Battery replacement device of electric power inspection robot

Abstract

The invention discloses a battery replacement device of an electric power inspection robot, and relates to the battery replacement technology of electric vehicles, the battery replacement device comprises a robot body and a battery replacement station, the battery replacement station is provided with at least two communicated charging bins, the inner side walls of the charging bins are rotatably connected with charging mechanisms, and the robot body is provided with battery bins corresponding to the charging bins; the position, located between the battery bins, of the robot body is provided with a placement groove, the interior of the placement groove is rotatably connected with a dislocation mechanism, the interior of each battery bin is slidably connected with a connecting mechanism, and the dislocation mechanism is fixedly connected with the connecting mechanism. According to the robot, the battery is replaced without power off, the charged battery enters the battery bin through the dislocation mechanism and can move away from the battery bin in the reverse direction, the robot can directly continue to work, the battery replacement process is short, and the battery replacement process is completed through movement of the robot.

Description

Technical Field

[0001] The invention relates to a battery replacement technology for an electric vehicle, and in particular to a battery replacement device for an electric power inspection robot. Background Art

[0002] Inspection robots are intelligent machines that can work semi-autonomously or fully autonomously. Inspection robots have basic features such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, and improve work efficiency and quality. Robots usually have built-in lithium batteries. When the battery is low, the robot needs to be controlled to return to the charging pile for charging. The Chinese patent with application number "CN1920099973.2" provides a battery replacement device and battery replacement method for an electric inspection robot. The application pushes the battery to be replaced onto the conveyor belt through a push-pull mechanism, and drives it to the turntable. The battery to be replaced and the charged battery are exchanged through the turntable, and then driven into the robot through the conveyor belt. During the battery replacement process, the robot is in a power-off state and needs to wait for the entire battery movement process, so the replacement time is relatively long. Summary of the invention

[0003] The purpose of the present invention is to provide a battery replacement device for an electric power inspection robot to solve the problems raised in the above-mentioned background technology.

[0004] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0005] The present invention provides a battery replacement device for an electric power inspection robot, comprising a robot body and a battery replacement station, wherein the battery replacement station is provided with at least two interconnected charging compartments, and a charging mechanism is rotatably connected to the inner side wall of the charging compartment. The robot body is provided with a battery compartment corresponding to the charging compartment, and a placement groove is provided at a position of the robot body between the battery compartments, and a dislocation mechanism is rotatably connected in the placement groove, and a connecting mechanism is slidably connected in each of the battery compartments, and the dislocation mechanism is fixedly connected to the connecting mechanism.

[0006] Furthermore, the charging mechanism includes a first pulley rotatably connected to the charging compartment, the first pulley is sleeved with a first synchronous belt for transmission connection, the first synchronous belt is fixedly connected to fixed rods at positions located in the two charging compartments, and the fixed rods are fixedly connected to support plates, the battery swap station is provided with an installation groove near one of the first pulleys, an electric push rod is fixedly connected in the installation groove, the output end of the electric push rod is fixedly connected to a fixed plate, the end of the fixed plate away from the electric push rod is fixedly connected to a motor, the inner wall of the charging compartment close to the outside is fixedly connected to a sensor, and the sensor is fixedly connected to a cylinder at a position away from the outside of the charging compartment.

[0007] Furthermore, the dislocation mechanism includes two second pulleys rotatably connected to the placement groove, a second synchronous belt is transmission-connected between the second pulleys, two connecting rods are fixedly connected to the second synchronous belt, and the connecting rods extend into two battery compartments respectively, one of the connecting rods is close to one second pulley, and the other connecting rod is close to the other second pulley, a first placement compartment is opened at the top of each battery compartment, a second placement compartment is opened at the bottom of each battery compartment, and a pushing assembly is fixedly connected to the rear wall of each battery compartment.

[0008] Furthermore, the pushing assembly includes a hydraulic cylinder fixedly connected to the first placement chamber, a piston is slidably connected to the hydraulic cylinder, and a telescopic rod is fixedly connected to the second placement chamber.

[0009] Furthermore, the connecting mechanism includes a connecting plate slidably connected to the battery compartment, sliding grooves are provided at the bottom ends of both sides of the connecting plate, and partition plates are fixedly connected to the positions of the battery compartment corresponding to the sliding grooves, and a sliding rod is slidably connected to each of the sliding grooves, and both ends of the sliding rod located in the sliding grooves are fixedly connected to connecting columns, and abutting columns are fixedly connected to the side of the connecting column close to the partition plate, and the abutting columns abut against the partition plate, and the end of the sliding rod extending outside the connecting plate is fixedly connected to a connecting rod, and a fixing block is fixedly connected to the side of the connecting rod close to the connecting plate.

[0010] Furthermore, a section of the partition plate close to the outer side of the battery compartment is provided with a bending portion, and when the abutment column passes through the bending portion, the fixing block clamps the battery in a timely manner.

[0011] Furthermore, one of the connecting plates is fixedly connected to a connecting rod, another connecting plate is fixedly connected to another connecting rod, and each of the connecting plates is fixedly connected to the piston.

[0012] Furthermore, the hydraulic cylinder and the telescopic rod are connected through a hydraulic oil circuit.

[0013] Furthermore, the sensor is electrically connected to the cylinder, and the cylinder extends when the sensor receives a signal once, and retracts when the sensor receives a signal again.

[0014] Furthermore, the electric push rod is used to push the motor to connect with the first pulley.

[0015] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0016] The present invention charges the battery to be charged by setting a charging mechanism, and drives the charged battery to the outside of the battery swap station. When the robot needs to replace the battery, the robot body moves toward the battery swap station, and connects the charged battery with the circuit through the connecting mechanism to supply energy to the robot, thereby realizing uninterrupted power supply for battery replacement. The robot moves through the dislocation mechanism so that the charged battery enters the battery compartment and can move in the opposite direction to leave, and can continue to work directly. The battery replacement process is short, and the battery replacement process is completed by the movement of the robot itself, without the need for operation by other devices.

[0017] It is to be understood that 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

[0018] 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.

[0019] Figure 1 It is a schematic diagram of the structure of the robot body and the battery swap station of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the robot body of the present invention;

[0021] Figure 3 is a front view of the battery swap station of the present invention;

[0022] Figure 4 yes Figure 3 Sectional view at the middle BB;

[0023] Figure 5 It is a partial structural schematic diagram of the charging mechanism of the present invention;

[0024] Figure 6 It is a connection diagram of the electric push rod and the motor of the present invention;

[0025] Figure 7 is a schematic diagram of the internal structure of the robot body of the present invention;

[0026] Figure 8 yes Figure 7 The enlarged view of point A in the middle;

[0027] Fig. 9 It is a schematic diagram of the connection structure of the dislocation mechanism and the connection mechanism of the present invention;

[0028] Fig.10 It is a partial structural schematic diagram of the connecting mechanism of the present invention.

[0029] In the figure:

[0030] 1. Robot body; 2. Battery swap station; 3. Charging compartment; 4. Battery compartment; 5. Placement slot; 6. First pulley; 7. First synchronous belt; 8. Fixed rod; 9. Support plate; 10. Installation slot; 11. Electric push rod; 12. Fixed plate; 13. Motor; 14. Sensor; 15. Cylinder; 16. Second pulley; 17. Second synchronous belt; 18. Connecting rod; 19. First placement compartment; 20. Second placement compartment; 21. Hydraulic cylinder; 22. Piston; 23. Telescopic rod; 24. Connecting plate; 25. Slide groove; 26. Partition plate; 27. Sliding rod; 28. Connecting column; 29. ​​Abutment column; 30. Connecting rod; 31. Fixed block; 32. Bending part. DETAILED DESCRIPTION

[0031] 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.

[0032] See also Figures 1 to 10 The present invention provides a battery replacement device for an electric power inspection robot, comprising a robot body 1 and a battery replacement station 2, wherein the battery replacement station 2 is provided with at least two interconnected charging compartments 3, and a charging mechanism is rotatably connected to the inner wall of the charging compartment 3, and a battery compartment 4 corresponding to the charging compartment 3 is provided on the robot body 1, and a placement groove 5 is provided at a position between the battery compartments 4 of the robot body 1, and a dislocation mechanism is rotatably connected in the placement groove 5, and a connecting mechanism is slidably connected in each of the battery compartments 4, and the dislocation mechanism is fixedly connected to the connecting mechanism.

[0033] The present invention charges the battery to be charged by setting a charging mechanism, and drives the charged battery to the outside of the battery swap station 2. When the robot needs to replace the battery, the robot body 1 moves toward the battery swap station 2, so that the charged battery enters the battery compartment 4, and the charged battery is connected to the circuit through the connecting mechanism to supply energy to the robot. The battery to be charged in the robot body 1 is moved to the charging mechanism for charging through the dislocation mechanism. When the charged battery completely enters the robot body 1, the battery to be charged is detached from the battery compartment 4. The battery replacement is completed by the movement of the robot itself, and there is no need to operate through other devices, so that the battery replacement can be achieved without power outage. The robot moves to allow the charged battery to enter the battery compartment 4 and then moves in the opposite direction to leave, and can continue to work directly. The battery replacement process is relatively short.

[0034] See also Figures 3 to 6The charging mechanism includes a first pulley 6 rotatably connected to the charging compartment 3, the first pulley 6 is sleeved with a first synchronous belt 7 for transmission connection, the first synchronous belt 7 is fixedly connected to fixed rods 8 at positions located in the two charging compartments 3, and each of the fixed rods 8 is fixedly connected to a support plate 8, and the battery swap station 2 is provided with a mounting groove 10 near one of the first pulleys 6, an electric push rod 11 is fixedly connected in the mounting groove 10, the output end of the electric push rod 11 is fixedly connected to a fixing plate 11, and the end of the fixing plate 11 away from the electric push rod 11 is fixedly connected to a motor 13, the inner wall of the charging compartment 3 close to the outside is fixedly connected to a sensor 14, and the sensor 14 is fixedly connected to a cylinder 15 at a position away from the outside of the charging compartment 3.

[0035] When the battery replacement is completed, the electric push rod 11 is started, the electric push rod 11 drives the fixed plate 11 to move, the movement of the fixed plate 11 drives the motor 13 to move, the motor 13 is connected to the first pulley 6, the motor 13 is started, and the first pulley 6 is electrically driven to rotate, the rotation of the first pulley 6 drives the first synchronous belt 7 to rotate, the rotation of the first synchronous belt 7 drives the fixed rod 8 to move, the movement of the fixed rod 8 drives the support plate 8 to move, the movement of the support plate 8 drives the battery to be charged to move into the charging bin 3 for charging, the electric push rod 11 is started to drive the motor 13 to disengage from the first pulley 6, when the battery is completely charged, the same as the above process, the battery that has been charged is moved outside the charging bin 3, when the battery that has been charged is moved outside the charging bin 3, when it passes the sensor 14, the control cylinder 15 is extended, which is used to limit one end of the battery when the robot replaces the battery to prevent the battery from entering the charging bin 3, when the charged battery passes the sensor 14, the control cylinder 15 is retracted, so that the battery to be charged enters the charging bin 3.

[0036] See also Figure 2 , Figure 8 and Fig. 9 The dislocation mechanism includes two second pulleys 17 rotatably connected to the placement groove 5, a second synchronous belt 16 is sleeved and transmission-connected between the second pulleys 17, and two connecting rods 18 are fixedly connected to the second synchronous belt 16. The connecting rods 18 extend into the two battery compartments 4 respectively, one of the connecting rods 18 is close to one second pulley 17, and the other connecting rod 18 is close to the other second pulley 17. A first placement compartment 19 is opened at the top of each battery compartment 4, and a second placement compartment 20 is opened at the bottom of the battery compartment 4. A pushing component is fixedly connected to the rear wall of each battery compartment 4.

[0037] See 7 and Fig. 9 The pushing assembly includes a hydraulic cylinder 21 fixedly connected to the first placement bin 19 , a piston 22 is slidably connected to the hydraulic cylinder 21 , and a telescopic rod 23 is fixedly connected to the second placement bin 20 .

[0038] See also Fig. 9 and Fig.10 The connecting mechanism includes a connecting plate 24 slidably connected to the battery compartment 4, and a slide groove 25 is provided at the bottom of both sides of the connecting plate 24. The battery compartment 4 is fixedly connected to the corresponding position of the slide groove 25 with a partition plate 26. A sliding rod 27 is slidably connected in each of the slide grooves 25. Both ends of the sliding rod 27 located in the slide groove 25 are fixedly connected to a connecting column 28. The connecting column 28 is fixedly connected to a side close to the partition plate 26 with an abutting column 29, and the abutting column 29 abuts against the partition plate 26. The sliding rod 27 extends to one end outside the connecting plate 24 and is fixedly connected to a connecting rod 30. The connecting rod 30 is fixedly connected to a fixing block 31 on the side close to the connecting plate 24.

[0039] See also Fig. 9 A section of the partition plate 26 close to the outer side of the battery compartment 4 is provided with a bending portion 32. When the abutting column 29 passes through the bending portion 32, the fixing block 31 clamps the battery in time.

[0040] The robot body 1 moves toward the battery swap station 2. Due to the limitation of the cylinder 15, the charged battery cannot move into the charging compartment 3, so the charged battery enters the battery compartment 4. The battery contacts one of the connecting plates 24 and is connected to the robot circuit to supply energy to the robot. The battery pushes the connecting plate 24 to move. The movement of the connecting plate 24 drives the sliding rod 27 to move. The movement of the sliding rod 27 drives the connecting column 28 to move. The movement of the connecting column 28 drives the abutting column 29 to move. The abutting column 29 moves through the bending portion 32, driving the sliding rod 27 to move axially along the sliding rod 27. The movement of the sliding rod 27 drives the connecting rod 30 to move. The movement of the connecting rod 30 drives the fixing block 31 to fix the battery, so that the battery remains in the battery compartment 4. At the same time, the movement of the connecting plate 24 drives the piston 22 to move. The movement of the piston 22 extends the telescopic rod 23 through the oil circuit, pushing the support plate 8 in the battery compartment 4 to move out of the battery compartment 4 until it is completely pushed out. In the battery compartment 4, the support plate 8 moves to drive the fixed rod 8 to move, the fixed rod 8 moves the first synchronous belt 7 to move, the first synchronous belt 7 moves to drive another fixed rod 8 to move, and then drive another support plate 8 to move outside the charging compartment 3 to accommodate the battery to be charged, the connecting plate 24 moves to drive the connecting rod 18 to move, the connecting rod 18 moves to drive the second synchronous belt 16 to rotate, the second synchronous belt 16 rotates to drive another connecting rod 18 to move, thereby driving another connecting plate 24 to move, and at the same time, contrary to the above-mentioned battery fixing process, the fixing block 31 releases the battery to be charged, and then pushes the battery to be charged to move outside the battery compartment 4 and onto the support plate 8, so that the robot can complete the battery replacement through its own movement, and the robot moves to allow the charged battery to enter the battery compartment 4 and then move in the opposite direction to leave, so as to realize the battery replacement without power outage, and can directly continue to work, and the battery replacement process is shorter.

[0041] See also Fig. 9 One of the connecting plates 24 is fixedly connected to a connecting rod 18, and the other connecting plate 24 is fixedly connected to another connecting rod 18. Each of the connecting plates 24 is fixedly connected to the piston 22, so that the movement of the connecting plate 24 can drive the piston 22 to move, thereby driving the telescopic rod 23 to extend.

[0042] The hydraulic cylinder 21 and the telescopic rod 23 are connected via a hydraulic oil circuit, so that the piston 22 can drive the telescopic rod 23 to extend and retract when moving in the hydraulic cylinder 21 .

[0043] The sensor 14 is electrically connected to the cylinder 15. The cylinder 15 extends when the sensor 14 receives a signal once, and retracts when the sensor 14 receives a signal again. It is used to limit one end of the battery when the robot replaces the battery to prevent the battery from entering the charging compartment 3. When the charged battery passes the sensor 14, the cylinder 15 is controlled to retract, allowing the battery to be charged to enter the charging compartment 3.

[0044] See also Figure 6 The electric push rod 11 is used to push the motor 13 to connect with the first pulley 6. The motor 13 only drives the battery into the charging compartment 3 for charging and moves the charged battery out of the charging compartment 3.

[0045] 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. A battery replacement device for a power inspection robot, characterized in that: The invention comprises a robot body (1) and a battery swap station (2), wherein the battery swap station (2) is provided with at least two interconnected charging chambers (3), the inner side wall of the charging chamber (3) is rotatably connected with a charging mechanism, the robot body (1) is provided with a battery chamber (4) corresponding to the charging chamber (3), the robot body (1) is provided with a placement groove (4) at a position between the battery chambers (4), a dislocation mechanism is rotatably connected in the placement groove (4), each battery chamber (4) is slidably connected with a connecting mechanism, and the dislocation mechanism is fixedly connected to the connecting mechanism.

2. The battery replacement device for a power inspection robot according to claim 1, characterized in that: The charging mechanism comprises a first pulley (6) rotatably connected to the charging compartment (3); a first synchronous belt (7) is sleeved on the first pulley (6) for transmission connection; fixed rods (8) are respectively fixedly connected to the first synchronous belt (7) at positions located in the two charging compartments; the fixed rods (8) are fixedly connected to support plates (9); a mounting groove (10) is provided at a position of the battery swap station (2) close to one of the first pulleys (6); an electric push rod (11) is fixedly connected in the mounting groove (10); a fixed plate (12) is fixedly connected to the output end of the electric push rod (11); a motor (13) is fixedly connected to one end of the fixed plate (12) away from the electric push rod (11); a sensor (14) is fixedly connected to the inner wall of the charging compartment (3) close to the outer side; and a cylinder (15) is fixedly connected to the sensor (14) at a position away from the outer side of the charging compartment (3).

3. The battery replacement device for a power inspection robot according to claim 1, characterized in that: The dislocation mechanism comprises two second pulleys (16) rotatably connected to the placement groove (4); a second synchronous belt (17) is sleeved between the second pulleys (16) for transmission connection; two connecting rods (18) are fixedly connected to the second synchronous belt (17); the connecting rods (18) extend into the two battery compartments (4) respectively; one of the connecting rods (18) is close to one second pulley (16), and the other connecting rod (18) is close to the other second pulley (16); a first placement compartment (19) is provided at the top of each battery compartment (4); a second placement compartment (20) is provided at the bottom of each battery compartment (4); and a pushing assembly is fixedly connected to the rear wall of each battery compartment (4).

4. The battery replacement device for a power inspection robot according to claim 3, characterized in that: The pushing assembly comprises a hydraulic cylinder (21) fixedly connected to the first placement chamber (19), a piston (22) being slidably connected to the hydraulic cylinder (21), and a telescopic rod (23) being fixedly connected to the second placement chamber (20).

5. The battery replacement device for a power inspection robot according to claim 1, characterized in that: The connecting mechanism comprises a connecting plate (24) slidably connected to the battery compartment (4), the bottom ends of both sides of the connecting plate (24) are provided with sliding grooves (25), the positions of the battery compartment (4) corresponding to the sliding grooves (25) are fixedly connected with partition plates (26), each of the sliding grooves (9) is slidably connected with a sliding rod (27), both ends of the sliding rod (27) located in the sliding grooves (25) are fixedly connected with connecting columns (28), the side of the connecting column (28) close to the partition plate (26) is fixedly connected with an abutting column (29), the abutting column (29) abuts against the partition plate (26), the end of the sliding rod (27) extending outside the connecting plate (24) is fixedly connected with a connecting rod (30), and the side of the connecting rod (30) close to the connecting plate (24) is fixedly connected with a fixing block (31).

6. The battery replacement device for a power inspection robot according to claim 5, characterized in that: A section of the partition plate (26) close to the outer side of the battery compartment (4) is provided with a bending portion (32), and when the abutment column (29) passes through the bending portion (32), the fixing block (31) clamps the battery in a timely manner.

7. The battery replacement device for a power inspection robot according to claim 5, characterized in that: One of the connecting plates (24) is fixedly connected to a connecting rod (18), another of the connecting plates (24) is fixedly connected to another connecting rod (18), and each of the connecting plates (24) is fixedly connected to the piston (22).

8. The battery replacement device for a power inspection robot according to claim 4, characterized in that: The hydraulic cylinder (21) and the telescopic rod (23) are connected via a hydraulic oil circuit.

9. The battery replacement device for a power inspection robot according to claim 2, characterized in that: The sensor (14) is electrically connected to the cylinder (15); when the sensor (14) receives a signal once, the cylinder (15) extends; when the sensor (14) receives a signal again, the cylinder (15) retracts.

10. The battery replacement device for a power inspection robot according to claim 2, characterized in that: The electric push rod (11) is used to push the motor (13) to connect with the first pulley (6).

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