Automatic charging device for electric power tunnel inspection robot

Abstract

The invention relates to the technical field of electric power inspection, and particularly discloses an automatic charging device for an electric power tunnel inspection robot, which comprises a base structure, a T-shaped track structure fixed at the top of a base, a walking driving structure walking on the top of the T-shaped track structure, and a liftable wireless charging seat, and is characterized in that a wireless charging module is arranged at the bottom of the inspection robot; a positioning mechanism is fixedly arranged on the top of the inspection robot. According to the technical scheme, the positioning mechanisms are arranged on the inspection robot and the charging devices, when the inspection robot is used in a tunnel and cannot move due to insufficient power, the charging device closest to the inspection robot is deployed to move to the position below the inspection robot, and the wireless charging base is attached to the wireless charging module for charging; according to a traditional inspection robot charging device, charging points are arranged at equal intervals, so that the problem that the inspection robot cannot run due to insufficient power before reaching the charging device is solved, and meanwhile, the problem that the charging device and the charging port of the inspection robot are difficult to be accurately butted is solved.

Description

Technical Field

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

[0002] At present, with the continuous development of urban subways, highways and other transportation construction, more and more power tunnels are being built. For the safety of tunnels, inspection is an indispensable part. Due to the complex environment and high risk factor in power tunnels, the traditional manual inspection method can no longer meet the needs of modern construction, and the power tunnel inspection robot can make up for this defect. The power tunnel inspection robot can obtain more accurate data through various sensors, such as temperature, humidity, gas concentration, etc., and can upload the data to the cloud in real time for analysis and processing. These data provide strong support for subsequent decision-making. In order to ensure that the inspection robot has sufficient endurance, the power tunnel will set a patrol robot charging device at a fixed distance. The inspection robot can be charged when it arrives at the area. However, in actual use, the inspection robot finds problems and handles faults during the inspection, and the power consumption increases. This may cause the inspection robot to fail to reach the charging device when the power is exhausted. The robot can only be manually transported for charging, which takes a long time and is not conducive to the development of the inspection robot. Therefore, we propose an automatic charging device for the power tunnel inspection robot. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic charging device for a power tunnel inspection robot, which solves the problems raised in the background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: an automatic charging device for a power tunnel inspection robot, comprising: Base structure, the base structure consists of an insulating cushion layer and a base; A T-shaped track structure is fixed on the top of the base, a brush set A is fixedly arranged at the bottom end of one side of the T-shaped track structure, and a cable electrically connected to the brush set A is arranged inside the T-shaped track structure; A travel drive structure that travels on the top of the T-shaped track structure, an electric push rod mechanism for driving the brush group B to move laterally is installed on one side of the travel drive structure, an auxiliary wheel mechanism for improving the walking stability is installed on the other side of the travel drive structure, and a positioning mechanism A is fixedly arranged outside the auxiliary wheel mechanism; A liftable wireless charging stand, which is connected to the top of the travel drive structure through a servo push rod, and is electrically connected to the brush set B through a cable; Inspection robot: a wireless charging module is arranged at the bottom of the inspection robot, and a positioning mechanism B is fixedly arranged at the top of the inspection robot.

[0005] As a preferred implementation scheme of the technical solution of the present application, a driving motor is fixedly installed at the bottom of the walking driving structure by bolts, and rotating shafts are rotatably installed at the front and rear ends of the bottom of the walking driving structure through bearing seats. The middle part of the rotating shaft at the rear end is connected with a gear A by a key, and gear A is meshed with gear B of the motor shaft of the driving motor, and walking wheels are provided at both ends of the rotating shafts at the front and rear ends.

[0006] As a preferred implementation of the technical solution of the present application, a track that is in contact with the running wheels is arranged parallel to the top surface of the T-shaped track structure, and the running wheels are conical wheels with a small outer diameter and a large inner diameter.

[0007] As a preferred implementation of the technical solution of the present application, brush set A and brush set B are both brush sheet combinations with two sheets arranged in parallel, and the length of brush set A is consistent with the length of the T-type track structure.

[0008] As a preferred implementation of the technical solution of the present application, the electric push rod mechanism is connected to the brush group B through an L-shaped side plate, and an insulating baffle is provided on the side of the bottom end of the L-shaped side plate close to the brush group A.

[0009] As a preferred implementation of the technical solution of the present application, a polished rod group is fixedly provided on the vertical end face of the L-shaped side plate, and the polished rod group is embedded and slidably connected to the end face of one side of the walking drive structure.

[0010] As a preferred implementation of the technical solution of the present application, a folding side plate is provided on one side of the walking drive structure, and the folding side plate is rotatably connected with the auxiliary wheel mechanism through a rotating shaft.

[0011] As a preferred implementation of the technical solution of the present application, the insulating cushion layer is located at the bottom of the base, and the insulating cushion layer is fixed to the ground of the power tunnel by adhesive.

[0012] As a preferred implementation of the technical solution of the present application, the number of servo push rods is four, and the four servo push rods are rectangularly distributed on the top surface of the walking drive structure.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The technical solution of the present application is to set positioning mechanisms for the inspection robot and the charging device. When the inspection robot cannot move due to lack of power in the tunnel, the charging device closest to the inspection robot is deployed and moved to the bottom of the inspection robot. Then, the wireless charging seat is used to fit the wireless charging module for charging. The traditional inspection robot charging device sets a charging point at an equal distance, which solves the problem that the inspection robot cannot run due to lack of power before reaching the charging device, and also solves the problem that it is difficult to accurately connect the charging device with the charging port of the inspection robot.

[0014] 2. The technical solution of the present application realizes the power on and off of the wireless charging stand by means of brush contact. When the walking drive structure moves, the brush group A and the brush group B are separated by the electric push rod mechanism to avoid collision damage to the brush group A and the brush group B when passing the turning point of the T-track structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 is a three-dimensional diagram of an automatic charging device; Figure 2 This is the main view of the power tunnel inspection robot and the automatic charging device when they are vertically aligned; Figure 3 It is a structural schematic diagram of the automatic charging device of the present invention; Figure 4 It is a structural schematic diagram of the walking drive structure.

[0016] In the figure: 1. walking drive structure; 2. wireless charging seat; 3. driving device; 301. walking wheel; 302. bearing seat; 303. rotating shaft; 304. gear A; 305. gear B; 306. driving motor; 4. L-shaped side panel; 5. brush group B; 6. brush group A; 7. T-shaped track structure; 8. auxiliary wheel mechanism; 9. folding side panel; 10. positioning mechanism A; 11. insulating cushion layer; 12. base; 13. inspection robot; 14. positioning mechanism B; 15. wireless charging module; 16. servo push rod; 17. cable; 18. electric push rod mechanism; 19. light rod group. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0018] Embodiment 1, as Figure 1-4 As shown, the present invention provides a technical solution: an automatic charging device for a power tunnel inspection robot, comprising The base structure is composed of an insulating cushion layer 11 and a base 12; A T-shaped track structure 7 is fixed to the top of the base 12, a brush set A6 is fixedly arranged at the bottom end of one side of the T-shaped track structure 7, and a cable electrically connected to the brush set A6 is arranged inside the T-shaped track structure 7; A walking drive structure 1 that walks on the top of the T-shaped track structure 7, an electric push rod mechanism 18 for driving the brush group B5 to move horizontally is installed on one side of the walking drive structure 1, an auxiliary wheel mechanism 8 for improving walking stability is installed on the other side of the walking drive structure 1, and a positioning mechanism A10 is fixedly arranged on the outside of the auxiliary wheel mechanism 8, a driving motor 306 is fixedly installed on the bottom of the walking drive structure 1 by bolts, and a rotating shaft 303 is rotatably installed at the front and rear ends of the bottom of the walking drive structure 1 through a bearing seat 302, and a gear A304 is connected to the middle of the rotating shaft 303 at the rear end through a key, and the gear A304 is meshed with the gear B305 of the motor shaft of the driving motor 306, and walking wheels 301 are arranged at both ends of the rotating shaft 303 at the front and rear ends; A wireless charging seat 2 that can be raised and lowered, the wireless charging seat 2 is connected to the top of the travel drive structure 1 through a servo push rod 16, and the wireless charging seat 2 is electrically connected to the brush set B5 through a cable 17; The inspection robot 13 has a wireless charging module 15 at the bottom and a positioning mechanism B14 fixedly arranged at the top.

[0019] In a specific embodiment of the present invention, the device is isolated from the tunnel ground by an insulating cushion layer 11, which plays an insulating and anti-leakage effect. The T-track structure 7 has a built-in power cable, which supplies power to the brush group A6. The wireless charging seat 2 is connected to the brush group B5 through a cable. When the brush group B5 is attached to the brush group A6, the wireless charging seat 2 is powered on and has a charging function. When the brush group B5 is separated from the brush group A6, the wireless charging seat 2 is powered off and loses the charging function. Since the power tunnel cannot be completely straight and has a bending point, when the walking drive structure 1 drives the entire device to move on the T-track structure 7, it is necessary to use a controller to control the electric push rod mechanism 18 to move. The electric push rod mechanism 18 cooperates with the L-shaped side plate 4 to push the brush group B5 to move horizontally, thereby realizing the attachment and separation of the brush group B5 and the brush group A6; the wireless charging seat 2 can be provided with a visual camera for docking and attaching the wireless charging seat 2 with the wireless charging module 15; The movement of the travel drive structure 1 is driven by the drive motor 306, the gear B305 meshing with the gear A304, thereby driving the travel wheel 301 to rotate, and the travel wheel 301 is in frictional contact with the track on the top surface of the T-shaped track structure 7, thereby driving the wireless charging stand 2 and the brush set B5 to move along the T-shaped track structure 7; How to monitor and control the charging device in real time. The electric push rod mechanism 18, the driving motor 306, the controller of the servo push rod 16 and the positioning mechanism A of the charging device are all integrated on the main control circuit board. The main control circuit board exchanges information with the power tunnel maintenance terminal through the wireless transceiver module. The various data of the inspection robot 13 are also exchanged with the power tunnel maintenance terminal through the wireless transceiver module.

[0020] In the preferred technical solution, a track that is in contact with the running wheel 301 is arranged parallel to the top surface of the T-shaped track structure 7. The running wheel 301 is a conical wheel with a small outer diameter and a large inner diameter. The appearance of the running wheel 301 is similar to that of a train wheel, so that the running wheel 301 can adapt to pass through the bends of the T-shaped track structure 7.

[0021] In the preferred technical solution, brush group A6 and brush group B5 are both brush plate combinations with two pieces arranged in parallel. The length of brush group A6 is consistent with the length of T-track structure 7. The two pieces of brush group A6 and brush group B5 are divided into positive and negative poles. When the two pieces of brush group A6 and brush group B5 are independently attached to each other, the power of the cable can be transmitted to the wireless charging stand 2.

[0022] In the preferred technical solution, the electric push rod mechanism 18 is connected to the brush group B5 through the L-shaped side plate 4. An insulating baffle is provided on the bottom end of the L-shaped side plate 4 close to the brush group A6. The insulating baffle serves to separate and insulate the brush group A6 from the T-shaped track structure 7.

[0023] In the preferred technical solution, a polished rod group 19 is fixedly provided on the vertical end face of the L-shaped side panel 4, and the polished rod group 19 is embedded and slidably connected to one side end face of the walking drive structure 1. The polished rod group 19 can improve the stability of the L-shaped side panel 4 during lateral movement.

[0024] In the preferred technical solution, a folding side plate 9 is provided on one side of the walking drive structure 1, and the folding side plate 9 is rotatably connected with the auxiliary wheel mechanism 8 through a rotating shaft. The auxiliary wheel mechanism 8 is in rolling contact with the bottom surface of one side of the T-shaped track structure 7, thereby improving its stability when the walking drive structure 1 moves.

[0025] In the preferred technical solution, the insulating cushion layer 11 is located at the bottom of the base 12, and the insulating cushion layer 11 is fixed to the ground of the power tunnel by adhesive. The device is isolated from the tunnel ground by the insulating cushion layer 11, which plays an insulating and anti-leakage effect.

[0026] In the preferred technical solution, the number of the servo push rods 16 is four, and the four servo push rods 16 are rectangularly distributed on the top surface of the walking drive structure 1. The servo push rods 16 are used to control the lifting and lowering of the wireless charging seat 2, so as to charge the inspection robot 13.

[0027] Working principle: The terminal is used to obtain the real-time power and position of the inspection robot 13. When the power of the inspection robot 13 is insufficient to reach the nearest charging device, the position information of the nearest charging device is obtained, and the walking drive structure 1 is operated to drive the charging device to move along the direction of the T-shaped track structure 7 until the walking drive structure 1 reaches the bottom of the inspection robot 13, and the brush group B5 and the brush group A6 are combined to obtain power. The wireless charging seat 2 is lifted to fit with the wireless charging module 15, and the electromagnetic induction principle between the primary coil and the secondary coil is used to transmit electrical energy, thereby solving the problem that the inspection robot cannot run due to lack of power before reaching the charging device, and at the same time solving the problem that it is difficult to accurately connect the charging device with the charging port of the inspection robot.

Claims

1. An automatic charging device for a power tunnel inspection robot, characterized in that: include A base structure, the base structure consisting of an insulating cushion layer (11) and a base (12); A T-shaped track structure (7) fixed to the top of the base (12), a brush assembly A (6) being fixedly arranged at the bottom end of one side of the T-shaped track structure (7), and a cable electrically connected to the brush assembly A (6) being arranged inside the T-shaped track structure (7); A walking drive structure (1) that walks on the top of the T-shaped track structure (7), wherein one side of the walking drive structure (1) is equipped with an electric push rod mechanism (18) for driving the brush group B (5) to move laterally, and the other side of the walking drive structure (1) is equipped with an auxiliary wheel mechanism (8) for improving walking stability, and a positioning mechanism A (10) is fixedly arranged on the outside of the auxiliary wheel mechanism (8); A wireless charging seat (2) that can be raised and lowered, the wireless charging seat (2) being connected to the top of the travel drive structure (1) via a servo push rod (16), and the wireless charging seat (2) being electrically connected to a brush assembly B (5) via a cable (17); An inspection robot (13), wherein a wireless charging module (15) is arranged at the bottom of the inspection robot (13), and a positioning mechanism B (14) is fixedly arranged at the top of the inspection robot (13).

2. The automatic charging device for a power tunnel inspection robot according to claim 1, characterized in that: A driving motor (306) is fixedly mounted on the bottom of the travel drive structure (1) by means of bolts. A rotating shaft (303) is rotatably mounted on the front and rear ends of the bottom of the travel drive structure (1) via a bearing seat (302). A gear A (304) is keyed to the middle of the rotating shaft (303) at the rear end. The gear A (304) is meshed with a gear B (305) of the motor shaft of the driving motor (306). Travel wheels (301) are arranged at both ends of the rotating shaft (303) at the front and rear ends.

3. The automatic charging device for a power tunnel inspection robot according to claim 2, characterized in that: A track is arranged in parallel on the top surface of the T-shaped track structure (7) and is in close contact with the running wheel (301). The running wheel (301) is a conical wheel with a small outer diameter and a large inner diameter.

4. The automatic charging device for a power tunnel inspection robot according to claim 1, characterized in that: The brush set A (6) and the brush set B (5) are both brush set assemblies with two brush pieces arranged in parallel. The length of the brush set A (6) is consistent with the length of the T-shaped track structure (7).

5. The automatic charging device for a power tunnel inspection robot according to claim 1, characterized in that: The electric push rod mechanism (18) is connected to the brush assembly B (5) via an L-shaped side plate (4), and an insulating baffle is provided on a side of the bottom end of the L-shaped side plate (4) close to the brush assembly A (6).

6. The automatic charging device for a power tunnel inspection robot according to claim 5, characterized in that: A polished rod group (19) is fixedly arranged on the vertical end surface of the L-shaped side plate (4), and the polished rod group (19) is embedded and slidably connected to an end surface of one side of the travel drive structure (1).

7. The automatic charging device for a power tunnel inspection robot according to claim 1, characterized in that: A folding side plate (9) is provided on one side of the travel drive structure (1), and the folding side plate (9) is rotationally connected to the auxiliary wheel mechanism (8) via a rotating shaft.

8. The automatic charging device for a power tunnel inspection robot according to claim 1, characterized in that: The insulating cushion layer (11) is located at the bottom of the base (12), and the insulating cushion layer (11) is fixed to the ground of the power tunnel by means of adhesive.

9. The automatic charging device for a power tunnel inspection robot according to claim 1, characterized in that: The number of the servo push rods (16) is four, and the four servo push rods (16) are distributed in a rectangular shape on the top surface of the walking drive structure (1).

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