Charging structure of hanging type rail robot

Abstract

The invention discloses a hanging type track robot charging structure which comprises a charging station and a power receiving box arranged on a hanging type inspection robot, the charging station comprises a mounting box, a controller and a sensor are arranged in the mounting box, the sensor is electrically connected with the controller, a charging base is fixedly arranged at the bottom of the outer side of the mounting box, and the charging base is electrically connected with the controller. A main polar plate and an auxiliary polar plate are arranged on the charging seat, the auxiliary polar plate is connected with the main polar plate through a resistor, and the main polar plate is electrically connected with the controller; a trigger device is arranged in the power receiving box, and a contact is arranged on the side wall of the power receiving box. The charging interface adopts a main pole plate and an auxiliary pole plate segmented arrangement mode, the main pole plate and the auxiliary pole plate are connected through a large-resistance-value resistor, it can be guaranteed that a contact is in contact with the main pole plate after being in contact with the auxiliary pole plate, and sparks caused by too large differential pressure are avoided; and the reed switch is matched with the magnet box, so that power supply can be ensured only after the hanging type inspection robot enters the work station and is stably connected with the polar plate of the charging station, and sparks can be avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of charging of hanging robots, and in particular relates to a charging structure of a hanging rail robot. Background Art

[0002] The hanging rail inspection robot is a complex system that integrates multi-sensor fusion technology, robot motion control, embedded integrated processor design technology, navigation and behavior planning technology, robot vision, security technology, massive information storage and unlimited transmission. It can replace manual inspection of the pipeline corridor, promptly detect abnormalities in the running equipment, and issue warning signals in time for timely processing. The hanging rail inspection robot usually needs to use a running track when in use. The running track enables the hanging rail inspection robot to move on the guide rail for easy inspection.

[0003] The hanging rail inspection robot usually has a storage battery inside to power the hanging rail inspection robot. When the storage battery runs out of power, it needs to be charged. The charging device of the existing hanging inspection robot is generally fixed on the track. The hanging inspection robot will automatically enter the charging device for charging under the control of the built-in program. However, the electrodes of this charging device are exposed. Sparks will be generated when the protrusions on the hanging inspection robot come into contact with the electrodes. Sparks in some special environments (such as farms or paint spraying rooms) will cause explosions. In addition, the two electrodes of the charging station are prone to short circuit in some relatively humid environments, which will cause the circuit to catch fire and cause a fire.

[0004] Therefore, we need to design a charging structure for a suspended rail robot to solve these problems. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a charging structure for a suspended rail robot.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: A charging structure for a suspended rail robot comprises a charging station and a power receiving box arranged on the suspended inspection robot, the charging station comprises an installation box, a controller and a sensor are arranged in the installation box, the sensor is electrically connected to the controller, a charging seat is fixedly arranged on the outer bottom of the installation box, a main pole plate and a secondary pole plate are arranged on the charging seat, the secondary pole plate is connected to the main pole plate through a large resistance element, and the main pole plate is electrically connected to the controller; a trigger device is arranged in the power receiving box, and a contact is arranged on the side wall of the power receiving box, when the power receiving box moves to the bottom of the installation box, the trigger device is opposite to the sensor position, and the contact is in contact with the main pole plate.

[0007] Preferably, the charging seat includes a seat body connected to the mounting box, an insulating frame is provided on the side wall of the seat body, the number of the secondary pole plates is two and they are fixed on the insulating frame, and the main pole plate is fixed on the insulating frame between the two secondary pole plates.

[0008] Preferably, the insulating frame is slidably connected to the seat body, and a sealing rubber sleeve is provided at the joint between the insulating frame and the seat body.

[0009] Preferably, a fixing block is provided in the seat body, a sliding rod is provided through the fixing block, one end of the sliding rod is connected to the insulating frame, and a plurality of first springs are provided between the fixing block and the insulating frame.

[0010] Preferably, an insulating seat is also provided in the power receiving box, a guide frame is provided on the insulating seat, a conductive column is provided on the contact, the conductive column and the guide frame are slidably matched, and a second spring is also provided on the insulating seat, and the second spring is connected to the contact.

[0011] Preferably, a connecting frame is further provided at the bottom of the installation box, and a rigid track is fixedly provided at the free end of the connecting frame.

[0012] Preferably, a circuit breaker is also provided in the installation box, and the output end of the circuit breaker is connected to the controller. An antenna, a power indicator light and a status indicator light are also provided on the side wall of the installation box, and the status indicator light, the power indicator light and the antenna are all electrically connected to the controller.

[0013] Preferably, there are two charging sockets, and the main pole plates on the two charging sockets are arranged opposite to and in parallel, the width of the power receiving box does not exceed the distance between the two charging sockets, and the length of the contacts extending from the power receiving box is not less than the distance between the side wall of the power receiving box and the opposite main pole plates.

[0014] The advantages and positive effects of the present invention are: The charging interface of the present invention adopts a segmented arrangement of the main pole plate and the secondary pole plate, and connects the main pole plate and the secondary pole plate with a large resistance element, so that the contact of the hanging inspection robot can first contact the secondary pole plate and then contact the main pole plate, which can avoid sparks caused by the large pressure difference between the contacts and the pole plates on the hanging inspection robot; through the sensors arranged in the charging station and the trigger device arranged on the hanging inspection robot, it can be ensured that power is supplied only after the hanging inspection robot enters the workstation and is stably connected to the pole plates of the charging station. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 It is a schematic diagram of the connection structure between the charging station and the flexible track of the present invention; Figure 2 It is a structural schematic diagram of the hanging inspection robot of the present invention; Figure 3 It is a schematic diagram of the internal structure of the installation box of the charging station of the present invention; Figure 4 It is a schematic diagram of the connection structure between the insulating frame and the seat body of the present invention; Figure 5 It is a schematic diagram of the connection structure between the fixed block and the insulating frame in the seat body of the present invention; Figure 6 It is a schematic diagram of the internal structure of the power receiving box of the present invention.

[0017] The following are the descriptions of the reference numerals: 1. Charging station; 101. Installation box; 1011. Sensor; 1012. Controller; 1013. Circuit breaker; 1014. Status indicator light; 1015. Power indicator light; 1016. Antenna; 102. Charging seat; 1021. Seat body; 1022. Insulation frame; 1023. Secondary plate; 1024. Main plate; 1025. Fixing block; 1026. Sliding rod; 1027. First spring; 1028. Large resistance element; 1029, sealing rubber sleeve; 103, connecting frame; 104, rigid track; 2, hanging inspection robot; 201, power receiving box; 2011, insulating seat; 2012, guide frame; 2013, contact; 2014, second spring; 2015, trigger device; 2016, conductive column; 202, drive box; 203, transmission box; 204, inspection host; 205, walking wheel; 3, flexible track. DETAILED DESCRIPTION

[0018] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0020] The present invention will be further described below in conjunction with the accompanying drawings: In the charging structure of the present application, the charging station is connected to the track, and the hanging inspection robot is hung on the track through the running wheels. Moreover, the track on which the hanging inspection robot travels in the present application is a flexible track.

[0021] like Figure 1As shown, a charging structure of a suspended rail robot includes a charging station 1 and a power receiving box 201 arranged on a suspended inspection robot 2, wherein the suspended inspection robot also includes a drive box 202, a transmission box 203, a walking wheel 205 and an inspection host 204, the drive box 202 and the transmission box 203 are both connected to the power receiving box 201, the walking wheel 205 is located between the drive box 202 and the transmission box 203, the inspection host 204 is located directly below the power receiving box 201, and is connected to the drive box 202 or the transmission box 203, the charging station 1 includes an installation box 101, a controller 1012 and a sensor 1011 are arranged in the installation box 101, the sensor 1011 uses a reed switch, and the sensor 1011 is electrically connected to the controller 1012, a charging seat 102 is fixedly arranged on the outer bottom of the installation box 101, and a main pole plate 1024 and a secondary pole plate 1023 are arranged on the charging seat 102, and the main pole plate 1024 and the secondary plate 1023 are both copper plates. The secondary plate 1023 is connected to the main plate 1024 through a large resistor 1028, and the resistance of the large resistor 1028 should be no less than 1 megohm. The main plate 1024 is electrically connected to the controller 1012; a trigger device 2015 is arranged in the power receiving box 201, and the trigger device 2015 is a magnet. By adopting a reed switch and a magnet, when the hanging inspection robot 2 approaches the charging station 1, the magnet is sensed by the reed switch, thereby sending information to the controller 1012, and power is supplied to the main plate 1024 through control, so that sparks can be avoided at the moment of contact, and the risk of explosion in a closed flammable gas or dust environment is eliminated; a contact 2013 is arranged on the side wall of the power receiving box 201, and the material of the contact 2013 is graphite. Large current charging is achieved through graphite and copper plates with large contact areas, and graphite can adapt to high temperature and high humidity environments to avoid corrosion. At the same time, graphite material is relatively soft, which can avoid multiple contacts with the main pole plate 1024 and the secondary pole plate 1023 and cause wear to the main pole plate 1024 and the secondary pole plate 1023, and the graphite contact 2013 is easy to replace after wear and low cost. When the power receiving box 201 is moved to the bottom of the installation box 101, the trigger device 2015 is opposite to the sensor 1011, and the contact 2013 is in contact with the main pole plate 1024, so as to realize the charging of the hanging inspection robot 2.

[0022] The charging seat 102 includes a seat body 1021 connected to the installation box 101, an insulating frame 1022 is arranged on the side wall of the seat body 1021, two secondary pole plates 1023 are fixed on the insulating frame 1022, and the main pole plate 1024 is fixed on the insulating frame 1022 between the two secondary pole plates 1023, which can ensure the insulation effect between the main pole plate 1024 and the charging seat 102.

[0023] The insulating frame 1022 is slidably connected to the base body 1021, and a sealing rubber sleeve 1029 is provided at the joint between the insulating frame 1022 and the base body 1021 to prevent dust from entering through the joint in dusty conditions and affecting the heat dissipation effect of the internal electrical components.

[0024] A fixed block 1025 is provided in the seat body 1021, and a slide bar 1026 is provided through the fixed block 1025, one end of the slide bar 1026 is connected to the insulating frame 1022, and a plurality of first springs 1027 are provided between the fixed block 1025 and the insulating frame 1022. An insulating seat 2011 is also provided in the power receiving box 201, and a guide frame 2012 is provided on the insulating seat 2011. A conductive column 2016 is provided on the contact 2013, and the conductive column 2016 is slidably matched with the guide frame 2012. A second spring 2014 is also provided on the insulating seat 2011, and the second spring 2014 is connected to the contact 2013. Such a configuration can shrink the first spring 1027 and the second spring 2014 for buffering when the main pole plate 1024 and the contact 2013 squeeze each other and cause excessive pressure, so as to avoid excessive equipment damage.

[0025] A connecting frame 103 is also provided at the bottom of the installation box 101, and a rigid rail 104 is fixedly provided at the free end of the connecting frame 103. The rigid rail 104 can provide stable support for the hanging inspection robot 2 to ensure that the contact 2013 can maintain close contact with the main pole plate 1024 during charging. The two ends of the rigid rail 104 are respectively connected to the flexible rail 3 so that the hanging inspection robot 2 can move from the flexible rail 3 to the rigid rail 104.

[0026] A circuit breaker 1013 is also provided in the installation box 101, and the output end of the circuit breaker 1013 is connected to the controller 1012. The circuit breaker 1013 can control the on and off of the circuit. An antenna 1016, a power indicator light 1015 and a status indicator light 1014 are also provided on the side wall of the installation box 101, and the status indicator light 1014, the power indicator light 1015 and the antenna 1016 are all electrically connected to the controller 1012, wherein the status indicator light 1014 and the power indicator light 1015 can indicate the status of the charging station 1, and the antenna 1016 can enable the charging station 1 terminal to control the computer for wireless interaction.

[0027] There are two charging seats 102, and the main pole plates 1024 on the two charging seats 102 are arranged opposite to each other and in parallel, ensuring that the contacts 2013 on the power receiving box 201 can contact the two main pole plates 1024 at the same time, the width of the power receiving box 201 does not exceed the distance between the two charging seats 102, ensuring that the power receiving box 201 can enter between the two charging seats 102, and the length of the contacts 2013 extending from the power receiving box 201 is not less than the distance between the side wall of the power receiving box 201 and the opposite main pole plate 1024, ensuring that the contacts 2013 can contact the main pole plate 1024 after the power receiving box 201 enters between the charging seats 102.

[0028] The working process of this embodiment is as follows: when the power of the hanging inspection robot 2 is insufficient, the hanging inspection robot 2 will move toward the charging station 1 along the flexible track 3 according to the built-in program. After the hanging inspection robot 2 moves along the flexible track 3 to the rigid track 104, the power receiving box 201 will also move between the two charging seats 102, and the contact 2013 on the power receiving box 201 will first slide over the secondary pole plate 1023 and then contact the main pole plate 1024. When the two magnets in the power receiving box 201 are aligned with the reed switch, the hanging inspection robot 2 stops moving, and then the controller 1012 supplies power to the main pole plate 1024, and charges the battery inside the hanging inspection robot 2 through the contact 2013 in contact with the main pole plate 1024. When the charging station 1 is charging the hanging inspection robot 2, the charging indicator light will light up, and the power indicator light 1015 of the charging station 1 will light up in the standby state.

[0029] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A charging structure for a suspended rail robot, comprising a charging station (1) and a power receiving box (201) arranged on a suspended inspection robot (2), characterized in that: The charging station (1) comprises an installation box (101), wherein a controller (1012) and a sensor (1011) are arranged in the installation box (101), wherein the sensor (1011) is electrically connected to the controller (1012), and a charging seat (102) is fixedly arranged at the bottom of the outer side of the installation box (101), wherein a main pole plate (1024) and a secondary pole plate (1023) are arranged on the charging seat (102), and the secondary pole plate (1023) and the main pole plate (1024) are connected via a large resistor. The power receiving box (201) is provided with a trigger device (2015), and a contact (2013) is provided on a side wall of the power receiving box (201); when the power receiving box (201) moves to the bottom of the installation box (101), the trigger device (2015) and the sensor (1011) are opposite to each other, and the contact (2013) and the main pole plate (1024) are in contact with each other.

2. The charging structure of a suspended rail robot according to claim 1, characterized in that: The charging seat (102) comprises a seat body (1021) connected to the installation box (101); an insulating frame (1022) is arranged on the side wall of the seat body (1021); two secondary pole plates (1023) are provided and fixed on the insulating frame (1022); and the main pole plate (1024) is fixed on the insulating frame (1022) between the two secondary pole plates (1023).

3. The charging structure of a suspended rail robot according to claim 2, characterized in that: The insulating frame (1022) is slidably connected to the seat body (1021), and a sealing rubber sleeve (1029) is provided at the joint between the insulating frame (1022) and the seat body (1021).

4. The charging structure of a suspended rail robot according to claim 3, characterized in that: A fixed block (1025) is arranged inside the seat body (1021), a sliding rod (1026) is arranged through the fixed block (1025), one end of the sliding rod (1026) is connected to the insulating frame (1022), and a plurality of first springs (1027) are also arranged between the fixed block (1025) and the insulating frame (1022).

5. The charging structure of a suspended rail robot according to claim 1, characterized in that: An insulating seat (2011) is also provided in the power receiving box (201), a guide frame (2012) is provided on the insulating seat (2011), a conductive column (2016) is provided on the contact (2013), the conductive column (2016) and the guide frame (2012) are slidably matched, and a second spring (2014) is also provided on the insulating seat (2011), and the second spring (2014) is connected to the contact (2013).

6. The charging structure of a suspended rail robot according to claim 1, characterized in that: A connecting frame (103) is also provided at the bottom of the installation box (101), and a rigid track (104) is fixedly provided at the free end of the connecting frame (103).

7. The charging structure of a suspended rail robot according to claim 1, characterized in that: A circuit breaker (1013) is also provided in the installation box (101), and an output end of the circuit breaker (1013) is connected to the controller (1012). An antenna (1016), a power indicator light (1015) and a status indicator light (1014) are also provided on a side wall of the installation box (101), and the status indicator light (1014), the power indicator light (1015) and the antenna (1016) are all electrically connected to the controller (1012).

8. The charging structure of a suspended rail robot according to claim 1, characterized in that: The number of the charging seats (102) is two, and the main pole plates (1024) on the two charging seats (102) are arranged opposite to each other and in parallel, the width of the power receiving box (201) does not exceed the distance between the two charging seats (102), and the length of the contact (2013) extending from the power receiving box (201) is not less than the distance between the side wall of the power receiving box (201) and the opposite main pole plate (1024).

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