Inspection robot capable of automatically replacing battery and battery replacing platform thereof

Abstract

The invention belongs to the technical field of inspection robots, and particularly relates to an inspection robot capable of automatically replacing a battery and a battery replacing platform thereof.The inspection robot comprises a machine body, a battery cavity is formed in the inner side of the bottom of the machine body, and a plurality of wheels are rotationally installed on the outer side of the machine body; the loading and unloading mechanism is arranged in the battery cavity; a replacement cavity is formed in the inner side of the top of the base, and slopes are fixedly connected to the two ends of the base; the moving mechanism is arranged in the replacement cavity; and a positioning mechanism. One storage battery can be moved from the machine body to the base through the loading and unloading mechanism and the moving mechanism, and the other storage battery can be moved from the base to the machine body, so that the storage batteries can be automatically replaced; the situation that the inspection robot needs to consume long time to charge and is difficult to inspect in the period is reduced, and the inspection efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and in particular relates to an inspection robot capable of automatically replacing batteries and a battery replacement platform thereof. Background Art

[0002] The inspection robot is mainly composed of a body and inspection components. Four wheels are usually installed at the bottom of the body to drive the body to move. The inspection components are installed on the body to inspect the surrounding area during the movement of the body. In order to facilitate the movement of the body, the inspection robot is usually powered by a battery built into the body, so that the range of movement of the body is not limited by the external power supply cable, which is convenient for expanding the inspection range.

[0003] During use, when the battery power of an existing inspection robot is lower than a preset threshold, the inspection robot needs to find a charging pile and charge through the charging pile. During charging, the position of the inspection robot remains relatively fixed at the charging pile, and the charging process often takes a long time. It is impossible to complete the charging quickly in a short time, so the inspection robot needs to spend a long time on charging and it is difficult to conduct inspections during this period, which affects the inspection efficiency of the inspection robot. Summary of the invention

[0004] The purpose of the present invention is to provide an inspection robot with automatic battery replacement and a battery replacement platform thereof, which can move a battery from a body to a base and move another battery from the base to the body through a loading and unloading mechanism and a moving mechanism, thereby realizing automatic battery replacement. Compared with the traditional charging method through a charging pile, it reduces the situation where the inspection robot needs to spend a long time on charging and is difficult to conduct inspections during this period, thereby improving the inspection efficiency.

[0005] The technical solution adopted by the present invention is as follows: A patrol robot capable of automatically replacing batteries, comprising: A machine body, wherein a battery cavity is provided on the inner side of the bottom of the machine body, and a plurality of wheels are rotatably mounted on the outer side of the machine body; A loading and unloading mechanism, the loading and unloading mechanism is arranged inside the battery cavity, the loading and unloading mechanism comprises a first limit assembly fixedly connected to the inner wall of the battery cavity, the inner side of the first limit assembly is slidably connected to a battery in a vertical direction, the top of the battery is fixedly connected to a terminal, the inner side of the top of the battery cavity is fixedly connected to an electrical connection port, the terminal and the electrical connection port are slidably matched in a vertical direction, sealing plates are slidably installed on both sides of the bottom of the battery cavity, and an inclined block is fixedly installed on the upper side of the sealing plate; In which, when the sealing plate slides inward to close the battery cavity, the inclined block pushes the battery to move upward along the first limiting assembly so that the terminal is inserted into the power port. When the sealing plate slides outward to open the battery cavity, the battery slides out of the battery cavity downward along the first limiting assembly under the action of gravity.

[0006] As a preferred solution of the inspection robot for automatic battery replacement described in the present invention, the first limiting assembly includes a plurality of barrier arms arranged on the outside of the battery, the barrier arms are slidably installed on the inner wall of the battery cavity, and the barrier arms are slidably matched with the outer side of the battery.

[0007] As a preferred solution of the inspection robot with automatic battery replacement described in the present invention, a sliding sleeve is arranged between the barrier arm and the battery cavity, one end of the sliding sleeve is fixedly connected to the inner wall of the battery cavity, and the other end of the sliding sleeve is slidably connected to the barrier arm, a first limiting hole is provided on the sliding sleeve, and a plurality of second limiting holes are provided on the barrier arm along the sliding direction, and a first limiting pin is slidably connected between the first limiting hole and the second limiting hole.

[0008] As a preferred solution of the inspection robot for automatic battery replacement described in the present invention, the side of the barrier arm close to the battery is rotatably connected to a plurality of rollers, and the outer surfaces of the rollers are in rolling cooperation with the outer wall of the battery.

[0009] As a preferred solution of the inspection robot with automatic battery replacement described in the present invention, a first inclined surface is provided on one side of the inclined block close to the battery, and the first inclined surface is slidably matched with two sides of the bottom of the battery.

[0010] As a preferred solution of the inspection robot for automatic battery replacement described in the present invention, the inclined block is slidably connected to the sealing plate, a third limiting hole is provided on the inclined block, a plurality of fourth limiting holes are provided on the sealing plate along the sliding direction, and a second limiting pin is slidably connected between the third limiting hole and the fourth limiting hole.

[0011] A battery replacement platform, used for replacing batteries for the above-mentioned inspection robot that automatically replaces batteries, the battery replacement platform comprises: a base, a replacement cavity is opened on the inner side of the top of the base, and slopes are fixedly connected at both ends of the base; A moving mechanism, wherein the moving mechanism is arranged in the replacement cavity, and the moving mechanism comprises two charging components respectively fixedly connected to the two ends of the replacement cavity, a charging port is arranged at the bottom of the charging component, and the charging port and the terminal are slidably matched in the vertical direction, a slide plate is arranged between the two charging components, and the slide plate is slidably installed in the replacement cavity, and both ends of the slide plate are slidably installed with a lifting plate in the vertical direction, and a second limit assembly is slidably installed on the lifting plate in the vertical direction, and the second limit assembly is slidably matched with the battery in the vertical direction; A positioning mechanism, the positioning mechanism is arranged on the base, the positioning mechanism comprises two positioning components respectively arranged at two ends of the base, the positioning components comprise bottom blocks fixedly mounted on two sides of the base, the bottom blocks are provided with positioning grooves, and the positioning grooves are slidably matched with the wheels; One of the batteries slides downward out of the battery cavity and is placed on a lifting plate. After the sliding plate slides, it drives the battery to move to a charging assembly for charging. Another lifting plate drives another battery to move upward and be placed in the battery cavity. As a preferred solution of the battery exchange platform described in the present invention, the second limiting assembly includes a plurality of blocks slidably connected to the top of the lifting plate along the vertical direction, a spring is connected between the bottom of the block and the lifting plate, and the block slides with the outer side of the battery.

[0012] As a preferred solution of the battery exchange platform described in the present invention, wherein: the bottom block is slidably connected along the base, a double-headed screw is rotatably connected to the base, both ends of the double-headed screw are respectively threadedly connected to the two bottom blocks, a first motor is provided at one end of the double-headed screw, the output end of the first motor is fixedly connected to the double-headed screw, and the first motor is fixedly connected to the base.

[0013] As a preferred solution of the battery exchange platform described in the present invention, a cleaning roller is rotatably connected to the slope, and the cleaning roller is in rolling cooperation with the sealing plate.

[0014] The technical effects achieved by the present invention are: The present invention adopts the design of loading and unloading mechanism and moving mechanism. After the sealing plate is opened, the battery is separated from the battery cavity under the action of its own gravity and falls onto a lifting plate. After the sliding plate moves, it drives the battery to move to the charging assembly for charging. After the sliding plate moves, it also drives another battery to move to the bottom of the battery cavity. After another lifting plate moves upward, it drives another battery to be placed in the battery cavity. After the sealing plate slides inward, the battery cavity is closed, thereby realizing automatic replacement of the battery. Compared with the traditional charging method through the charging pile, the inspection robot needs to spend a long time on charging and is difficult to inspect during this period, thereby improving the inspection efficiency. The present invention adopts the design of a loading and unloading mechanism, which can push the battery terminal into the power connection port through the inclined block when the sealing plate closes the battery cavity. It not only blocks external impurities from entering the battery cavity and causing damage to the battery by closing the battery cavity, but also facilitates the battery to be limited to keep the terminal inserted into the power connection port, thereby facilitating battery replacement. The present invention adopts the design of a moving mechanism, which can move the replaced battery to the charging component for charging through a sliding slide, so as to facilitate the subsequent replacement of the charged battery into the battery cavity. The lifting plate that moves up and down is not only convenient for receiving the battery that slides out of the battery cavity, but also convenient for moving the battery into the battery cavity, and also convenient for inserting the terminal into the charging port or disconnecting the terminal from the charging port, thereby facilitating the replacement of the battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the installation of the whole body and the ground in the present invention; Figure 3 It is a structural schematic diagram of the machine body and the loading and unloading mechanism in the present invention; Figure 4 It is a cross-sectional schematic diagram of the machine body and the loading and unloading mechanism in the present invention; Figure 5 It is a schematic structural diagram of the blocking arm and the sliding sleeve in the present invention; Figure 6 It is a schematic diagram of the structure of the sealing plate and the inclined block in the present invention; Figure 7 It is a structural schematic diagram of the base and the positioning mechanism in the present invention; Figure 8 is a cross-sectional schematic diagram of the base and the positioning mechanism in the present invention; Fig. 9 is a cross-sectional schematic diagram of the base and the moving mechanism in the present invention; Fig.10 is a cross-sectional schematic diagram of a sealing plate sealing a battery cavity in the present invention; Fig.11 It is a cross-sectional schematic diagram of the stopper and the sealing plate in the present invention; Fig.12 It is a cross-sectional schematic diagram of the battery and the lifting plate in the present invention; Fig.13 It is a schematic diagram of the structure of the battery and the second limiting assembly in the present invention.

[0016] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 10. body; 11. battery cavity; 111. power port; 12. wheel; 20. loading and unloading mechanism; 21. first limit assembly; 211. stop arm; 212. sleeve; 213. first limit hole; 214. second limit hole; 215. first limit pin; 216. roller; 22. battery; 221. terminal; 23. sealing plate; 231. fourth limit hole; 24. inclined block; 241. first inclined surface; 242. second limit hole; 243. second limit pin; 244. first limit hole; 245. first limit pin; 246. first limit hole; 247. first limit hole; 248. first limit pin; 249. first limit hole; 250. first limit pin; 251. first limit hole; 252. first limit pin; 253. first limit pin; 254. first limit hole; 255. first limit pin; 256. first limit hole; 257. first limit hole; 258. first limit pin; 259. first limit hole; 260. first limit hole; 261. first limit hole; 262. first limit hole; 263. first limit pin; 264. first limit hole; 265. first limit pin; 266. first limit hole; 267. first limit hole; 268. first limit hole; 269. first limit hole; 270. first limit hole; 271. first limit hole; 272. first limit hole; 273. first limit pin; 274. first limit hole; 275. first limit hole; 276. first limit hole; 277. first limit hole; 278. first limit hole; 279. first limit hole; 280. first limit hole; 281. first limit hole; 282. first limit hole; 28 Three limiting holes; 25, second limiting pin; 30, base; 31, replacement chamber; 32, ramp; 33, cleaning roller; 40, moving mechanism; 41, charging assembly; 411, charging port; 42, slide plate; 43, lifting plate; 44, second limiting assembly; 441, block; 442, spring; 50, positioning mechanism; 51, positioning assembly; 52, bottom block; 521, positioning groove; 53, double-headed screw; 54, first motor. DETAILED DESCRIPTION

[0017] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0018] Example 1 like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Fig.10 , Fig.11 and Fig.12 As shown, it is the first embodiment of the present invention, which provides an inspection robot with automatic battery replacement, including a body 10, a battery cavity 11 is opened on the inner side of the bottom of the body 10, and a plurality of wheels 12 are rotatably installed on the outer side of the body 10; a loading and unloading mechanism 20, which is arranged inside the battery cavity 11, and the loading and unloading mechanism 20 includes a first limit assembly 21 fixedly connected to the inner wall of the battery cavity 11, and a battery 22 is slidably connected to the inner side of the first limit assembly 21 along the vertical direction, and a terminal 221 is fixedly connected to the top of the battery 22, and an electrical port 111 is fixedly connected to the inner side of the top of the battery cavity 11, and the terminal 221 and the electrical port 111 are slidably matched along the vertical direction, and sealing plates 23 are slidably installed on both sides of the bottom of the battery cavity 11, and an inclined block 24 is fixedly installed on the upper side of the sealing plate 23.

[0019] It should be noted that a first electric push rod is provided at one end of the sealing plate 23 away from the battery cavity 11, and the output end of the first electric push rod is fixedly connected to the sealing plate 23, and the first electric push rod is fixedly connected to the bottom of the body 10. A first slide groove is provided at the bottom of the body 10, and the sealing plate 23 slides in cooperation with the first slide groove. The bottom of the battery cavity 11 is an opening connected to the outside, which is used for the battery 22 to enter and exit the battery cavity 11. Four wheels 12 are provided and are respectively located at the left front, right front, left rear and right rear of the body 10. The wheels 12 are prior art and will not be described in detail here. The power port 111 is prior art and is used to connect to the terminal 221 so that the battery 22 can power the body 10, which will not be described in detail here.

[0020] When the present invention is in use, when it is necessary to remove the battery 22 from the body 10, the sealing plate 23 slides outward along the bottom of the body 10, so that the sealing plate 23 no longer closes the battery cavity 11. In this process, the sealing plate 23 drives the inclined block 24 to slide outward, and the bottom of the battery 22 slides downward along the inclined block 24 to the sealing plate 23, so that the terminal 221 is separated from the power connection port 111. The battery 22 slides downward along the first limiting assembly 21, and the sealing plate 23 continues to slide outward, so that the sealing plate 23 no longer hinders the battery 22 from sliding downward, so that the battery 22 slides downward from the battery cavity 11, so that the battery 22 can be removed from the body 10. When the battery 22 needs to be installed in the body 10, the battery 22 is placed The battery 22 is inserted into the body 10, and the sealing plate 23 slides inward along the bottom of the body 10. The sealing plate 23 drives the inclined block 24 to contact the bottom of the battery 22, so that the inclined block 24 pushes the battery 22 to slide along the inclined block 24, and the battery 22 slides upward along the first limiting component 21, so that the terminal 221 is inserted into the power port 111, so as to install the battery 22 in the body 10. Compared with the traditional method, the sealing plate 23 not only reduces the damage to the battery 22 caused by external impurities entering the battery cavity 11 during the process of closing the battery cavity 11, but also limits the battery 22 through the inclined block 24, so that the terminal 221 is connected to the power port 111 so that the battery 22 supplies power to the body 10, thereby facilitating the replacement of the battery 22.

[0021] like Figure 4 and Figure 5 As shown, the first limiting assembly 21 includes a plurality of blocking arms 211 disposed on the outside of the battery 22 . The blocking arms 211 are slidably mounted on the inner wall of the battery cavity 11 , and the blocking arms 211 are slidably matched with the outer side of the battery 22 .

[0022] It should be noted that four blocking arms 211 are provided and are respectively located at the front side, rear side, left side and right side of the battery 22 , so as to limit the battery 22 from different directions.

[0023] According to the above structure, the barrier arm 211 limits the battery 22, and when the battery 22 slides up and down along the first limiting component 21, it prevents the battery 22 from being offset along the horizontal plane, so as to facilitate limiting the battery 22 so that the terminal 221 is aligned with the power port 111, thereby facilitating the insertion of the terminal 221 into the power port 111.

[0024] like Figure 5 As shown, a sleeve 212 is provided between the blocking arm 211 and the battery cavity 11, one end of the sleeve 212 is fixedly connected to the inner wall of the battery cavity 11, and the other end of the sleeve 212 is slidably connected to the blocking arm 211, a first limiting hole 213 is provided on the sleeve 212, and a plurality of second limiting holes 214 are provided on the blocking arm 211 along the sliding direction, and a first limiting pin 215 is slidably connected between the first limiting hole 213 and the second limiting hole 214.

[0025] It should be noted that the cross-sectional shape of the blocking arm 211 is “T”-shaped, and a second inclined surface is provided at the bottom of the blocking arm 211 close to the battery 22 to reduce the situation where the blocking arm 211 hinders the battery 22 from sliding upward along the first limiting assembly 21 .

[0026] According to the above structure, when it is necessary to adjust the distance between the two relative blocking arms 211, the first limiting pin 215 is pulled out from the first limiting hole 213 and the second limiting hole 214, and the blocking arm 211 is slid along the sliding sleeve 212 so that the first limiting hole 213 is aligned with the second limiting hole 214 at a suitable position, and the first limiting pin 215 is inserted into the first limiting hole 213 and the second limiting hole 214 to limit the blocking arm 211 and the sliding sleeve 212 to adjust the distance between the blocking arm 211 and the inner wall of the battery cavity 11, thereby adjusting the distance between the two relative blocking arms 211 to adapt to batteries 22 of different width and length sizes and improve applicability.

[0027] like Figure 5 As shown, a side of the blocking arm 211 close to the battery 22 is rotatably connected to a plurality of rollers 216 , and the outer surfaces of the rollers 216 are in rolling engagement with the outer walls of the battery 22 .

[0028] It should be noted that the roller 216 is a prior art and will not be described in detail here.

[0029] According to the above structure, when the battery 22 slides along the first limit assembly 21, the roller 216 rolls along the outer wall of the battery 22, reducing the friction between the barrier arm 211 and the outer wall of the battery 22, making the sliding process of the battery 22 along the first limit assembly 21 more stable.

[0030] like Figure 6As shown, a first inclined surface 241 is formed on one side of the inclined block 24 close to the battery 22 , and the first inclined surface 241 is slidably matched with two sides of the bottom of the battery 22 .

[0031] It should be noted that the height dimension of the first inclined surface 241 close to the inner wall of the battery cavity 11 is greater than the height dimension of the first inclined surface 241 away from the inner wall of the battery cavity 11 .

[0032] According to the above structure, when the inclined block 24 pushes the battery 22, the first inclined surface 241 contacts the outer bottom surface of the battery 22, and the inclined block 24 slides inward, so that the outer bottom surface of the battery 22 moves upward along the first inclined surface 241, thereby causing the inclined block 24 to push the battery 22 to move upward.

[0033] like Figure 6 As shown, the inclined block 24 is slidably connected to the sealing plate 23, a third limiting hole 242 is opened on the inclined block 24, and a plurality of fourth limiting holes 231 are opened on the sealing plate 23 along the sliding direction. A second limiting pin 25 is slidably connected between the third limiting hole 242 and the fourth limiting hole 231.

[0034] It should be noted that a second slide groove is provided on the top of the sealing plate 23 , and the second slide groove is slidably matched with the inclined block 24 .

[0035] According to the above structure, when it is necessary to adjust the distance between the inclined block 24 and the end of the sealing plate 23, the second limiting pin 25 is pulled out from the inside of the third limiting hole 242 and the fourth limiting hole 231, and the inclined block 24 is slid along the sealing plate 23 so that the third limiting hole 242 is aligned with the fourth limiting hole 231 at the appropriate position, and the second limiting pin 25 is inserted into the third limiting hole 242 and the fourth limiting hole 231 to limit the inclined block 24 and the sealing plate 23 to adjust the distance between the inclined block 24 and the end of the sealing plate 23, thereby adjusting the distance between the two inclined blocks 24 when the ends of the two sealing plates 23 are fitted together, so as to adjust the distance that the bottom of the battery 22 slides upward along the inclined block 24, thereby adjusting the distance between the bottom of the battery 22 and the power connection port 111, so as to adapt to batteries 22 of different heights and sizes and improve applicability.

[0036] Example 2 like Figures 1 to 13As shown, it is the second embodiment of the present invention, which provides a battery replacement platform for replacing batteries for any of the above-mentioned inspection robots that automatically replace batteries. The battery replacement platform includes: a base 30, a replacement cavity 31 is opened on the inner side of the top of the base 30, and slopes 32 are fixedly connected at both ends of the base 30; a moving mechanism 40, the moving mechanism 40 is arranged in the replacement cavity 31, and the moving mechanism 40 includes two charging components 41 respectively fixedly connected to the two ends of the replacement cavity 31, and a charging port 411 is provided at the bottom of the charging component 41, and the charging port 411 is slidably matched with the terminal 221 in the vertical direction, and the two charging components 41 are connected. A slide plate 42 is provided between the two ends of the slide plate 42, and the slide plate 42 is slidably installed in the replacement cavity 31. A lifting plate 43 is slidably installed in the vertical direction at both ends of the slide plate 42. A second limit assembly 44 is slidably installed on the lifting plate 43 in the vertical direction. The second limit assembly 44 and the battery 22 slide in the vertical direction. The positioning mechanism 50 is arranged on the base 30. The positioning mechanism 50 includes two positioning assemblies 51 respectively arranged at both ends of the base 30. The positioning assembly 51 includes a bottom block 52 fixedly installed on both sides of the base 30. A positioning groove 521 is opened on the bottom block 52, and the positioning groove 521 slides with the wheel 12.

[0037] It should be noted that the slide plate 42 is slidably connected to the bottom inner wall of the replacement chamber 31, a second motor is fixedly connected to the bottom inner wall of the replacement chamber 31, a screw is fixedly connected to the output end of the second motor, the screw is rotatably connected to the bottom inner wall of the replacement chamber 31, the screw is threadedly connected to the bottom of the slide plate 42, the screw is used to drive the slide plate 42 to move after rotation, a second electric push rod is fixedly connected to the slide plate 42, the output end of the second electric push rod is fixedly connected to the bottom of the lifting plate 43, an active cavity is provided inside the base 30 near the second electric push rod, the active cavity is convenient for providing active space for the second electric push rod to move with the slide plate 42, and a third inclined surface is provided at the end of the sealing plate 23 to facilitate the battery 22 to move along the third inclined surface The inclined surface moves to the top of the battery 22, the positioning groove 521 is a downwardly concave groove, the bottom of the groove is an arc-shaped surface, and the arc-shaped surface fits with the outer surface of the wheel 12. The top of the replacement cavity 31 is an opening connected to the outside, which is used for the battery 22 to enter and exit the replacement cavity 31. The second limit assembly 44 and the block 441 are prior arts, which are used to charge the battery 22 and are not repeated here. In the initial state, one lifting plate 43 is aligned with the opening of the replacement cavity 31, and the other battery 22 is placed on the other lifting plate 43. The lower end of the base 30 is buried under the ground, and the lower end of the slope 32 is in contact with the ground, which is used for the body 10 to move from the ground to the top of the base 30 via the slope 32.

[0038] According to the above structure, the body 10 moves along the slope 32 to the top of the base 30, so that the wheel 12 moves to the positioning groove 521, and the positioning groove 521 positions the body 10 so that the battery cavity 11 is aligned with the replacement cavity 31. When a battery 22 needs to be moved from the body 10 to the base 30, the sealing plate 23 slides outward to open the bottom of the battery cavity 11, so that a battery 22 is separated from the battery cavity 11 under the action of its own gravity and falls onto a lifting plate 43. The second limiting component 44 limits the battery 22 in the horizontal direction, and the lifting plate 43 moves downward, so that the battery 22 is away from the battery cavity 11. The battery cavity 11 is moved to the replacement cavity 31, and the slide plate 42 slides along the replacement cavity 31 and drives the lifting plate 43 to move to the bottom of a charging component 41. The lifting plate 43 drives the battery 22 to move upward, so that the terminal 221 of the battery 22 is inserted into the charging port 411 of the charging component 41, so that the charging component 41 charges the battery 22. At this time, another battery 22 moves with the slide plate 42 to a position in the replacement cavity 31 that is aligned with the battery cavity 11. When it is necessary to move another battery 22 from the base 30 to the body 10, the other lifting plate 43 moves upward and drives the battery 22 to move upward. , so that the battery 22 enters the interior of the battery cavity 11, and the other lifting plate 43 continues to move upward, so that the second limiting assembly 44 fits with the bottom of the sealing plate 23, and the sealing plate 23 pushes the second limiting assembly 44 to slide downward along the lifting plate 43 and is stored in the lifting plate 43. At this time, the battery 22 enters the first limiting assembly 21, and the first limiting assembly 21 limits the battery 22, and the second limiting assembly 44 no longer limits the battery 22. After the sealing plate 23 slides inward, it also slides along the top of the lifting plate 43, so that the battery 22 moves along the end of the sealing plate 23 to the top of the sealing plate 23 After the sealing plate 23 continues to slide inward, it drives the inclined block 24 to contact the outer side of the bottom of the battery 22. The inclined block 24 pushes the battery 22 to move upward, so that the terminal 221 of the battery 22 is inserted into the power port 111, so that the battery 22 supplies power to the body 10. After the sealing plate 23 closes the battery cavity 11, the body 10 moves downward along the slope 32 and reaches the ground to be separated from the base 30, thereby realizing automatic replacement of the battery 22. Compared with the traditional charging method through the charging pile, it reduces the situation that the inspection robot needs to spend a long time on charging and is difficult to inspect during this period, thereby improving the inspection efficiency.

[0039] like Fig.13 As shown, the second limiting assembly 44 includes a plurality of blocks 441 slidably connected to the top of the lifting plate 43 along the vertical direction, a spring 442 is connected between the bottom of the block 441 and the lifting plate 43, and the block 441 slides with the outer side of the battery 22.

[0040] It should be noted that there are four second limiting components 44 respectively located at the front, rear, left and right sides of the battery 22, for limiting the battery 22 from different directions. The cross-sectional shape of the charging port 411 is "T" shaped, which facilitates the sealing plate 23 to push the charging port 411 to be stored in the lifting plate 43.

[0041] According to the above structure, when the sealing plate 23 pushes the second limiting assembly 44, the lifting plate 43 drives the stopper 441 to move downward, so that the stopper 441 is stored in the lifting plate 43. At this time, the spring 442 is squeezed. When the lifting plate 43 drives the second limiting assembly 44 to separate from the sealing plate 23, the spring 442 pushes the stopper 441 to move upward under the elastic action, so as to facilitate the reset of the stopper 441.

[0042] like Figure 8 As shown, the bottom block 52 is slidably connected along the base 30, and a double-headed screw 53 is rotatably connected to the base 30. The two ends of the double-headed screw 53 are respectively threadedly connected to the two bottom blocks 52. A first motor 54 is provided at one end of the double-headed screw 53, and the output end of the first motor 54 is fixedly connected to the double-headed screw 53. The first motor 54 is fixedly connected to the base 30.

[0043] It should be noted that the double-headed screw 53 is a prior art, which is used to drive the bottom blocks 52 at both ends to move in opposite directions relative to each other after rotation, and will not be repeated here. The distance between the wheels 12 on both sides of the body 10 is equal.

[0044] According to the above structure, when it is necessary to adjust the distance between the two positioning grooves 521, the first motor 54 drives the lifting plate 43 to rotate after working, and the lifting plate 43 drives the two bottom blocks 52 to move in the opposite direction along the axial direction of the lifting plate 43, so that the distance between the two bottom blocks 52 is increased or decreased, so as to adjust the distance between the two positioning grooves 521, which not only adapts to the machine body 10 with different wheel 12 spacings and improves the applicability, but also facilitates the process of the machine body 10 moving along the slope 32 to the top of the base 30. Before the front wheel 12 of the machine body 10 reaches the top of the base 30, the distance between the two positioning grooves 521 close to the slope 32 is reduced, so that the machine body 10 can be adjusted. The front wheel 12 of the machine body 10 is not inserted into the positioning groove 521. When the front wheel 12 of the machine body 10 passes by the side of the positioning groove 521, the distance between the two positioning grooves 521 close to the slope 32 is adjusted again, so that the distance between the positioning grooves 521 is the distance between the wheels 12 on both sides of the machine body 10, so that the front wheel 12 and the rear wheel 12 of the machine body 10 are respectively inserted into the positioning groove 521, thereby facilitating the movement of the machine body 10 from the slope 32 to the top of the base 30, and reducing the situation in which the front wheel 12 of the machine body 10 is inserted into the positioning groove 521 and then moves forward and separates from the positioning groove 521 during this process.

[0045] like Figure 7As shown, a cleaning roller 33 is rotatably connected to the ramp 32 , and the cleaning roller 33 and the sealing plate 23 are in rolling cooperation.

[0046] It should be noted that the cleaning roller 33 is of the prior art, and a brush wire is integrally connected to the cleaning roller 33 along the circumference. The brush wire is made of an elastic material and is used to contact the outer side of the sealing plate 23, which will not be described in detail here.

[0047] According to the above structure, when the body 10 moves along the slope 32 to the top of the base 30, the cleaning roller 33 rolls along the outer side of the sealing plate 23 and cleans the impurities attached to the sealing plate 23, thereby reducing the impact of impurities on the replacement of the battery 22 during the opening and closing of the sealing plate 23, thereby facilitating the replacement of the battery 22.

[0048] The working principle of the present invention is as follows: when the battery 22 in the body 10 needs to be replaced, the body 10 moves to the top of the base 30, the lifting plate 43 moves upward to a height position close to the sealing plate 23, the sealing plate 23 slides outward, the battery 22 is separated from the battery cavity 11 under the action of its own gravity and falls onto the lifting plate 43, the lifting plate 43 moves downward and drives the battery 22 to move to the replacement cavity 31, the slide plate 42 slides and drives the battery 22 to move to the charging assembly 41 for charging, the slide plate 42 slides and drives another battery 22 to move to a position in the replacement cavity 31 that is aligned with the battery cavity 11, the other lifting plate 43 moves upward and drives The battery 22 moves into the battery cavity 11, and the sealing plate 23 slides inward to drive the inclined block 24 to push the terminal 221 of the battery 22 into the power port 111, thereby realizing automatic replacement of the battery 22. Compared with the traditional charging method through a charging pile, it reduces the situation where the inspection robot needs to spend a long time on charging and it is difficult to conduct inspections during this period, thereby improving the inspection efficiency. In this process, the sealing plate 23 not only closes the battery cavity 11 to prevent external impurities from entering the battery cavity 11 and causing damage to the battery 22, but also facilitates the limitation of the battery 22 to keep the terminal 221 inserted into the power port 111, thereby facilitating the replacement of the battery 22.

[0049] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A patrol robot with automatic battery replacement, characterized in that: include: A machine body (10), wherein a battery cavity (11) is provided on the inner side of the bottom of the machine body (10), and a plurality of wheels (12) are rotatably mounted on the outer side of the machine body (10); A loading and unloading mechanism (20), the loading and unloading mechanism (20) being arranged inside the battery cavity (11), the loading and unloading mechanism (20) comprising a first limit assembly (21) fixedly connected to the inner wall of the battery cavity (11), a storage battery (22) being slidably connected to the inner side of the first limit assembly (21) in a vertical direction, a terminal (221) being fixedly connected to the top of the storage battery (22), an electrical connection port (111) being fixedly connected to the inner side of the top of the battery cavity (11), the terminal (221) and the electrical connection port (111) being slidably matched in a vertical direction, sealing plates (23) being slidably mounted on both sides of the bottom of the battery cavity (11), and an inclined block (24) being fixedly mounted on the upper side of the sealing plate (23); In the process of the sealing plate (23) sliding inwards to close the battery cavity (11), the inclined block (24) pushes the storage battery (22) to move upwards along the first limiting assembly (21), so that the terminal (221) is inserted into the power connection port (111); and in the process of the sealing plate (23) sliding outwards to open the battery cavity (11), the storage battery (22) slides downwards along the first limiting assembly (21) and out of the battery cavity (11) under the action of gravity.

2. The inspection robot with automatic battery replacement according to claim 1, characterized in that: The first limiting assembly (21) comprises a plurality of blocking arms (211) arranged on the outside of the storage battery (22); the blocking arms (211) are slidably mounted on the inner wall of the battery cavity (11); the blocking arms (211) are slidably matched with the outside of the storage battery (22).

3. The inspection robot with automatic battery replacement according to claim 2, characterized in that: A sliding sleeve (212) is provided between the blocking arm (211) and the battery cavity (11); one end of the sliding sleeve (212) is fixedly connected to the inner wall of the battery cavity (11); the other end of the sliding sleeve (212) is slidably connected to the blocking arm (211); a first limiting hole (213) is provided on the sliding sleeve (212); a plurality of second limiting holes (214) are provided on the blocking arm (211) along a sliding direction; and a first limiting pin (215) is slidably connected between the first limiting hole (213) and the second limiting hole (214).

4. The inspection robot with automatic battery replacement according to claim 2, characterized in that: A side of the barrier arm (211) close to the storage battery (22) is rotatably connected to a plurality of rollers (216), and the outer surfaces of the rollers (216) are in rolling engagement with the outer walls of the storage battery (22).

5. The inspection robot with automatic battery replacement according to claim 1, characterized in that: A first inclined surface (241) is provided on one side of the inclined block (24) close to the storage battery (22), and the first inclined surface (241) is slidably matched with two sides of the bottom of the storage battery (22).

6. The inspection robot with automatic battery replacement according to claim 1, characterized in that: The inclined block (24) is slidably connected to the sealing plate (23); a third limiting hole (242) is provided on the inclined block (24); a plurality of fourth limiting holes (231) are provided on the sealing plate (23) along the sliding direction; and a second limiting pin (25) is slidably connected between the third limiting hole (242) and the fourth limiting hole (231).

7. A battery swap platform, characterized in that: Used for replacing the battery of the inspection robot that automatically replaces the battery as claimed in any one of claims 1 to 6, the battery replacement platform comprises: A base (30), wherein a replacement cavity (31) is provided on the inner side of the top of the base (30), and ramps (32) are fixedly connected at both ends of the base (30); A moving mechanism (40), the moving mechanism (40) being arranged in the replacement cavity (31), the moving mechanism (40) comprising two charging components (41) respectively fixedly connected at two ends of the replacement cavity (31), a charging port (411) being arranged at the bottom of the charging component (41), the charging port (411) being slidably matched with the terminal (221) in a vertical direction, a slide plate (42) being arranged between the two charging components (41), the slide plate (42) being slidably mounted in the replacement cavity (31), lifting plates (43) being slidably mounted at both ends of the slide plate (42) in a vertical direction, a second limiter component (44) being slidably mounted on the lifting plate (43) in a vertical direction, the second limiter component (44) being slidably matched with the storage battery (22) in a vertical direction; A positioning mechanism (50), the positioning mechanism (50) being arranged on a base (30), the positioning mechanism (50) comprising two positioning components (51) respectively arranged at two ends of the base (30), the positioning components (51) comprising a bottom block (52) fixedly mounted on two sides of the base (30), the bottom block (52) being provided with a positioning groove (521), the positioning groove (521) being in sliding cooperation with the wheel (12); One of the storage batteries (22) slides downward out of the battery cavity (11) and is placed on a lifting plate (43); the sliding plate (42) drives the storage battery (22) to move to a charging assembly (41) for charging; and the other lifting plate (43) drives another storage battery (22) to move upward and be placed in the battery cavity (11).

8. The battery replacement platform according to claim 7, characterized in that: The second limit assembly (44) comprises a plurality of stoppers (441) slidably connected to the top of the lifting plate (43) in a vertical direction, a spring (442) being connected between the bottom of the stoppers (441) and the lifting plate (43), and the stoppers (441) slidably cooperate with the outer side of the storage battery (22).

9. The battery replacement platform according to claim 7, characterized in that: The bottom block (52) is slidably connected along the base (30), a double-headed lead screw (53) is rotatably connected to the base (30), two ends of the double-headed lead screw (53) are respectively threadedly connected to the two bottom blocks (52), a first motor (54) is provided at one end of the double-headed lead screw (53), an output end of the first motor (54) is fixedly connected to the double-headed lead screw (53), and the first motor (54) is fixedly connected to the base (30).

10. The battery replacement platform according to claim 7, characterized in that: A cleaning roller (33) is rotatably connected to the slope (32), and the cleaning roller (33) is in rolling cooperation with the sealing plate (23).

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