging head, and the U-shaped frame moves on the outer wall of the inspection robot body to drive the fixed box to move toward one side of the inspection robot body through the synchronization rod, so that the blocking disc facing the charging head fits with the charging head, thereby sealing and protecting the charging interface and the charging head.

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

[0019] The inspection robot of the present invention can inspect back and forth along the track according to a pre-configured route, monitor the production environment in real time, and complete the specified inspection tasks. When the inspection robot automatically returns, the charging head can be connected to the charging interface to complete the charging docking of the inspection robot. The stepping motor on the U-shaped frame on the outer wall of the rear side of the inspection robot can drive the walking gear on the rotating rod to rotate. Since the walking gear is engaged with multiple groups of meshing grooves and the U-shaped frame is limited by the sliding of the linkage rod, the T-shaped slider and the T-shaped slide groove, the U-shaped frame can move on the rear side wall of the inspection robot body, and the fixed box is driven to move toward or away from one side of the inspection robot through the synchronization rod, and the reduction motor is cooperated with Working, it can drive the rotating gear on the rotating rod to rotate, and since the rotating gear is meshed with the moving tooth plate, the shielding disc on the moving tooth plate can be driven to move closer to or away from the charging head, and the servo motor on the U-shaped frame can drive the bidirectional lead screw to rotate. After the two sets of threaded blocks threadedly connected to the bidirectional lead screw are limited by the sliding of the cross bar and the slider, the two sets of mobile baffles can be away from or blocked outside the charging interface, and the charging interface and charging head on the charging pile and the inspection robot can be sealed and protected. When the two are not charging and docking, the corrosion of the charging interface and charging head by dust and water vapor in the air can be reduced, thereby extending their service life and ensuring the charging efficiency of the inspection robot after charging and docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 It is another structural schematic diagram of the present invention;

[0022] Figure 3 This is a schematic diagram of the inspection robot body structure of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the other side of the inspection robot body of the present invention;

[0024] Figure 5 This is a schematic diagram of the main structure of the charging pile of the present invention;

[0025] Figure 6 For the present invention Figure 5 The enlarged structural diagram at A in the middle;

[0026] Figure 7 This is a schematic diagram of the connection structure between the charging head and the inspection robot body of the present invention;

[0027] Figure 8 For the present invention Figure 7 The enlarged structural diagram at B in the middle;

[0028] Fig. 9 It is a schematic cross-sectional view of the top view of the connection structure between the inspection robot body and the charging head of the present invention.

[0029] In the figure: 1. Track; 2. Fixed plate; 3. Top plate; 4. Connecting rod; 5. Charging pile body; 500. External cable; 501. Emergency stop switch; 502. Switch knob; 503. Charging port; 504. U-shaped frame; 505. Servo motor; 506. Moving baffle; 507. Bidirectional screw rod; 508. Thread block; 509. Cross bar; 510. Slider; 6. Inspection robot body; 7. Charging head; 8. Travel switch; 9. Top seat; 10. Travel wheel; 11 , RFID; 12, start button; 13, status indicator light; 14, ball camera; 15, antenna; 16, sonar; 17, emergency stop button; 18, camera; 19, fixing box; 20, reduction motor; 21, shielding disc; 22, meshing groove; 23, T-type slide groove; 24, U-shaped frame; 25, stepping motor; 26, T-type slider; 27, linkage rod; 28, walking gear; 29, synchronization rod; 30, telescopic rod; 31, rotating gear; 32, moving gear plate. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0031] See also Figure 1-9 The present invention provides a technical solution: a charging docking device for an inspection robot, comprising a track 1, a reciprocating inspection robot body 6 is arranged on the track 1, a fixing plate 2 is installed at the left end of the track 1, a top plate 3 is welded to the side wall of the fixing plate 2, two groups of connecting rods 4 are arranged at the bottom of the top plate 3, a charging pile body 5 is installed at the bottom of the two groups of connecting rods 4, a charging interface 503 is opened on the side of the charging pile body 5 close to the inspection robot body 6, a U-shaped frame 504 is connected to the top of the charging pile body 5, and two groups of movable baffles 506 for shielding the charging interface 503 are arranged on the U-shaped frame 504, and the track 1 and a side close to the charging pile body 5 is equipped with a travel switch 8; the inspection robot body 6 is an existing device, and the specific structure and working principle are not described here. The electrical ends of each electrical device are electrically connected to the electrical ends of the power supply and controller in the external inspection robot body 6. The track 1, the fixed plate 2 and the top plate 3 are installed on the top wall of the machine room. The two sets of movable baffles 506 can be away from or blocked outside the charging interface 503, and the charging interface 503 on the charging pile body 5 can be sealed and protected. When the inspection robot body 6 needs to be charged, the two sets of movable baffles 506 can be away from the charging interface 503;

[0032] The left side wall of the inspection robot body 6 is installed with a charging head 7 adapted to the charging interface 503, and the central axis of the charging head 7 and the charging interface 503 are on the same horizontal line. The rear outer wall of the inspection robot body 6 is slidably connected with a U-shaped frame 24, and a synchronization rod 29 is installed at one end of the U-shaped frame 24 close to the charging head 7, and a fixed box 19 is provided at the other end of the synchronization rod 29. A moving tooth plate 32 is slidably connected in the fixed box 19, and the two ends of the moving tooth plate 32 pass through the two ends of the fixed box 19, and the moving tooth plate 32 is connected to the fixed box 19. A shielding disc 21 is installed on one side of the plate 32 close to the charging head 7; the movable tooth plate 32 is fixedly connected to the shielding disc 21, and the shielding disc 21 can be in contact with or away from the charging head 7, and can seal and protect the charging interface 503 and the charging head 7 on the charging pile body 5 and the inspection robot body 6. When the two are not charging and docking, the corrosion of the charging interface 503 and the charging head 7 by dust and water vapor in the air can be reduced, thereby extending their service life and ensuring the charging efficiency of the inspection robot after charging and docking.

[0033] Among them, the open end of the U-shaped frame 24 is facing the rear outer wall of the inspection robot body 6, and a stepper motor 25 is provided on the top of the U-shaped frame 24, the output end of the stepper motor 25 is connected to a rotating shaft, the bottom end of the rotating shaft is rotatably connected to the inner wall of the U-shaped frame 24 through a bearing, and a walking gear 28 is sleeved on the rotating shaft, and a plurality of groups of meshing grooves 22 are provided on the rear side wall of the inspection robot body 6, and the meshing grooves 22 are meshed and connected with the walking gear 28, and a T-shaped slide groove 23 is also provided on the rear side wall of the inspection robot body 6, and a T-shaped slider 26 is slidably connected in the T-shaped slide groove 23, and a linkage rod 27 is installed on the outer side wall of the T-shaped slider 26, and the other end of the linkage rod 27 is connected to the bottom wall of the U-shaped frame 24, and the U-shaped frame 24 slides in the left and right directions on the rear outer wall surface of the inspection robot body 6, and the moving direction of the moving tooth plate 32 is perpendicular to the sliding direction of the U-shaped frame 24;

[0034] The linkage rod 27 is fixedly connected to the T-shaped slider 26 and the bottom wall of the U-shaped frame 24. The operation of the stepper motor 25 can drive the travel gear 28 on the rotating shaft to rotate forward or reverse. Since the travel gear 28 is meshed and connected with multiple groups of meshing grooves 22 and the U-shaped frame 24 is limited by the sliding of the linkage rod 27, the T-shaped slider 26 and the T-shaped slide groove 23, the U-shaped frame 24 can move on the rear outer wall of the inspection robot body 6. The synchronization rod 29 fixedly connected to the U-shaped frame 24 can make the fixed box 19 approach or move away from the inspection robot body 6, and the shielding disc 21 can be close to or away from the charging head 7.

[0035] A telescopic rod 30 is connected to a side of the fixed box 19 close to the inspection robot body 6, a reduction motor 20 is installed on the upper surface of the fixed box 19, and a rotating rod is connected to the output end of the reduction motor 20. The bottom end of the rotating rod is rotatably connected to the inner wall of the fixed box 19 through a bearing, and a rotating gear 31 is sleeved on the rotating rod, and the rotating gear 31 is meshed with the moving tooth plate 32. Through holes are provided at both ends of the fixed box 19, and the through holes are meshed with the moving tooth plate 32; the synchronization rod 29 is fixedly connected to the fixed box 19, and the moving The toothed plate 32 is fixedly connected to the shielding disc 21, and the telescopic rod 30 is fixedly connected to the fixed box 19. The operation of the reduction motor 20 can drive the rotating gear 31 on the rotating rod to rotate forward or reverse. Since the rotating gear 31 is meshed with the movable toothed plate 32, the movable toothed plate 32 slides in the fixed box 19, thereby driving the shielding disc 21 to move. The shielding disc 21 can be close to the charging head 7 or away from the charging head 7. When the U-shaped frame 24 moves, the telescopic rod 30 can be extended and retracted, which can assist the movement of the fixed box 19.

[0036] The open end of the U-shaped frame 504 faces the charging head 7, and a servo motor 505 is installed on the front outer wall of the U-shaped frame 504. The output end of the servo motor 505 is connected to a bidirectional screw rod 507, and the bottom end of the bidirectional screw rod 507 is rotatably connected to the inner wall of the U-shaped frame 504 through a bearing. Two groups of threaded blocks 508 are threadedly connected on the bidirectional screw rod 507. A cross bar 509 is installed on the inner wall of the U-shaped frame 504 and located on the outer side of the bidirectional screw rod 507. Two groups of sliders 510 are slidably connected on the cross bar 509. The two ends of the two groups of sliders 510 are respectively connected to the two groups of threaded blocks 508 and the two groups of movable baffles 506;

[0037] The U-shaped frame 504 is fixedly connected to the charging pile body 5, the slider 510 is fixedly connected to the threaded block 508 and the movable baffle 506, and the operation of the servo motor 505 can drive the bidirectional screw rod 507 to rotate forward or reverse. After the threaded block 508 threadedly connected to the bidirectional screw rod 507 is limited by the sliding of the cross bar 509 and the slider 510, the two groups of movable baffles 506 can move in relative or opposite directions. The two groups of movable baffles 506 can be away from the charging interface 503 or blocked on the outside of the charging interface 503, which can play a sealing and protective role for the charging interface 503.

[0038] The outer wall of the charging pile body 5 is connected to an external cable 500, the top of the charging pile body 5 is provided with an emergency stop switch 501 and a switch knob 502, the front end outer wall of the inspection robot body 6 is provided with a start button 12 and a status indicator light 13, and the right outer wall of the inspection robot body 6 is installed with a ball camera 14.

[0039] A top seat 9 is provided on the top of the inspection robot body 6, an RFID 11 is provided on the front end surface of the top seat 9, and a limiting piece of a limiting track 1 is provided on the top seat 9. An antenna 15, a sonar 16 and an emergency stop button 17 are provided on the left end of the front end surface of the inspection robot body 6, and a camera 18 is connected to the outer wall of the left end of the inspection robot body 6.

[0040] The inner cavity of the inspection robot body 6 is provided with two sets of driving motors, and the output ends of the two sets of driving motors are both equipped with running wheels 10, which are rotatably connected to the front and rear ends of the top seat 9 respectively, and the running wheels 10 are rollingly connected to the track 1.

[0041] A charging docking device and docking method for an inspection robot comprises the following steps:

[0042] S1: First, install the inspection robot body 6 on the track 1, and the electrical ends of each electrical device are electrically connected to the electrical ends of the power supply and controller in the inspection robot body 6. Press the start button 12 to start the robot. After the inspection robot body 6 is turned on, the status indicator light 13 lights up, and the two sets of walking wheels 10 on the inspection robot body 6 rotate synchronously to walk on the track 1. The inspection robot body 6 can inspect back and forth along the track 1 according to the pre-configured route, monitor the production environment in real time, and complete the specified inspection tasks;

[0043] S2: When the running power of the inspection robot body 6 is lower than the specified threshold, it will automatically return on the track 1. When the inspection robot body 6 returns and contacts the travel switch 8, the reduction motor 20 on the fixed box 19 starts working to drive the rotating gear 31 on the rotating rod to rotate. Since the rotating gear 31 is meshed with the moving tooth plate 32, the shielding disc 21 on the moving tooth plate 32 is away from the charging head 7. The stepping motor 25 on the U-shaped frame 24 starts working to drive the traveling gear 28 on the rotating rod to rotate. Since the traveling gear 28 is meshed with multiple groups of meshing grooves 22, and the U-shaped frame 24 is limited by the sliding of the linkage rod 27, the T-shaped slider 26 and the T-shaped slide groove 23, the U-shaped frame 24 moves on the rear side wall of the inspection robot body 6, and drives the fixed box 19 and the shielding disc 21 to move toward one side of the inspection robot body 6 through the synchronization rod 29, so that it is close to the outer wall of the inspection robot body 6, exposing the charging head 7.

[0044] S3: When the reduction motor 20 and the stepper motor 25 are working, the servo motor 505 drives the bidirectional screw 507 to rotate. After the two sets of threaded blocks 508 threadedly connected to the bidirectional screw 507 pass through the sliding limit of the cross bar 509 and the slider 510, the two sets of sliders 510 drive the two sets of movable baffles 506 to move in opposite directions away from the charging interface 503, so that the charging interface 503 is exposed, and the charging head 7 on the inspection robot body 6 is connected to the charging interface 503, that is, the charging docking of the inspection robot body 6 is completed, and the charging pile body 5 charges the inspection robot body 6;

[0045] S4: Finally, after the inspection robot body 6 is charged, the two sets of walking wheels 10 on the inspection robot body 6 roll on the track 1, and the charging head 7 is away from the charging interface 503, so that the inspection robot body 6 is away from the charging pile body 5, and the servo motor 505, the reduction motor 20 and the stepper motor 25 work synchronously, so that the two sets of movable baffles 506 move in relative directions to block the charging interface 503, and the movable gear plate 32 moves in the fixed box 19 so that the blocking disc 21 faces the charging head 7, and the U-shaped frame 24 moves on the outer wall of the inspection robot body 6 and drives the fixed box 19 to move toward one side of the inspection robot body 6 through the synchronization rod 29, so that the blocking disc 21 facing the charging head 7 fits with the charging head 7, and the charging interface 503 and the charging head 7 are sealed and protected.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A charging docking device for an inspection robot, comprising a track, on which a reciprocating inspection robot body is arranged, characterized in that: A fixed plate is installed at the left end of the track, a top plate is welded to the side wall of the fixed plate, two sets of connecting rods are arranged at the bottom of the top plate, a charging pile body is installed at the bottom of the two sets of connecting rods, a charging interface is opened on the side of the charging pile body close to the inspection robot body, a U-shaped frame is connected to the top of the charging pile body, and two sets of movable baffles for shielding the charging interface are arranged on the U-shaped frame, and a travel switch is installed on the side of the track close to the charging pile body; A charging head that is compatible with the charging interface is installed on the left side wall of the inspection robot body, and the central axis of the charging head and the charging interface are on the same horizontal line. A U-shaped frame is slidably connected to the outer wall of the rear side of the inspection robot body. A synchronization rod is installed at one end of the U-shaped frame close to the charging head, and a fixed box is provided at the other end of the synchronization rod. A moving tooth plate is slidably connected in the fixed box. The two ends of the moving tooth plate pass through the two ends of the fixed box, and a shielding disc is installed on the side of the moving tooth plate close to the charging head. The open end of the U-shaped frame faces the outer wall of the rear side of the inspection robot body, and a stepper is provided on the top of the U-shaped frame. Motor, the output end of the stepper motor is connected to a rotating shaft, the bottom end of the rotating shaft is rotatably connected to the inner wall of the U-shaped frame through a bearing, a traveling gear is sleeved on the rotating shaft, a plurality of sets of meshing grooves are provided on the rear side wall of the inspection robot body, and the meshing grooves are meshingly connected with the traveling gears, a T-shaped slide groove is also provided on the rear side wall of the inspection robot body, a T-shaped slider is slidably connected in the T-shaped slide groove, and a linkage rod is installed on the outer side wall of the T-shaped slider, the other end of the linkage rod is connected to the bottom wall of the U-shaped frame, and the U-shaped frame slides in the left and right directions on the rear outer wall surface of the inspection robot body, and the moving direction of the moving tooth plate is perpendicular to the sliding direction of the U-shaped frame.

2. The charging docking device of the inspection robot according to claim 1, characterized in that: A telescopic rod is connected to a side of the fixed box close to the inspection robot body, a reduction motor is installed on the upper surface of the fixed box, a rotating rod is connected to the output end of the reduction motor, the bottom end of the rotating rod is rotatably connected to the inner wall of the fixed box through a bearing, a rotating gear is sleeved on the rotating rod, and the rotating gear is meshingly connected to the moving tooth plate, and through holes are provided at both ends of the fixed box, which are meshingly connected to the moving tooth plate.

3. The charging docking device of the inspection robot according to claim 2, characterized in that: The open end of the U-shaped frame faces the charging head, and a servo motor is installed on the front outer wall of the U-shaped frame. The output end of the servo motor is connected to a bidirectional screw rod, and the bottom end of the bidirectional screw rod is rotatably connected to the inner wall of the U-shaped frame through a bearing.

4. The charging docking device of the inspection robot according to claim 3, characterized in that: Two sets of threaded blocks are threadedly connected on the bidirectional screw rod, a cross bar is installed on the inner wall of the U-shaped frame and located on the outer side of the bidirectional screw rod, two sets of sliders are slidably connected on the cross bar, and the two ends of the two sets of sliders are respectively connected to the two sets of threaded blocks and two sets of movable baffles.

5. The charging docking device of the inspection robot according to claim 4, characterized in that: The outer wall of the charging pile body is connected to an external cable, the top of the charging pile body is provided with an emergency stop switch and a switch knob, the front outer wall of the inspection robot body is provided with a start button and a status indicator light, and a ball camera is installed on the right outer wall of the inspection robot body.

6. The charging docking device of the inspection robot according to claim 5, characterized in that: A top seat is provided on the top of the inspection robot body, an RFID is provided on the front end surface of the top seat, and a limiting part of a limiting track is provided on the top seat. An antenna, sonar and an emergency stop button are provided on the left end of the front end surface of the inspection robot body, and a camera is connected to the outer wall of the left end of the inspection robot body.

7. The charging docking device of the inspection robot according to claim 6, characterized in that: The inner cavity of the inspection robot body is provided with two sets of driving motors, and the output ends of the two sets of driving motors are both equipped with walking wheels, which are rotatably connected to the front and rear ends of the top seat respectively, and the walking wheels are rollingly connected to the track.

8. The docking method of the charging docking device of the inspection robot according to claim 7, characterized in that: The method comprises the following steps: S1: First, install the inspection robot on the track, press the start button to start it, and after the inspection robot is turned on, the status indicator lights up, and the two sets of walking wheels on the inspection robot rotate synchronously to walk on the track. The inspection robot can inspect back and forth along the track according to the pre-configured route, monitor the production environment in real time, and complete the specified inspection tasks; S2: When the power of the inspection robot body is lower than the specified threshold, it will automatically return on the track. When the inspection robot body returns and contacts the travel switch, the reduction motor on the fixed box works to drive the rotating gear on the rotating rod to rotate. Since the rotating gear is meshed with the moving tooth plate, the shielding disc on the moving tooth plate is away from the charging head. The stepper motor on the U-shaped frame works to drive the travel gear on the rotating rod to rotate. Since the travel gear is meshed with multiple sets of meshing grooves and the U-shaped frame is limited by the sliding of the linkage rod, the T-shaped slider and the T-shaped slide groove, the U-shaped frame moves on the rear side wall of the inspection robot body, and drives the fixed box and the shielding disc to move toward one side of the inspection robot body through the synchronization rod, so that it is close to the outer wall of the inspection robot body and exposes the charging head. S3: When the reduction motor and the stepper motor are working, the servo motor drives the bidirectional screw to rotate. After the two sets of threaded blocks connected to the bidirectional screw pass through the sliding limit of the cross bar and the slider, the two sets of sliders drive the two sets of movable baffles to move in opposite directions away from the charging interface, so that the charging interface is exposed, and the charging head on the inspection robot body is connected to the charging interface, that is, the charging docking of the inspection robot body is completed, and the charging pile body charges the inspection robot body; S4: Finally, after the inspection robot body is charged, the two sets of walking wheels on the inspection robot body roll on the track, and the charging head is away from the charging interface, so that the inspection robot body is away from the charging pile body, and the servo motor, reduction motor and stepper motor work synchronously to move the two sets of movable baffles in relative directions to block the charging interface, and the movable gear plate moves in the fixed box to make the blocking disc face the charging head, and the U-shaped frame moves on the outer wall of the inspection robot body to drive the fixed box to move toward one side of the inspection robot body through the synchronization rod, so that the blocking disc facing the charging head fits with the charging head, thereby sealing and protecting the charging interface and the charging head.

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