Photovoltaic support tool robot energy charging structure

Abstract

The invention discloses a photovoltaic support tool robot energy charging structure, and relates to the technical field of unmanned vehicle energy charging, the photovoltaic support tool robot energy charging structure comprises two supporting frames, two cables are arranged between the outer surfaces of the two supporting frames, a tool robot is arranged on the two cables, charging heads are arranged on the two supporting frames, two guide rods are arranged in the two charging heads, and the two guide rods are arranged on the two supporting frames. The two vehicle bodies are each provided with a butt joint base used for being matched with the charging head in an inserted mode. According to the energy charging structure of the photovoltaic support tool robot, the function of fixing the tool robot in the energy charging process of the tool robot is achieved through the supporting frame, the triggering assembly, the transmission assembly and the lateral supporting mechanism, and the effect of supporting the vehicle body from the lateral direction to prevent the vehicle body from shaking is achieved; therefore, when the cable shakes, the tool robot cannot be pulled to shake, and the problem that the tool robot and the charging head are in poor contact due to cable shaking in the charging process is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle charging, and in particular to a photovoltaic support tool robot charging structure. Background Art

[0002] In order to facilitate the control of multiple photovoltaic racks, tool robots are used to adjust and control each photovoltaic rack in turn. Tool robots are usually driven by electricity. In order to facilitate the charging of tool robots, after receiving solar energy, photovoltaic panels transmit it to charging piles through cables to charge tool robots and stabilize the endurance performance of tool robots.

[0003] In the prior art, such as the Chinese patent: CN118953102B, it discloses an automatic charging device for an intelligent unmanned vehicle, in which the contact electrode part adopts the form of upper and lower double contact surface clamping, and the charging electrode contact surface realizes angle adaptation through adaptive ball joint guide rod, spring, vertical guide column and other structures. Compared with the single contact surface, the double contact surface clamping design has a large contact force and a large contact area. When the vehicle-mounted charging electrode is inserted, foreign matter on the surface of the contact electrode can also be removed. It has high reliability and can withstand a larger charging current to solve the problem of poor contact that is prone to single-sided contact.

[0004] For the existing photovoltaic power stations, in order to improve the mobility stability of the tool robot, it is usually necessary to set up cables to guide the movement of the tool robot. However, since the cables and tool robots are usually set up outdoors, the cables will shake slightly under the action of wind or other external forces. During the charging process of the tool robot, once the cables shake, it will inevitably cause the tool robot to shake, thereby affecting the stability of the docking between the charging head and the tool robot.

[0005] Therefore, we proposed a photovoltaic support tool robot charging structure to solve the above problems. Summary of the invention

[0006] The object of the present invention is to provide a photovoltaic support tool robot charging structure to solve the problem of poor contact between the tool robot and the charging head due to cable shaking during the charging process proposed in the above background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a photovoltaic support tool robot charging structure, comprising a tool robot with a body and two support frames, two cables are arranged between the two support frames, the body is arranged on the cables, a charging head is arranged in each support frame, a guide rod is arranged inside the charging head, and a docking seat for plugging and matching with the charging head is arranged on the body, characterized in that: each of the support frames is provided with a trigger assembly, a transmission assembly, a limit mechanism and a lateral support mechanism for fixing the body; The trigger assembly is used to sense the plug-in status of the docking station and the charging head, and the trigger assembly is in transmission connection with the transmission assembly; one end of the limit mechanism is movably connected with the transmission assembly, and the other end can be movably extended into the lateral support mechanism; When the docking seat is plugged into and matched with the charging head, the trigger assembly can control the limiting mechanism through the transmission assembly to release the lateral support mechanism, so that the lateral support mechanism can limit the displacement of the vehicle body.

[0008] Preferably, the trigger assembly includes a mounting seat and a first elastic member, the mounting seat is connected to the support frame, one end of the first elastic member is connected to the charging head, the other end of the first elastic member is connected to the mounting seat, and the charging head is transmission-connected to the transmission assembly.

[0009] Preferably, the limiting mechanism includes a limiting component and a control component, the limiting component is used to limit the activation of the lateral support mechanism; the control component is used to release the limitation of the lateral support mechanism by the limiting component, and the control component is connected to the transmission component in transmission.

[0010] Preferably, the lateral support mechanism includes a first linear drive and a push rod, wherein the first linear drive is mounted on a support frame, the first linear drive is used to drive the push rod to extend and retract, and an abutment plate is provided at one end of the push rod away from the first linear drive.

[0011] Preferably, both sides of the vehicle body are provided with slots in the vertical direction, and the abutment plate is provided with a protrusion for movably engaging with the slots.

[0012] Preferably, the limit assembly includes a support, a limit block and a second elastic member, the support is arranged on a support frame, the limit block is slidably connected to the support, one end of the second elastic member is connected to the limit block, and the other end of the second elastic member is connected to the support, and the push rod is provided with a docking groove that matches the limit block. When the limit block is plugged into the docking groove, the limit assembly is used to limit the extension and retraction of the push rod.

[0013] Preferably, a pressure sensor is provided in each docking groove.

[0014] Preferably, the control component includes a transmission frame and an insertion rod, the transmission frame is movably arranged on the support frame, the insertion rod is arranged on the transmission frame, the insertion rod is movably inserted in the limit block, and the limit block is provided with a protrusion. When the insertion rod moves in a direction close to the limit block, the protrusion can be squeezed to drive the limit block to retract into the support.

[0015] Preferably, the transmission assembly includes a first rack, a second rack and a transmission shaft, the first rack and the second rack are respectively installed on the charging head and the transmission frame, the transmission shaft is rotatably set on the support frame, two rotating gears are sleeved on the transmission shaft, and the first rack and the second rack are both meshed and connected with the rotating gears.

[0016] Preferably, the abutment plate can slide in a vertical direction relative to the push rod, and a third elastic member is provided on the push rod, one end of the third elastic member is connected to the push rod, and the other end of the third elastic member is connected to the abutment plate, and each of the support frames is provided with a connecting plate, and a second linear drive and a supporting bracket are provided on the connecting plate, and the driving end of the second linear drive is connected to the supporting bracket.

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

[0018] 1. The present invention achieves the function of fixing the tool robot during the charging process of the tool robot through a support frame, a trigger assembly, a transmission assembly and a lateral support mechanism, thereby providing lateral support to the vehicle body to prevent the vehicle body from shaking, so that when the cable shakes, the tool robot will not be pulled to shake, thereby solving the problem of poor contact between the tool robot and the charging head due to cable shaking during the charging process; during the charging process, even if the cable shakes due to wind or other external forces, the tool robot will not shake with the cable, so that the charging head and the docking seat can remain in a docking state.

[0019] 2. The present invention realizes the function of sensing the plug-in state of the charging head through the mounting base and the first elastic member, so that the lateral support mechanism can fix the tool robot after the tool robot is charged, thereby preventing the lateral support mechanism from affecting the normal movement of the tool robot. At the same time, through the setting of the first elastic member, it can provide resistance when the charging head is docked with the docking base, thereby achieving a buffering effect, avoiding excessive collision between the body of the tool robot and the charging head, and protecting the docking base and the charging head; when the docking base of the tool robot contacts the charging head, as the tool robot moves, the charging head is pushed to move synchronously. During the movement of the charging head, the first elastic member is continuously compressed, thereby causing the elastic force provided by the first elastic member to gradually increase, and the resistance to the movement of the tool robot also increases accordingly, thereby reducing the movement speed of the tool robot and achieving a buffering effect.

[0020] 3. The present invention realizes the function of controlling the lateral support mechanism through the limit assembly and the control assembly, thereby achieving the effect of limiting the lateral support mechanism through the torque transmitted by the transmission assembly; when the tool robot is working, the limit assembly limits the start-up of the lateral support mechanism to prevent the lateral support mechanism from affecting the normal movement of the tool robot, so that the tool robot can smoothly enter the charging position on the support frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front perspective schematic diagram of a photovoltaic support tool robot charging structure of the present invention; Figure 2 It is a three-dimensional schematic diagram of the cooperation of a support frame, a lateral support mechanism and a tool robot of a photovoltaic support tool robot charging structure of the present invention; Figure 3 It is a three-dimensional schematic diagram of the cooperation between a tool robot and a lateral support mechanism in a photovoltaic support tool robot charging structure of the present invention; Figure 4 It is a three-dimensional schematic diagram of a tool robot of a photovoltaic support tool robot charging structure of the present invention when the tool robot is separated from the charging head; Figure 5 It is a three-dimensional schematic diagram of a charging head, a lateral support mechanism and a limit mechanism of a photovoltaic support tool robot charging structure of the present invention when the push rod is in a reset state; Figure 6 It is a three-dimensional schematic diagram of a charging head, a lateral support mechanism and a limiting mechanism of a photovoltaic support tool robot charging structure of the present invention when the push rod is in an extended state; Figure 7 It is a three-dimensional schematic diagram of a lateral support mechanism on one side of a photovoltaic support tool robot charging structure of the present invention; Figure 8 It is a three-dimensional exploded schematic diagram of a lateral support mechanism on one side of a photovoltaic support tool robot charging structure of the present invention; Fig. 9 A three-dimensional cross-sectional schematic diagram of a limiting mechanism of a photovoltaic support tool robot charging structure of the present invention; Fig.10 A three-dimensional schematic diagram of a transmission frame and a transmission assembly of a photovoltaic support tool robot charging structure of the present invention; Fig.11 It is a three-dimensional schematic diagram of the cooperation among the first linear drive, the push rod and the connecting plate of the charging structure of a photovoltaic support tool robot of the present invention.

[0022] In the figure: 1. Car body; 11. Docking seat; 12. Card slot; 2. Support frame; 21. Cable; 22. Charging head; 221. Guide rod; 23. Trigger assembly; 231. Mounting seat; 232. First elastic member; 24. Transmission assembly; 241. First rack; 242. Second rack; 243. Transmission shaft; 244. Rotating gear; 3. Lateral support mechanism; 31. First linear drive; 32. Push rod; 321. Abutment plate; 3211. Protrusion; 322. Docking slot; 323. Pressure sensor; 324. Third elastic member; 33. Connecting plate; 331. Second linear drive; 332. Support frame; 4. Limiting mechanism; 41. Limiting assembly; 411. Support; 412. Limiting block; 4121. Protrusion; 413. Second elastic member; 42. Control assembly; 421. Transmission frame; 422. Insert rod. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figure 1-Figure 4 The present invention provides a technical solution: a photovoltaic support tool robot charging structure, comprising a tool robot with a body 1 and two support frames 2, two cables 21 are arranged between the two support frames 2, the body 1 is arranged on the two cables 21, a charging head 22 is arranged in each support frame 2, a guide rod 221 is arranged inside the charging head 22, a docking seat 11 for plugging and matching with the charging head 22 is arranged on the two body 1, a lateral support mechanism 3 for fixing the body 1 is arranged on each support frame 2, and a trigger component 23 is arranged on each support frame 2 and a transmission component 24; wherein, the trigger component 23 is used to sense the plug-in state of the docking seat 11 and the charging head 22, and the trigger component 23 is in transmission connection with the transmission component 24; one end of the limiting mechanism 4 is movably connected with the transmission component 24, and the other end can be movably extended into the lateral support mechanism 3; when the docking seat 11 and the charging head 22 are plugged in, the trigger component 23 can control the limiting mechanism to release the lateral support mechanism 3 through the transmission component 24, so that the lateral support mechanism can limit the displacement of the vehicle body 1.

[0025] In this embodiment, the support frame 2, the trigger assembly 23, the transmission assembly 24 and the lateral support mechanism 3 realize the function of fixing the tool robot during the charging process of the tool robot, so as to provide support to the vehicle body 1 from the side to prevent the vehicle body 1 from shaking, so that when the cable 21 shakes, the tool robot will not be pulled to shake, and the problem of poor contact between the tool robot and the charging head 22 due to the shaking of the cable 21 during the charging process is solved. In the working state, the tool robot provides driving force for the adjustment of multiple photovoltaic brackets. When the battery life of the tool robot is insufficient, the tool robot is controlled to move along the length direction of the cable 21 through the built-in moving mechanism on the tool robot. The tool robot is moved to the support frame 2, and as the tool robot moves, the docking seat 11 on the body 1 of the tool robot and the charging head 22 gradually approach and complete the docking. After the docking seat 11 and the charging head 22 are plugged in, the trigger component 23 starts the lateral support mechanism 3 through the transmission component 24. The lateral support mechanism 3 provides support to the body 1 from both sides of the body 1 of the tool robot, fixes the body 1, and performs stable charging. During the charging process, even if the cable 21 shakes under the action of wind or other external forces, the tool robot will not shake with the cable 21, so that the charging head 22 and the docking seat 11 can maintain a stable docking state.

[0026] like Figure 3-Figure 4 As shown, the trigger assembly 23 includes a mounting seat 231 and a first elastic member 232, the mounting seat 231 is connected to the support frame 2, one end of the first elastic member 232 is connected to the charging head 22, the other end of the first elastic member 232 is connected to the mounting seat 231, and the charging head 22 is transmission-connected to the transmission assembly 24.

[0027] In this embodiment, the function of the induction charging head 22 plug-in state is realized by the mounting seat 231 and the first elastic member 232, so that the lateral support mechanism 3 can fix the tool robot after the tool robot is charged, thereby preventing the lateral support mechanism 3 from affecting the normal movement of the tool robot. At the same time, through the setting of the first elastic member 232, resistance can be provided when the charging head 22 is docked with the docking seat 11, thereby achieving a buffering effect, avoiding excessive collision between the body 1 of the tool robot and the charging head 22, protecting the docking seat 11 and the charging head 22, and since the charging head 22 is provided with a guide rod 221, the guide rod 221 can be used to prevent the charging head 22 from being damaged. The rod 221 is slidably matched with the mounting seat 231. The guide rod 221 can provide guidance and support for the movement of the charging head 22, which helps the charging head 22 to dock with the docking seat 11 accurately. In the working state, when the docking seat 11 of the tool robot contacts the charging head 22, the charging head 22 is pushed to move synchronously with the movement of the tool robot. During the movement of the charging head 22, the first elastic member 232 is continuously compressed, so that the elastic force provided by the first elastic member 232 gradually increases, and the resistance to the movement of the tool robot also increases accordingly, thereby reducing the movement speed of the tool robot and achieving a buffering effect. During the movement of the charging head 22, the thrust generated by the movement of the charging head 22 drives the transmission assembly 24, and the transmission assembly 24 starts the lateral support mechanism 3 and completes the fixation of the vehicle body 1, effectively avoiding the situation where the lateral support mechanism 3 is extended in advance and affects the movement of the tool robot.

[0028] like Figure 2 and Figure 5 As shown, a limiting mechanism 4 is provided in each of the two support frames 2, and each limiting mechanism 4 includes a limiting component 41 and a control component 42, wherein the limiting component 41 is used to limit the start-up of the two lateral support mechanisms 3; the control component 42 is used to release the limitation of the limiting component 41 on the two lateral support mechanisms 3, and the control component 42 is connected to the transmission component 24 for transmission.

[0029] In this embodiment, the present invention realizes the function of controlling the lateral support mechanism 3 through the limit assembly 41 and the control assembly 42, so as to achieve the effect of limiting the lateral support mechanism 3 through the torque transmitted by the transmission assembly 24. During the working process of the tool robot, the limit assembly 41 limits the start-up of the lateral support mechanism 3 to prevent the lateral support mechanism 3 from affecting the normal movement of the tool robot, so that the tool robot can smoothly enter the charging position on the support frame 2. When the tool robot is preparing to charge, the charging head 22 contacts the docking seat 11, and the tool robot pushes the charging head 22 to move. When the charging head 22 moves, it drives the control assembly 42 through the transmission assembly 24. The control assembly 42 releases the limit of the limit assembly 41 on the lateral support mechanism 3, and then uses the lateral support mechanism 3 to provide lateral support to the tool robot, thereby completing the fixation of the tool robot.

[0030] like Figure 2 , Figure 5 as well as Figure 6 As shown, each lateral support mechanism 3 includes a first linear drive 31 and a push rod 32, wherein the first linear drive 31 is installed on the support frame 2, and the first linear drive 31 is used to drive the push rod 32 to extend and retract; and an abutment plate 321 is provided at one end of the push rod 32 away from the first linear drive 31.

[0031] In this embodiment, the present invention realizes the function of fixing the tool robot through the first linear drive 31, the push rod 32 and the abutment plate 321. The limit assembly 41 is used to limit the extension of the push rod 32. The support frame 2 is provided with a controller (not shown in the figure) for human-machine interaction. The first linear drive 31 is preferably an electric push rod or a linear cylinder. The first linear drive 31 is electrically connected to the controller. When the tool robot is in a moving state, the limit assembly 41 limits the extension of the push rod 32, so that the tool robot can smoothly move to the charging position of the support frame 2. After the docking seat 11 on the vehicle body 1 is docked with the charging head 22, the charging head 22 drives the control assembly 42 through the transmission assembly 24 during the movement process, so that the control assembly 42 releases the extension restriction of the limit assembly 41 on the push rod 32. Then the controller sends a signal to the first linear drive 31, the first linear drive 31 drives the push rod 32 to extend, and the push rod 32 drives the abutment plate 321 to move until the abutment plate 321 abuts against both sides of the vehicle body 1, providing lateral support force for the tool robot.

[0032] like Figure 4-Figure 6 As shown, both sides of the vehicle body 1 are provided with a clamping groove 12 along the vertical direction, and the abutting plate 321 is provided with a protrusion 3211 for movably clamping with the clamping groove 12 .

[0033] In this embodiment, the present invention realizes the function of limiting the horizontal displacement of the tool robot when the abutment plate 321 is docked with the vehicle body 1 through the slot 12 and the protrusion 3211. Since the cable 21 extends in the horizontal direction, the vertical displacement of the tool robot can be limited to a certain extent through the cable 21, and the cooperation between the cable 21 and the tool robot can guide the tool robot to move along the cable 21, and then cooperate with the abutment plate 321 to limit the movement of the tool robot in the horizontal direction (i.e., the length direction of the cable 21), thereby further improving the stability of the tool robot and avoiding unnecessary displacement of the tool robot along the length direction of the cable 21; during the charging process, when the abutment plate 321 abuts against the vehicle body 1, the protrusion 3211 on the abutment plate 321 and the slot 12 on the vehicle body 1 are mutually engaged, thereby providing lateral support to the vehicle body 1 and further preventing the tool robot from deviating in the horizontal direction.

[0034] like Figure 5 , Figures 7 to 9As shown, the limit assembly 41 includes a support 411, a limit block 412 and a second elastic member 413. The two supports 411 are both arranged on the support frame 2. The limit blocks 412 are slidably connected to the two supports 411 respectively. One end of the second elastic member 413 is connected to the limit block 412, and the other end of the second elastic member 413 is connected to the support 411. Each push rod 32 is provided with a docking groove 322 for cooperating with the limit block 412. When the limit block 412 is plugged into the docking groove 322, the telescopic action of the push rod 32 can be limited.

[0035] In this embodiment, the present invention realizes the function of limiting the movement of the push rod 32 through the support 411, the limit block 412, the second elastic member 413 and the docking groove 322. When the tool robot is in a moving state, the limit block 412 is plugged into and matched with the docking groove 322 under the elastic force of the second elastic member 413, and the extension of the push rod 32 is limited by the limit block 412. When the docking seat 11 docks with the charging head 22 and pushes the charging head 22 to move, the charging head 22 drives the control component 42 through the transmission component 24, and the control component 42 controls the limit block 412 to move in a direction away from the docking groove 322, so that the limit block 412 is separated from the docking groove 322, thereby releasing the extension and retraction restriction of the push rod 32 by the limit block 412. The first linear drive 31 drives the push rod 32 to extend, and the push rod 32 drives the abutment plate 321 to move, and the push rod 32 and the abutment plate 321 provide lateral support to both sides of the vehicle body 1. After charging is completed, the first linear drive 31 controls the push rod 32 to retract until the push rod 32 is reset, and then controls the tool robot to move away from the support frame 2. After the docking seat 11 is separated from the charging head 22, the charging head 22 is reset under the elastic force of the first elastic member 232, and then the charging head 22 no longer transmits torque to the control assembly 42 through the transmission assembly 24, and the limit block 412 is plugged and matched with the docking groove 322 on the push rod 32 under the elastic force of the second elastic member 413.

[0036] like Figure 7 As shown, a pressure sensor 323 is provided in each docking slot 322 .

[0037] In this embodiment, the present invention realizes the function of sensing the plugging state of the limit block 412 and the docking groove 322 through the pressure sensor 323. The pressure sensor 323 is electrically connected to the controller. In the working state, the pressure sensor 323 can cooperate with the controller to realize the opening and closing control of the first linear actuator 31. When the limit block 412 is plugged and matched with the docking groove 322, the docking seat 11 does not push the charging head 22 to move. When the docking seat 11 docks with the charging head 22 and pushes the charging head 22 to move, the charging head 22 drives the control component 42 through the torque transmitted by the transmission component 24. The control component 42 controls the limit block 412 to move in the direction away from the docking groove 322. After the limit block 412 is separated from the docking groove 322, the pressure sensor 323 senses that the pressure is released, and then feedbacks the signal to the controller. The controller sends a signal to the first linear actuator 31, and the first linear actuator 31 drives the push rod 32 to extend, thereby fixing the tool robot through the abutment plate 321.

[0038] like Figure 6 , Fig. 9 and Fig.10 As shown, the control component 42 includes a transmission frame 421 and an insertion rod 422. The transmission frame 421 is movably arranged on the two support frames 2, and the insertion rod 422 is arranged on the transmission frame 421. The insertion rod 422 is slidably matched with the limit block 412. A protrusion 4121 is provided in the limit block 412. When the insertion rod 422 moves in a direction close to the limit block 412, the protrusion 4121 can be squeezed to drive the limit block 412 to shrink into the support 411.

[0039] In this embodiment, the present invention realizes the function of controlling the movement of the limit block 412 through the transmission frame 421, the insertion rod 422 and the protrusion 4121. When the charging head 22 moves, the transmission frame 421 is controlled by the transmission assembly 24 to move toward the direction close to the limit block 412. The transmission frame 421 drives the insertion rod 422 to move. The insertion rod 422 contacts and squeezes the protrusion 4121 of the limit block 412, thereby driving the limit block 412 to shrink into the support (that is, the two are slidingly connected). At this time, the second elastic member 413 shrinks under the action of the squeezing force, so that the limit block 412 is separated from the docking groove 322.

[0040] like Figure 3 , Figure 6 and Fig.10 As shown, the transmission assembly 24 includes a first rack 241, a second rack 242 and a transmission shaft 243. The first rack 241 and the second rack 242 are respectively mounted on the charging head 22 and the transmission frame 421. The transmission shaft 243 is rotatably set on the support frame 2, and a rotating gear 244 is sleeved on the transmission shaft 243. The first rack 241 and the second rack 242 are both meshed and connected to the rotating gear 244.

[0041] In this embodiment, the present invention realizes the function of controlling the movement of the transmission frame 421 when the charging head 22 moves through the first rack 241, the second rack 242, the transmission shaft 243 and the rotating gear 244. When the charging head 22 moves under the pushing action of the docking seat 11, it drives the first rack 241 to move, and the first rack 241 drives the rotating gear 244 meshed with it to rotate. The rotating gear 244 drives the transmission shaft 243 to rotate, and the transmission shaft 243 drives the second rack 242 to move through another rotating gear 244. The second rack 242 drives the transmission frame 421 and the insertion rod 422 to move, and drives the limit block 412 to move through the insertion rod 422, so that the limit block 412 is separated from the docking groove 322, and the extension and contraction restriction of the push rod 32 is released. It not only has a compact structure and high transmission efficiency, but also can accurately realize the synchronous movement control between the charging head 22 and the transmission frame 421, providing support for the automatic operation of the charging equipment.

[0042] like Figure 3 , Figure 8 as well as Fig.11 As shown, the abutment plate 321 can slide in the vertical direction on the push rod 32, and each push rod 32 is provided with a third elastic member 324, one end of the third elastic member 324 is connected to the push rod 32, and the other end of the third elastic member 324 is connected to the abutment plate 321, and the two support frames 2 are provided with a connecting plate 33, and the connecting plate 33 is provided with a second linear drive 331 and a supporting bracket 332, and the driving end of the second linear drive 331 is connected to the supporting bracket 332.

[0043] In this embodiment, the present invention realizes the function of providing support to the push rod 32 through the third elastic member 324, the connecting plate 33, the second linear drive 331 and the supporting bracket 332. When the tool robot slides in the vertical direction, the elastic force of the third elastic member 324 is used to support the tool robot, thereby improving the stability of the tool robot and buffering the impact. When the third elastic member 324 shrinks to a large extent, the abutment plate 321 abuts against the push rod 32. At this time, pressure is applied to the push rod 32. In order to prevent the push rod 32 from shrinking, a second linear drive 331 and a supporting bracket 332 are provided. When the push rod 32 is extended, the supporting bracket 332 is driven to extend by the second linear drive 331, and the push rod 32 is supported by the supporting bracket 332 (similar to the principle of the gripping of the push rod 32 by the clamp, which will not be described in detail here), thereby improving the stability of the push rod 32, so that the push rod 32 can provide stable support for the tool robot.

[0044] The usage and working principle of this device: the function of fixing the tool robot during the charging process of the tool robot is realized through the support frame 2, the trigger component 23, the transmission component 24 and the lateral support mechanism 3, so as to provide support to the vehicle body 1 from the side to prevent the vehicle body 1 from shaking, so that when the cable 21 shakes, the tool robot will not be pulled to shake. In the working state, the tool robot provides driving force for the adjustment of multiple photovoltaic brackets. When the battery life of the tool robot is insufficient, the built-in moving mechanism on the tool robot controls the tool robot to move along the cable 21, moves the tool robot to the support frame 2, and as the tool robot moves, the docking seat 11 on the vehicle body 1 of the tool robot and the charging head 22 gradually approach and complete the docking. After the docking seat 11 and the charging head 22 are plugged in, the trigger component 23 starts the lateral support mechanism 3 through the transmission component 24. The lateral support mechanism 3 provides support to the vehicle body 1 from both sides of the vehicle body 1 of the tool robot to fix the vehicle body 1. During the charging process, even if the cable 21 shakes under the action of wind or other external forces, the tool robot will not shake with the cable 21, and the charging head 22 can maintain a docking state with the docking seat 11. The function of sensing the plug-in state of the charging head 22 is realized through the mounting seat 231 and the first elastic member 232, so that the lateral support mechanism 3 can fix the tool robot after the tool robot is charged, thereby preventing the lateral support mechanism 3 from affecting the normal movement of the tool robot. At the same time, through the first elastic member 232 The charging head 22 is provided with a guide rod 221, and the guide rod 221 is slidably matched with the mounting seat 231. The setting of the guide rod 221 enables the charging head 22 to be accurately docked with the docking seat 11. In the working state, when the docking seat 11 of the tool robot contacts the charging head 22, the charging head 22 is pushed to move synchronously with the movement of the tool robot. During the movement of the charging head 22, the first elastic member 232 is continuously compressed, so that the elastic force provided by the first elastic member 232 is gradually increased, and the resistance to the movement of the tool robot is also increased accordingly, achieving a buffering effect. During the movement of the charging head 22, the charging head 22 is generated by the movement of the charging head 22. The thrust drives the transmission component 24, and the transmission component 24 starts the lateral support mechanism 3, and then fixes the vehicle body 1 through the lateral support mechanism 3 to prevent the lateral support mechanism 3 from extending in advance and affecting the movement of the tool robot. The function of controlling the lateral support mechanism 3 is realized through the limit component 41 and the control component 42. When the tool robot is working, the limit component 41 limits the start of the lateral support mechanism 3 to prevent the lateral support mechanism 3 from affecting the normal movement of the tool robot, so that the tool robot can smoothly enter the charging position on the support frame 2. When the tool robot is preparing to charge, the charging head 22 contacts the docking seat 11, and the tool robot pushes the charging head 22 to move. When the charging head 22 moves, it drives the control component 42 through the transmission component 24.The control component 42 releases the restriction of the limit component 41 on the lateral support mechanism 3, and then provides lateral support to the tool robot through the lateral support mechanism 3 to complete the fixation of the tool robot. The function of fixing the tool robot is realized through the first linear drive 31, the push rod 32 and the abutment plate 321. The limit component 41 is used to limit the extension and retraction of the push rod 32. The support frame 2 is provided with a controller for human-computer interaction. The first linear drive 31 is an electric push rod. The first linear drive 31 is electrically connected to the controller. When the tool robot is in a moving state, the limit component 41 limits the extension of the push rod 32, so that the tool robot can move smoothly to the charging position of the support frame 2. After the docking seat 11 on the vehicle body 1 is docked with the charging head 22, the charging head 22 drives the control group through the transmission component 24 during the movement. The control component 42 releases the extension restriction of the push rod 32 by the limit component 41, and then the controller sends a signal to the first linear driver 31, and the first linear driver 31 drives the push rod 32 to extend and retract, and the push rod 32 drives the abutment plate 321 to move until the abutment plates 321 on both sides of the vehicle body 1 abut against the two sides of the vehicle body 1. The function of limiting the horizontal displacement of the tool robot when the abutment plate 321 is docked with the vehicle body 1 is realized through the card slot 12 and the protrusion 3211. Since the cable 21 extends in the horizontal direction, the vertical displacement of the tool robot can be limited to a certain extent through the cable 21, and the tool robot can be guided to move along the cable 21, and then cooperate with the abutment plate 321 to limit the movement of the tool robot in the horizontal direction (i.e., the length direction of the cable 21), thereby improving the stability of the tool robot.

[0045] When the tool robot is in a moving state, the limit block 412 is plugged into and cooperates with the docking groove 322 under the elastic force of the second elastic member 413, and the extension of the push rod 32 is limited by the limit block 412. When the docking seat 11 is docked with the charging head 22 and pushes the charging head 22 to move, the charging head 22 drives the control component 42 through the transmission component 24, and the control component 42 controls the limit block 412 to move in a direction away from the docking groove 322, so that the limit block 412 is separated from the docking groove 322, and the extension restriction of the push rod 32 by the limit block 412 is released. The driver 31 drives the push rod 32 to extend, and the push rod 32 drives the abutment plate 321 to move, and lateral support is provided to both sides of the vehicle body 1 through the push rod 32 and the abutment plate 321. After charging is completed, the first linear driver 31 controls the push rod 32 to retract until the push rod 32 is reset, and then controls the tool robot to move away from the support frame 2. After the docking seat 11 is separated from the charging head 22, the charging head 22 is reset under the elastic force of the first elastic member 232, and then the charging head 22 no longer transmits the torque to the control component 42 through the transmission component 24. The limit block 412 is plugged into and matched with the docking groove 322 on the push rod 32 under the elastic force of the second elastic member 413, and the function of sensing the plug-in state of the limit block 412 and the docking groove 322 is realized through the pressure sensor 323. The pressure sensor 323 is electrically connected to the controller. In the working state, through the induction of the pressure sensor 323, the opening and closing control of the first linear driver 31 can be realized in cooperation with the controller.

[0046] When the limit block 412 is plugged into the docking slot 322, the docking seat 11 does not push the charging head 22 to move. When the docking seat 11 is docked with the charging head 22 and pushes the charging head 22 to move, the charging head 22 drives the control component 42 through the torque transmitted by the transmission component 24. The control component 42 controls the limit block 412 to move in a direction away from the docking slot 322. After the limit block 412 is separated from the docking slot 322, the pressure sensor 323 senses that the pressure is released and feeds back a signal to the controller. The controller sends a signal to the first linear drive 31, and the first linear drive 31 drives the push rod 32 to extend, thereby fixing the tool through the abutment plate 321. The robot, the transmission frame 421, the insertion rod 422 and the protrusion 4121 can realize the function of controlling the movement of the limit block 412. When the charging head 22 moves, the transmission frame 421 is controlled by the transmission assembly 24 to move in the direction close to the limit block 412. The transmission frame 421 drives the insertion rod 422 to move. After the insertion rod 422 contacts the protrusion 4121 of the limit block 412, the protrusion 4121 is squeezed, thereby pushing the limit block 412 to move. At the same time, the second elastic member 413 contracts under the action of the squeezing force, so that the limit block 412 is separated from the docking groove 322. The charging head 22 is realized by the first rack 241, the second rack 242, the transmission shaft 243 and the rotating gear 244. The function of controlling the movement of the transmission frame 421 when the charging head 22 moves, when the charging head 22 moves under the push of the docking seat 11, the first rack 241 is driven to move, and the first rack 241 drives the rotating gear 244 meshed with it to rotate, and the rotating gear 244 drives the transmission shaft 243 to rotate, and the transmission shaft 243 drives the second rack 242 to move through another rotating gear 244, and the second rack 242 drives the transmission frame 421 and the insertion rod 422 to move, and drives the limit block 412 to move through the insertion rod 422, so that the limit block 412 is separated from the docking groove 322, and the extension restriction of the push rod 32 is released, and the third elastic member 324 and the connecting plate 3 3. The second linear drive 331 and the support bracket 332 realize the function of providing support for the push rod 32. When the tool robot slides in the vertical direction, the elastic force of the third elastic member 324 is used to support the tool robot, thereby improving the stability of the tool robot and buffering the impact. When the third elastic member 324 shrinks to a large extent, the abutment plate 321 abuts against the push rod 32. At this time, pressure is applied to the push rod 32. In order to prevent the push rod 32 from shrinking, the second linear drive 331 and the support bracket 332 are provided. When the push rod 32 is extended, the support bracket 332 is driven to extend by the second linear drive 331 to achieve gripping support for the push rod.

[0047] The wiring diagram of the cable 21, charging head 22, first linear drive 31, pressure sensor 323, and second linear drive 331 in the present invention is common knowledge in the field, and its working principle is a well-known technology. The model is selected according to the actual use, so the control method and wiring arrangement of the cable 21, charging head 22, first linear drive 31, pressure sensor 323, and second linear drive 331 will not be explained in detail.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A photovoltaic support tool robot charging structure, comprising a tool robot having a body (1) and two support frames (2), two cables (21) being arranged between the two support frames (2), the body (1) being arranged on the cables (21), a charging head (22) being arranged in each of the support frames (2), a guide rod (221) being arranged inside the charging head (22), a docking seat (11) being arranged on the body (1) for plugging and cooperating with the charging head (22), and characterized in that: Each of the support frames (2) is provided with a trigger assembly (23), a transmission assembly (24), a limit mechanism (4), and a lateral support mechanism (3) for fixing the vehicle body (1); The trigger component (23) is used to sense the plugging state of the docking seat (11) and the charging head (22), and the trigger component (23) is in transmission connection with the transmission component (24); one end of the limit mechanism (4) is movably connected to the transmission component (24), and the other end can be movably extended into the lateral support mechanism (3); When the docking seat (11) is plugged into and matched with the charging head (22), the trigger component (23) can control the limiting mechanism to release the lateral support mechanism (3) through the transmission component (24), so that the lateral support mechanism can limit the displacement of the vehicle body (1).

2. A photovoltaic support tool robot charging structure according to claim 1, characterized in that: The trigger assembly (23) comprises a mounting seat (231) and a first elastic member (232); the mounting seat (231) is connected to the support frame (2); one end of the first elastic member (232) is connected to the charging head (22); the other end of the first elastic member (232) is connected to the mounting seat (231); and the charging head (22) is transmission-connected to the transmission assembly (24).

3. A photovoltaic support tool robot charging structure according to claim 1, characterized in that: The limiting mechanism (4) comprises a limiting component (41) and a control component (42); the limiting component (41) is used to limit the activation of the lateral support mechanism (3); the control component (42) is used to release the limitation of the lateral support mechanism (3) by the limiting component (41); the control component (42) is in transmission connection with the transmission component (24).

4. A photovoltaic support tool robot charging structure according to claim 3, characterized in that: The lateral support mechanism (3) comprises a first linear drive (31) and a push rod (32); the first linear drive (31) is mounted on the support frame (2); the first linear drive (31) is used to drive the push rod (32) to extend and retract; an abutment plate (321) is provided at one end of the push rod (32) away from the first linear drive (31).

5. A photovoltaic support tool robot charging structure according to claim 4, characterized in that: Both sides of the vehicle body (1) are provided with a clamping groove (12) in the vertical direction, and the abutment plate (321) is provided with a protrusion (3211) for movably clamping with the clamping groove (12).

6. A photovoltaic support tool robot charging structure according to claim 4, characterized in that: The limiting assembly (41) comprises a support (411), a limiting block (412) and a second elastic member (413); the support (411) is arranged on the support frame (2); the limiting block (412) is slidably connected to the support (411); one end of the second elastic member (413) is connected to the limiting block (412); the other end of the second elastic member (413) is connected to the support (411); a docking groove (322) matching with the limiting block (412) is provided on the push rod (32); when the limiting block (412) is plugged into and matched with the docking groove (322), the limiting assembly (41) is used to limit the extension and retraction of the push rod (32).

7. A photovoltaic support tool robot charging structure according to claim 6, characterized in that: A pressure sensor (323) is provided in each docking groove (322).

8. A photovoltaic support tool robot charging structure according to claim 6, characterized in that: The control assembly (42) comprises a transmission frame (421) and an insertion rod (422); the transmission frame (421) is movably arranged on the support frame (2); the insertion rod (422) is arranged on the transmission frame (421); the insertion rod (422) is movably inserted into the limit block (412); a protrusion (4121) is arranged in each of the limit blocks (412); when the insertion rod (422) moves in a direction close to the limit block (412), the protrusion (4121) can be pressed to drive the limit block (412) to retract into the support (411).

9. A photovoltaic support tool robot charging structure according to claim 8, characterized in that: The transmission assembly (24) comprises a first rack (241), a second rack (242) and a transmission shaft (243); the first rack (241) and the second rack (242) are respectively mounted on the charging head (22) and the transmission frame (421); the transmission shaft (243) is rotatably arranged on the support frame (2); two rotating gears (244) are sleeved on the transmission shaft (243); the first rack (241) and the second rack (242) are both meshedly connected with the rotating gears (244).

10. A photovoltaic support tool robot charging structure according to claim 4, characterized in that: The abutment plate (321) can slide in a vertical direction relative to the push rod (32); a third elastic member (324) is provided on the push rod (32); one end of the third elastic member (324) is connected to the push rod (32); the other end of the third elastic member (324) is connected to the abutment plate (321); each of the support frames (2) is provided with a connecting plate (33); a second linear drive (331) and a support bracket (332) are provided on the connecting plate (33); a driving end of the second linear drive (331) is connected to the support bracket (332).

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