A dual-mode robot power supply device

Abstract

The present invention relates to the technical field of inspection robots, and discloses a dual-mode robot power supply device. The present invention includes: a hanging rail assembly, an external walking mechanism movably mounted on the hanging rail assembly, and a dual-mode switching assembly arranged on the external walking mechanism and capable of cooperating with the hanging rail assembly; the hanging rail assembly includes a hanging rail, a movable power supply socket is arranged in the hanging rail, so as to provide wired power supply for the inspection robot, an infrared positioning receiver is arranged on the power supply socket, so as to allow the power supply socket to be positioned with the inspection robot, and a wireless charging transmitting coil group composed of a plurality of wireless charging coils is arranged on the inner side wall of the hanging rail, so as to provide wireless power supply for the inspection robot. The present invention can select different power supply modes according to the use needs of the inspection robot, so as to ensure the endurance of the inspection robot without affecting the inspection of the inspection robot.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a dual-mode robot power supply device. Background Art

[0002] With the continuous development of robot technology, its application in industrial inspection, environmental monitoring, rescue and exploration and other fields is becoming more and more extensive. However, the endurance of inspection robots has always been a key factor restricting their long-term and long-distance operations. Traditional single power supply modes, such as relying solely on wired charging or wireless charging, have obvious technical limitations. Although wired charging can provide a stable power supply, the cable constraints limit the robot's range of movement and flexibility; and although wireless charging solves the problem of cable constraints, it still needs to be improved in terms of charging efficiency and distance, and may not be able to meet the robot's immediate power needs under high-intensity operations.

[0003] In the prior art, although some robots have tried to combine wired and wireless charging methods, they only allow the inspection robot to have two different charging methods. In essence, it is just a combination of two charging modes. It is impossible to flexibly select the charging mode according to the actual situation to ensure the stable endurance of the inspection robot. Therefore, it is necessary to propose a dual-mode robot power supply device. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a dual-mode robot power supply device.

[0005] The present invention is implemented by the following technical solutions: a hanging rail assembly, an external travel mechanism movably mounted on the hanging rail assembly, and a dual-mode switching assembly arranged on the external travel mechanism and capable of cooperating with the hanging rail assembly;

[0006] The hanging rail assembly includes a hanging rail, a movable power supply socket is arranged in the hanging rail, so that the inspection robot can be powered by wire, an infrared positioning receiver is arranged on the power supply socket, so that the power supply socket can be positioned with the inspection robot, and a wireless charging transmitting coil group composed of a plurality of wireless charging coils is arranged on the inner side wall of the hanging rail, so as to provide wireless power to the inspection robot;

[0007] The dual-mode switching component includes a rotatable rotating block, on which an infrared positioning transmitter is provided, the upper part of the rotating block is provided with a wireless charging receiver, and the lower part of the rotating block is provided with a retractable wired charging plug that is matched with a power supply socket, thereby realizing switching between wired charging and wireless charging.

[0008] As a further improvement of the above scheme, the external walking mechanism includes a base box, on which are provided two sets of movable and reset guide wheel mechanisms and four connecting frames that can be adjusted to fixed angles. The guide wheel mechanism includes a pair of sliding rods, on which a pair of sliding rods are sliding sleeves provided with two wheel frames, and on which corresponding sliding rods are sleeved two springs, and the two ends of the two springs are respectively abutted against the inner walls of the wheel frames and the two sides of the base box, and the wheel frames are rotatably mounted with walking wheels and hanging wheels, and the wheel frames are provided with a second motor for driving the walking wheels.

[0009] As a further improvement of the above solution, the hanging rail is in a U-shape, and sideways for the hanging wheels to move are arranged on both sides thereof.

[0010] As a further improvement of the above solution, connecting flanges are provided at both ends of the hanging rail.

[0011] As a further improvement of the above scheme, rotatable winding wheels are provided at both ends of the hanging rail, and the same connecting wire is wound around the two winding wheels, and the connecting wire is connected to the power supply socket. First wire rotating joints are provided on the shafts of the two winding wheels, and both ends of the connecting wire extend into the two winding wheels respectively and are connected to the two first wire rotating joints.

[0012] As a further improvement of the above solution, both sides of the inner wall of the hanging rail are provided with sliding grooves, and both sides of the power supply socket are provided with sliding blocks, and the two sliding blocks extend into the two sliding grooves respectively and are slidably connected with the two sliding grooves.

[0013] As a further improvement of the above solution, two first motors are arranged on one side of the hanging rail, and the shafts of the two winding wheels are respectively fixedly connected to the output shafts of the corresponding first motors.

[0014] As a further improvement of the above scheme, a support frame is provided on the base box, the rotating block is rotatably connected to the support frame, a third motor for driving the rotating block to rotate is provided on one side of the support frame, a worm is provided on the output shaft of the third motor, and a worm wheel meshing with the worm is provided on the shaft of the rotating block.

[0015] As a further improvement of the above solution, electric push rods are provided on both sides of the rotating block, connecting blocks are provided on both sides of the wired charging plug, and the output rods of the two electric push rods are fixedly connected to the two connecting blocks respectively.

[0016] As a further improvement of the above solution, a second wire rotary joint is provided on the shaft of the rotating block, and the power cords of the wireless charging receiver and the wired charging plug are both connected to the second wire rotary joint.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] A new hanging rail assembly is formed by the cooperation of the hanging rail, the first motor, the winding wheel, the connecting wire and the power supply socket. Compared with the existing hanging rail assembly, it has a power supply socket that can be moved within a certain range, so that the inspection robot can be wired for charging while inspecting. Compared with wireless charging, its charging efficiency is higher, and it also requires that when the inspection robot moves, each time it moves to a new hanging rail, the wired charging plug needs to be replaced with a new power supply socket, which will affect the inspection efficiency of the inspection robot. Therefore, the wired power supply method is more suitable for regional inspection, such as moving back and forth on the same hanging rail, so that the inspection work can be carried out while the wired charging is carried out. In this case, since there is no need to replace the power supply socket, its inspection efficiency will not be affected;

[0019] When the connecting wire and the winding wheel are matched with the first wire rotating joint, the hanging rail assembly in any area has the wired power supply function. The inspection robot can be continuously connected to the power supply sockets on different hanging rails, so that it can be wired charged while conducting the whole inspection. However, since changing the power supply socket will affect the moving speed of the inspection robot, resulting in a decrease in the inspection efficiency of the inspection robot, this power supply mode is more suitable for high-intensity work and is used when the power demand is large.

[0020] The external travel mechanism, which is composed of a base box, a slide bar, a wheel frame, a running wheel and a hanging wheel, is a matching structure with the hanging rail assembly, so that inspection robots of different models and brands can be installed on the hanging rail assembly through the external travel mechanism;

[0021] The dual-mode switching component is composed of structures such as a support frame, a rotating block, a wireless charging receiver and a wired charging plug. This allows the inspection robot to switch between wired charging mode and wireless charging mode according to usage needs, and the two charging modes do not interfere with each other. At the same time, when it is combined with the hanging rail component, it can not only realize mobile wireless charging, but also wired mobile charging, which fully meets the different usage needs of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a first overall structural diagram of the dual-mode robot power supply device of the present invention;

[0023] Figure 2 A second overall structural diagram of the dual-mode robot power supply device of the present invention;

[0024] Figure 3 This is a disassembled display diagram of the dual-mode robot power supply device of the present invention;

[0025] Figure 4 It is a cross-sectional view and a partial enlarged view of the hanging rail assembly;

[0026] Figure 5 This is a display diagram of the external walking mechanism and dual-mode switching components;

[0027] Figure 6 This is a disassembled display diagram of the external traveling mechanism;

[0028] Figure 7 This is a disassembled display diagram of the external walking mechanism and dual-mode switching components;

[0029] Figure 8 This is a front-view display diagram of the dual-mode switching component;

[0030] Fig. 9 It is a cross-sectional view showing a dual-mode switching component;

[0031] Fig.10 This is a rear-view display of the dual-mode switching component.

[0032] Description of main symbols:

[0033] 1. Hanging rail; 2. First motor; 3. Winding wheel; 4. Connecting wire; 5. Power supply socket; 6. First wire rotary joint; 7. Wireless charging transmitting coil group; 8. Base box; 9. Sliding rod; 10. Wheel frame; 11. Spring; 12. Second motor; 13. Walking wheel; 14. Hanging wheel; 15. Connecting frame; 16. Support frame; 17. Third motor; 18. Rotating block; 19. Wireless charging receiver; 20. Wired charging plug; 21. Electric push rod; 22. Connecting block; 23. Second wire rotary joint; 24. Infrared positioning transmitter; 25. Infrared positioning receiver. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0035] Please combine Figures 1 to 10 , a dual-mode robot power supply device, comprising: a hanging rail assembly, an external walking mechanism movably mounted on the hanging rail assembly, and a dual-mode switching assembly arranged on the external walking mechanism and capable of cooperating with the hanging rail assembly;

[0036] The hanging rail assembly includes a hanging rail 1, which can be straight or arc-shaped. A movable power supply socket 5 is arranged in the hanging rail 1, and an infrared positioning receiver 25 is arranged on the power supply socket 5. A wireless charging transmitting coil group 7 composed of a plurality of wireless charging coils is arranged on the inner side wall of the hanging rail 1;

[0037] The dual-mode switching assembly includes a support frame 16, on which a rotatable rotating block 18 is provided, on which an infrared positioning transmitter 24 is provided, a wireless charging receiver 19 is provided on the upper half of the rotating block 18, and a retractable wired charging plug 20 that is compatible with the power supply socket 5 is provided on the lower half of the rotating block 18.

[0038] Through the above technical scheme, a new power supply device for an inspection robot is formed by cooperating with a hanging rail assembly, an external walking mechanism and a dual-mode switching assembly. By improving the existing hanging rail, it is combined with an external walking mechanism and a dual-mode switching assembly to meet the wireless power supply and wired power supply of the inspection robot, and at the same time it will not affect the normal inspection work of the robot. However, there is a gap in the inspection efficiency between the two. Wired charging requires frequent replacement of the power socket 5, and the efficiency is lower than that of wireless charging. However, it meets the needs of mobile wired charging of the inspection robot, so that the inspection robot can be used in situations where the power demand is large.

[0039] The external walking mechanism includes a base box 8, on which are arranged two sets of movable and reset guide wheel mechanisms and four connecting frames 15 with adjustable fixed angles. The guide wheel mechanism includes a pair of slide bars 9, on which are slidably sleeved two wheel frames 10, and on which are corresponding slide bars 9 sleeved two springs 11, the two ends of the two springs 11 respectively abut against the wheel frames 10 and the inner walls of the two sides of the base box 8, and on the wheel frames 10 are rotatably mounted running wheels 13 and hanging wheels 14, and on the wheel frames 10 are arranged a second motor 12 for driving the running wheels 13, and the position of the hanging wheels 14 is lower than the connecting flange, the first motor 2 and the first wire rotary joint 6, so that the external walking mechanism will not be restricted when moving on the hanging rail 1.

[0040] Through the above technical scheme, the external walking mechanism and the hanging rail assembly are a matching structure, so that inspection robots of different models and with similar sizes can be installed on the hanging rail assembly through the external walking mechanism. At the same time, since the connecting frame 15 is a three-section hinged structure, it can better adapt to inspection robots of different widths and be fixed to them. The slide rod 9 cooperates with the wheel frame 10 and the spring 11, which allows the walking wheel 13 to be tightly attached to the hanging rail 1. At the same time, its movable reset feature also allows it to adaptively adjust its position when passing through the arc-shaped hanging rail 1.

[0041] The hanging rail 1 is in a U-shape, and sideways are provided on both sides thereof for the hanging wheels 14 to move.

[0042] Through the above technical solution, the structure of the hanging rail 1 allows the winding wheel 3 and the power socket 5 to be installed inside, so that the power socket 5 and the inspection robot can move normally while hiding and protecting both.

[0043] Both ends of the hanging rail 1 are provided with connecting flanges.

[0044] Through the above technical solution, the connecting flange allows multiple hanging rails 1 to be assembled and connected, so that the hanging rails 1 can be assembled into an inspection track according to actual needs, so that the inspection robot can perform inspections along the inspection track.

[0045] A rotatable winding wheel 3 is provided at both ends of the hanging rail 1, and the same connecting wire 4 is wound around the two winding wheels 3, and the connecting wire 4 is connected to the power supply socket 5. A first wire rotating joint 6 is provided on the shaft rods of the two winding wheels 3, and both ends of the connecting wire 4 extend into the two winding wheels 3 respectively and are connected to the two first wire rotating joints 6.

[0046] Through the above technical solution, when the power socket 5 moves, one winding wheel 3 unwinds the connecting wire 4, and the other winds up the connecting wire 4, thereby ensuring that the power socket 5 can move while maintaining connection with the connecting wire 4.

[0047] Slide grooves are arranged on both sides of the inner wall of the hanging rail 1, and sliders are arranged on both sides of the power supply socket 5. The two sliders extend into the two slide grooves respectively and are slidably connected with the two slide grooves.

[0048] Through the above technical solution, the slide groove cooperates with the upper slider to ensure the stability of the power socket 5 without affecting the normal movement of the power socket 5.

[0049] Two first motors 2 are arranged on one side of the hanging rail 1 , and shafts of the two winding wheels 3 are fixedly connected to the output shafts of the corresponding first motors 2 .

[0050] Through the above technical solution, the two first motors 2 can respectively control the two winding wheels 3 to rotate, so that when the power socket 5 is moved, the connecting line 4 can be synchronously retracted and released.

[0051] A third motor 17 for driving the rotating block 18 to rotate is disposed on one side of the support frame 16 . A worm is disposed on the output shaft of the third motor 17 , and a worm wheel meshing with the worm is disposed on the shaft of the rotating block 18 .

[0052] Through the above technical solution, the worm is matched with the worm wheel, which not only serves as a transmission part for the third motor 17 to drive the rotating block 18, but also has a self-locking limiting function between the two. Therefore, when the third motor 17 stops, the rotating block 18 can be limited to the current state and will not rotate on its own.

[0053] Electric push rods 21 are disposed on both sides of the rotating block 18 , and connecting blocks 22 are disposed on both sides of the wired charging plug 20 . The output rods of the two electric push rods 21 are fixedly connected to the two connecting blocks 22 , respectively.

[0054] A second wire rotary joint 23 is disposed on the shaft of the rotating block 18 , and power lines of the wireless charging receiver 19 and the wired charging plug 20 are both connected to the second wire rotary joint 23 .

[0055] Through the above technical solution, the second wire rotary joint 23 allows the wireless charging receiver 19 and the wired charging plug 20 to be connected to the inspection robot through wires without affecting the normal rotation of the rotating block 18.

[0056] The implementation principle of a dual-mode robot power supply device in the embodiment of the present application is:

[0057] During deployment, the hanging rail 1 is installed in the inspection area through the external fixing frame, and multiple hanging rails 1 are connected by connecting flanges at both ends to form an inspection track. At the same time, the first wire rotary joints 6 between the hanging rails 1 connected end to end are connected by wires, so that the connecting wires 4 on the multiple hanging rails 1 forming the inspection track are electrically connected, and the wireless charging transmitting coil group 7 on each hanging rail 1 is connected. Subsequently, the inspection robot is connected to the connecting frame 15 on the external walking mechanism, and the external walking mechanism and the dual-mode switching component are connected to the inspection robot by lines;

[0058] When the inspection robot only needs to perform simple inspection work, the wireless charging receiver 19 is at the top, and at this time the wireless charging receiver 19 corresponds to the wireless charging transmitting coil group 7 on the hanging rail 1, so that when the inspection robot moves, the wireless charging transmitting coil group 7 can continuously wirelessly charge the inspection robot through the wireless charging receiver 19;

[0059] When the inspection robot performs high-power consumption work, such as starting lighting, guide signs, audio and other functions, and the wireless power supply cannot meet the power demand of the inspection robot, a wired power supply method can be used. The third motor 17 drives the rotating block 18 to rotate 180 degrees, so that the positions of the wireless charging receiver 19 and the wired charging plug 20 are reversed. At this time, the external walking mechanism drives the inspection robot and the dual-mode switching component to move until the dual-mode switching component and the power supply socket 5 are positioned by the infrared positioning transmitter 24 and the infrared positioning receiver 25. Subsequently, the two electric push rods 21 are started, and the two electric push rods 21 drive the wired charging plug 20 to move through the two connecting blocks 22 until the wired charging plug 20 is inserted into the power supply socket 5, thereby completing the wired charging of the inspection robot;

[0060] And because the power supply socket 5 in each section of the hanging rail assembly can be moved, the inspection robot can also perform wired charging while realizing the full inspection. However, compared with wireless charging, when the inspection robot moves to the next section of the hanging rail 1, the wired charging plug 20 needs to be replaced with a new power supply socket 5, which will have a certain impact on the inspection speed of the inspection robot. Therefore, wireless power supply is suitable for low-power demand and high-efficiency inspection work, while wired power supply is suitable for low-efficiency inspection, high-intensity work, and high-power demand inspection work.

[0061] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A dual-mode robot power supply device, characterized in that: include: A hanging rail assembly, an external traveling mechanism movably mounted on the hanging rail assembly, and a dual-mode switching assembly arranged on the external traveling mechanism and capable of cooperating with the hanging rail assembly; The hanging rail assembly comprises a hanging rail (1), wherein a movable power supply socket (5) is arranged in the hanging rail (1), so that the inspection robot can be powered by wire, an infrared positioning receiver (25) is arranged on the power supply socket (5), so that the power supply socket (5) and the inspection robot can be positioned, and a wireless charging transmitting coil group (7) composed of a plurality of wireless charging coils is arranged on the inner side wall of the hanging rail (1), so that the inspection robot can be powered wirelessly; Both ends of the hanging rail (1) are provided with rotatable reel wheels (3), and the same connecting wire (4) is wound around the two reel wheels (3), and the connecting wire (4) is connected to the power supply socket (5). The shafts of the two reel wheels (3) are provided with first electric wire rotating joints (6), and both ends of the connecting wire (4) extend into the two reel wheels (3) and are connected to the two first electric wire rotating joints (6); The dual-mode switching component comprises a rotatable rotating block (18), an infrared positioning transmitter (24) being arranged on the rotating block (18), a wireless charging receiver (19) being arranged on the upper half of the rotating block (18), and a wired charging plug (20) being retractable and matching with the power supply socket (5) being arranged on the lower half of the rotating block (18), thereby realizing switching between wired charging and wireless charging; A second wire rotary joint (23) is provided on the shaft of the rotating block (18), and power lines of the wireless charging receiver (19) and the wired charging plug (20) are connected to the second wire rotary joint (23), so that the wireless charging receiver (19) and the wired charging plug (20) can be connected to the inspection robot via wires without affecting the normal rotation of the rotating block (18).

2. The dual-mode robot power supply device according to claim 1, characterized in that: The external travel mechanism comprises a base box (8), on which two sets of movable and reset guide wheel mechanisms and four connecting frames (15) capable of adjusting fixed angles are arranged, the guide wheel mechanism comprises a pair of slide bars (9), on which two wheel frames (10) are slidably sleeved, and on which corresponding slide bars (9) are sleeved two springs (11), the two ends of the two springs (11) respectively abut against the wheel frames (10) and the inner walls of the base box (8), the wheel frames (10) are rotatably mounted with a running wheel (13) and a hanging wheel (14), and the wheel frames (10) are provided with a second motor (12) for driving the running wheel (13).

3. The dual-mode robot power supply device according to claim 1, characterized in that: The hanging rail (1) is in a U-shape, and sideways are provided on both sides thereof for the hanging wheels (14) to move.

4. The dual-mode robot power supply device according to claim 1, characterized in that: Both ends of the hanging rail (1) are provided with connecting flanges.

5. The dual-mode robot power supply device according to claim 1, characterized in that: Slide grooves are provided on both sides of the inner wall of the hanging rail (1), and sliding blocks are provided on both sides of the power supply socket (5), and the two sliding blocks extend into the two slide grooves respectively and are slidably connected to the two slide grooves.

6. The dual-mode robot power supply device according to claim 1, characterized in that: Two first motors (2) are arranged on one side of the hanging rail (1), and the shafts of the two winding wheels (3) are respectively fixedly connected to the output shafts of the corresponding first motors (2).

7. The dual-mode robot power supply device according to claim 2, characterized in that: A support frame (16) is arranged on the base box (8), the rotating block (18) is rotatably connected to the support frame (16), a third motor (17) for driving the rotating block (18) to rotate is arranged on one side of the support frame (16), a worm is arranged on the output shaft of the third motor (17), and a worm wheel meshing with the worm is arranged on the shaft of the rotating block (18).

8. The dual-mode robot power supply device according to claim 1, characterized in that: Electric push rods (21) are provided on both sides of the rotating block (18), connecting blocks (22) are provided on both sides of the wired charging plug (20), and output rods of the two electric push rods (21) are fixedly connected to the two connecting blocks (22) respectively.

Images