Electric power foot type robot charging equipment and method for static elimination

Abstract

The invention belongs to the technical field of electric power foot type robot charging, and provides an electric power foot type robot charging device and method for static elimination. A static pressing piece is arranged in the middle of the surface of a base, and the static pressing piece is an elastic arc-shaped plate; one end of the electrostatic pressing sheet is fixedly connected with the base, and the other end is slidably connected with the base; during charging, in the process that the electric power foot type robot squats or lies down above the base, the electric power foot type robot firstly makes contact with the electrostatic pressing piece to remove static electricity, and then the electrostatic pressing piece is pressed downwards, so that an electrode at the bottom of the robot makes contact with an electrode plate on the base to be charged, and in the process that the electrostatic pressing piece is pressed downwards, the static electricity is removed. One end of the electrostatic pressing piece slides along the surface of the base, after charging is completed and the electric power foot type robot leaves the base, the electrostatic pressing piece structure resets, and fatigue damage to the electrostatic pressing piece is reduced on the basis that smooth connection of the robot and the electrostatic pressing piece is achieved without increasing control difficulty and connection stability is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric legged robot charging, and in particular relates to an electric legged robot charging device and method for static electricity elimination. Background Art

[0002] Electric-powered, legged robots perform maintenance tasks in substations and distribution rooms. During inspections, static electricity accumulates on their surfaces due to friction between their mechanisms and interactions with the surrounding environment and equipment. If static electricity is not promptly addressed, it can interfere with or damage the robot's circuitry, preventing it from completing its maintenance tasks. In hazardous environments, accumulated static electricity can cause sparks, leading to serious accidents such as explosions. Electric wheeled inspection robots are recharged using a side-plug charging method. During charging, the pins on the robot's plug are connected to the corresponding charging socket to eliminate static electricity.

[0003] When charging an electric-legged robot, a prone or lying wireless charging method is adopted. The robot only needs to squat or lie down to make the bottom electrode of the robot contact the electrode plate of the base. Since the electrode plate area of ​​the base is large, the positioning accuracy requirements for the electric-legged robot during charging are not high. If a pin-type static-elimination component is set on the base, the positioning accuracy of the electric-legged robot during charging needs to be improved to ensure smooth connection and connection stability, which will increase the difficulty of control. In addition, the repeated squatting or lying of the electric-legged robot will cause fatigue damage and other damage to the static-elimination component. Summary of the Invention

[0004] In order to solve the above problems, the present invention proposes a charging device and method for an electric-legged robot for static elimination. During charging, when the electric-legged robot squats or lies down above a base, the electric-legged robot first contacts an electrostatic voltage plate to eliminate static electricity, and then the electrostatic voltage plate is pressed down to achieve contact between the bottom electrode of the robot and the electrode plate on the base for charging. When the electrostatic voltage plate is pressed down, one end of the electrostatic voltage plate slides along the surface of the base. After charging is completed, the electric-legged robot leaves the base and the electrostatic voltage plate structure is reset. Without increasing the control difficulty, the robot and the electrostatic voltage plate are smoothly connected and the connection stability is ensured, thereby reducing fatigue damage to the electrostatic voltage plate.

[0005] In order to achieve the above objectives, in a first aspect, the present invention provides an electric legged robot charging device for static elimination, which adopts the following technical solutions: An electric legged robot charging device for static elimination comprises a power control box and a base connected to the power control box; Electrode plates are respectively provided at both ends of the surface of the base; an electrostatic pressure plate is provided in the middle position of the surface of the base, and the electrostatic pressure plate is an elastic arc-shaped plate; one end of the electrostatic pressure plate is fixedly connected to the base, and the other end is slidably connected to the base; when the electric-legged robot squats above the base, the electric-legged robot first contacts the electrostatic pressure plate to eliminate static electricity, and when the electric-legged robot continues to squat, the electrostatic pressure plate tends to be flat, and the electric-legged robot contacts the electrode plate for charging.

[0006] Furthermore, the power control box includes a distribution box and a mounting plate arranged in the distribution box; a guide rail is arranged on the mounting plate, and an air switch, a surge protector and an intermediate relay are slidably arranged on the guide rail.

[0007] Furthermore, the air switch, the surge protector and the intermediate relay are all connected to the guide rail via buckles.

[0008] Furthermore, an anti-scratch sheet is provided on the base, and the sliding end of the electrostatic pressure sheet is in sliding contact with the anti-scratch sheet.

[0009] Furthermore, a bottom cover is provided at the bottom end of the base, and a bottom cover sealing ring is provided between the bottom cover and the base.

[0010] Furthermore, a base indicator light is provided on the base, and an indicator light sealing gasket is provided on the base at the position of the base indicator light.

[0011] Furthermore, one end of the electrostatic fin is fixed to the base by a bolt, and an electrostatic fin sealing ring is provided at the bolt.

[0012] Furthermore, an electrode sealing ring is provided between the electrode plate and the base.

[0013] Furthermore, a base shock-absorbing pad is provided on the base.

[0014] In order to achieve the above objectives, in a second aspect, the present invention further provides a method for charging an electric legged robot for static elimination, which adopts the following technical solution: A method for charging an electric-legged robot for static elimination uses the electric-legged robot charging device for static elimination as described in the first aspect, including: when the electric-legged robot squats or lies down above a base, the electric-legged robot contacts an electrostatic pressure plate to eliminate static electricity; when the electrostatic pressure plate is pressed down, the bottom electrode of the robot contacts the electrode plate on the base for charging; one end of the electrostatic pressure plate slides along the surface of the base; after charging is completed, the electric-legged robot leaves the base and the electrostatic pressure plate is reset.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention innovatively proposes an arc-shaped elastic electrostatic pressure plate to eliminate static electricity when charging an electric-legged robot, and develops an electric-legged robot charging device for static electricity elimination. By setting an arc-shaped elastic electrostatic pressure plate in the middle position of the surface of the base, one end of the electrostatic pressure plate is fixedly connected to the base, and the other end is slidably connected to the base. When the electric-legged robot squats above the base, the electric-legged robot first contacts the electrostatic pressure plate to eliminate static electricity. When the electric-legged robot continues to squat, the electrostatic pressure plate tends to be flat, and the electric-legged robot contacts the electrode plate for charging. Without increasing the difficulty of control, the purpose of smoothly connecting the robot and the electrostatic pressure plate before charging and ensuring the stability of the connection is achieved, thereby solving the problems of fatigue damage to the electrostatic pressure plate and static electricity elimination of the electric-legged robot.

[0016] 2. The present invention innovatively proposes a charging method for an electric-legged robot for static elimination. During charging, when the electric-legged robot squats or lies down above the base, the electric-legged robot first contacts the electrostatic voltage plate to eliminate static electricity, and then the electrostatic voltage plate is pressed down to achieve contact between the bottom electrode of the robot and the electrode plate on the base for charging. During the process of the electrostatic voltage plate being pressed down, one end of the electrostatic voltage plate slides along the surface of the base. After charging is completed, the electric-legged robot leaves the base and the electrostatic voltage plate structure is reset, thereby achieving the purpose of reducing fatigue damage to the electrostatic voltage plate without increasing the control difficulty and ensuring connection stability, thereby solving the problem of static elimination of the electric-legged robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the specification of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments and descriptions of this embodiment are used to explain this embodiment and do not constitute an improper limitation on this embodiment.

[0018] Figure 1 This is a schematic structural diagram of a charging device according to embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the internal structure of the power control box of Example 1 of the present invention; Figure 3 This is a schematic diagram of the external structure of the power control box of Example 1 of the present invention; Figure 4 This is a schematic diagram of the wiring diagram of the power control box of Example 1 of the present invention; Figure 5 This is a front view of the base of Example 1 of the present invention; Figure 6 This is a side sectional view of the base of Example 1 of the present invention; Figure 7 This is a side view of the base of Example 1 of the present invention; Figure 8This is a front cross-sectional view of the base of Example 1 of the present invention; Figure 9 This is a schematic diagram of the bottom surface of the base according to Example 1 of the present invention; Figure 10 The charging status of the robot in Example 1 of the present invention; Figure 11 This is a charging safety logic diagram of Example 1 of the present invention; Figure 12 This is a charging control flow chart of Example 1 of the present invention; Among them, 1. Power control box; 11. Distribution box; 12. Conversion module; 13. Air switch; 14. Surge protector; 15. Intermediate relay; 16. Guide rail; 17. Mounting plate; 18. Control panel; 19. Charging adapter; 110. Power indicator light; 111. Distribution box charging indicator light; 112. Emergency stop button; 113. Socket; 2. Base; 21. Electrode plate; 22. Anti-scratch; 23. Electrostatic pressure plate; 24. Bottom cover sealing ring; 25. Indicator light baffle; 26. Indicator light sealing gasket; 27. Base indicator light; 28. Electrostatic pressure plate sealing ring; 29. ​​Base side wall; 210. Aviation socket; 211. Electrode sealing ring; 212. Bottom cover; 213. Base shock pad; 3. Wires; 4. Electric foot robot. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0021] Example 1: like Figure 1 As shown, this embodiment provides an electric legged robot charging device for static elimination, including a power control box 1, a base 2, and an electric wire 3 connecting the power control box 1 and the base 2.

[0022] In one embodiment, the power control box 1 is fixed to the wall by bolts, the base 2 is fixed to the ground by bolts, and the power control box 1 and the base 2 are connected by the wire 3.

[0023] like Figure 2 and Figure 3The power control box 1 includes a distribution box 11, a conversion module 12, an air switch 13, a surge protector 14, an intermediate relay 15, a guide rail 16, a mounting plate 17, a control panel 18, a charging adapter 19, a power indicator light 110, a distribution box charging indicator light 111, an emergency stop button 112 and a socket 113, etc.

[0024] Optionally, the mounting plate 17 is made of insulating material and has through holes at corresponding positions; the conversion module 12 is a 220VAC to 12VDC module; the guide rail 16 and the charging adapter 19 are both fixedly connected to the mounting plate 17 by bolts. The air switch 13, the surge protector 14, and the intermediate relay 15 all have adjustable clips on the back, which are connected to the guide rail 16 through the clips. The air switch 13, the surge protector 14, and the intermediate relay 15 can be slid and adjusted on the guide rail 16, thereby improving flexibility; the control board 18 is connected to the mounting plate 17 via hexagonal copper studs, and the control board 18 is connected to the hexagonal copper studs via screws. The mounting plate 17 is fixedly installed inside the distribution box 11 by bolts. The power indicator light 110, the distribution box charging indicator light 111, and the emergency stop button 112 all have built-in nut fixing structures. After removing the nuts from each component, install them in the corresponding holes on the panel of the distribution box 11 and screw the nuts in the opposite direction to secure them. The socket 113 is an integrated socket and is fixed to the bottom of the distribution box 11 with bolts. One end of the wire 3 is an aviation plug and leads out from the bottom of the distribution box 11.

[0025] In some embodiments, the internal wiring diagram of the distribution box 11 is as follows: Figure 4 The distribution box 11 is connected to an external 220kV power triangle plug and an integrated socket.

[0026] like Figure 5 、 Figure 6 、 Figure 7 As shown, the base 2 includes an electrode plate 21, an anti-scratch sheet 22, an electrostatic pressure sheet 23, a bottom cover sealing ring 24, an indicator light baffle 25, an indicator light sealing gasket 26, a base indicator light 27, an electrostatic pressure sheet sealing ring 28, a base side wall 29, an aviation socket 210, an electrode sealing ring 211, a bottom cover 212 and a base shock-absorbing pad 213, etc.

[0027] An electrode plate 21 is respectively provided at both ends of the upper surface of the base 2 . It can be understood that the two electrode plates 21 are respectively a positive electrode and a negative electrode.

[0028] An electrostatic voltage plate 23 is provided in the middle position of the upper surface of the base 2, between the two electrode plates 21. It can be understood that the electrostatic voltage plate 23 is connected to a ground wire; optionally, the electrostatic voltage plate 23 is an elastic arc-shaped plate; one end of the electrostatic voltage plate 23 is fixedly connected to the base 2, and the other end is slidably connected to the base 2. Specifically, during charging, when the electric-legged robot 4 squats or lies down above the base 2, the electric-legged robot 4 first contacts the electrostatic voltage plate 23 to clear static electricity. Because the electrostatic voltage plate 23 is an elastic arc-shaped plate, the electrostatic voltage plate 23 is pressed down when the electric-legged robot 4 squats or lies down, so that the bottom electrode of the robot is in contact with the electrode plate 21 on the base 2 for charging. When the electrostatic voltage plate 23 is pressed down, one end of the electrostatic voltage plate 23 slides along the surface of the base. After charging is completed, the electric-legged robot 4 leaves the base and the electrostatic voltage plate 23 structure is reset, thereby achieving the purpose of reducing fatigue damage to the electrostatic voltage plate without increasing the difficulty of control and ensuring the stability of the connection. This solves the problem of static electricity elimination in the electric-legged robot.

[0029] In some embodiments, an anti-scratch sheet 22 is provided on the base 2 , and the sliding end of the static pressure sheet 23 is in sliding contact with the anti-scratch sheet 22 ; optionally, the anti-scratch sheet 22 is made of stainless steel, and is glued to the base 2 with glue on the back side.

[0030] In some embodiments, an upward flange is provided at one end of the electrostatic pressure plate 23 that is in sliding contact with the anti-scratch plate 22; the electrostatic pressure plate 23 adopts a single-sided movable structure, and the main body is an arched structure, which can produce elastic deformation under pressure and return to its original shape after the pressure is removed; one side of the electrostatic pressure plate is fixed, and the movable part is treated with an upward flange arc, so that the movable side arc contacts the anti-scratch plate 22 and undergoes relative displacement, thereby preventing sparks caused by instantaneous friction when sharp corners contact.

[0031] In some embodiments, the electrostatic pressure plate 23 is an elastic structure and is fixed by two groups of electrostatic pressure plate sealing rings 28, bolts, spring screen washers, nuts and other fixing parts, one of which is connected to the ground wire of the power supply line. The moving end of the electrostatic pressure plate 23 contacts the anti-scratch plate 22 and slides on the anti-scratch plate 22.

[0032] like Figure 6 and Figure 9As shown, the bottom end of the base 2 is provided with a bottom cover plate 212, and a bottom cover plate sealing ring 24 is provided between the bottom cover plate 212 and the base 2 for moisture and dust prevention; a base indicator light 27 is provided on the base 2 for guiding the electric legged robot 4 and other functions, and an indicator light baffle 25 and an indicator light sealing gasket 26 are provided on the base 2 at the base indicator light 27 for protecting the base indicator light 27; one end of the electrostatic pressure plate 23 is fixed to the base 2 by bolts, and an electrostatic pressure plate sealing ring 28 is provided at the bolts. Figure 8 As shown, an electrode sealing ring 211 is provided between the electrode plate 21 and the base 2; the cooperation of the bottom cover sealing ring 24, the indicator light sealing gasket 26, the electrostatic pressure plate sealing ring 28 and the electrode sealing ring 211 improves the moisture-proof and dust-proof effect of the base 2.

[0033] like Figure 7 and Figure 8 As shown, an aviation socket 210 is provided on the side wall 29 of the base 2 for connecting the wire 3. The base 2 is also provided with a base shock-absorbing pad 213. When the electric legged robot 4 squats or lies down, the base shock-absorbing pad acts as a buffer, further reducing impact damage to the base 2 and the electrostatic plate 23, and reducing the occurrence of fatigue damage.

[0034] In some embodiments, the base 2 is provided with a threaded hole, and the electrode plate 21 is fixedly connected to the base 2 by a hexagonal thin bolt and a high-pressure sealing ring, and the electrode plate 21 is partially sealed at the connection with the internal power supply line by the electrode sealing ring. The internal power supply line consists of three wires: positive, negative, and ground, and is pressed with wiring terminals. The two electrode plates 21 are fastened to the positive and negative wiring terminals of the power supply line respectively by hexagonal thin bolts, high-pressure sealing rings, spring washers, nuts, etc. The base indicator light 27 transition connection is installed in the side hole of the base 2, and the sealing gasket of the base indicator light 27 is pressed into the corresponding sealing groove on the outside through a transparent indicator light baffle 25, and the indicator light baffle 25 is fastened to the base 2 by a cross screw. The base indicator light 27 consists of two positive and negative wires, which are respectively connected to the positive and negative of the charging plate.

[0035] Optionally, the aviation socket 210 is a three-core female plug, and the three cores are positive, negative and ground wires, corresponding to the plug of the power supply line of the power control box 1. The positive and negative electrodes are connected, and the ground wire is connected to the static voltage plate. The aviation socket 210 is fixed to the base by a cross screw.

[0036] Optionally, the base 2 has a bottom cover plate 212 at the bottom, and a sealing groove is opened at the corresponding position of the base 2. The bottom cover plate 212 presses the bottom cover plate sealing ring 24 into the groove, and the bottom cover plate 212 is fastened to the base 2 by a cross screw. The back of the base shock-absorbing pad 213 is glued to the base 2.

[0037] In some embodiments, the base 2 serves as a base, with a high center and low sides, and an inclination angle of 1°. It has drainage grooves on the front and back sides, and water holes on the left and right sides. It has countersunk holes around it, and anchor bolts are used to secure the base 2 to the ground through the countersunk holes.

[0038] In some embodiments, as Figure 11 and Figure 12 As shown, charging safety measures are in place: charging is prohibited if the robot leaves the charging station or if the connection between the charging pile and the robot is poor; a manual emergency stop function is provided for the robot to operate abnormally. A full stop function and a charge recovery function are provided when the charge level drops. To prevent the danger of the robot being left standing for an extended period, a full charge disconnect function is provided, resuming charging when the charge level drops to 90%. The robot also has an anti-fall protection function, which only allows charging when the robot is in the correct position. Voltage and current threshold protections are provided, which interrupt charging when high current or high voltage is detected during charging.

[0039] One of the working processes or principles of this embodiment is: The power control box 1 is fixedly mounted on a vertical wall or bracket, and the base 2 is fixedly mounted on a horizontal ground and fixed by bolts. An external 220V power cord is connected to the power control box 1 through an integrated socket to provide external power. The power control box and the base are connected by a power supply line.

[0040] Turn on the switch of the integrated socket, open the door of the power control box 1, turn on the air switch 13, close the door of the power control box 1, turn on the emergency stop button 112, and the power indicator light 110 is always on.

[0041] There are positive and negative charging electrodes at the bottom of the electric legged robot 4 corresponding to the base 2, and the contact portion between the bottom 2 and the electrostatic voltage plate 23 is made of conductive metal.

[0042] When the robot 4 needs to charge, it moves to the top of the base 2 and executes the charging command. As it lowers, the robot's bottom first contacts the static plate 23, dissipating any static electricity on the robot 4. The static plate 23 deforms, extending one end along the anti-scratch plate 22, dissipating the static electricity on the robot 4. Subsequently, the robot's bottom electrode contacts the electrode plate 21 of the base 2, releasing the force from its legs and allowing the robot 4 to lie prone on the base 2. When the robot detects that it needs charging, the charging indicator 111 on the distribution box illuminates steadily, and the indicator 27 on the base flashes, indicating that the robot begins charging.

[0043] When the robot is fully charged, it can simply stand up and withdraw from the base 2. The static voltage plate 23 is restored to its original shape, and the charging indicator light 111 of the distribution box and the base indicator light are turned off.

[0044] The above description is merely a preferred embodiment of this embodiment and is not intended to limit this embodiment. Those skilled in the art will readily appreciate that this embodiment may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this embodiment shall be within the scope of protection of this embodiment.

Claims

1. A charging device for an electric legged robot for static elimination, characterized in that: It includes a power control box and a base connected to the power control box; Electrode plates are respectively provided at both ends of the surface of the base, and the electrode plates are connected to the power control box; an electrostatic voltage plate is provided in the middle position of the surface of the base, and the electrostatic voltage plate is an elastic arc-shaped plate; one end of the electrostatic voltage plate is fixedly connected to the base, and the other end is slidably connected to the base; when the electric-legged robot squats above the base, the electric-legged robot first contacts the electrostatic voltage plate to eliminate static electricity, and when the electric-legged robot continues to squat, the electrostatic voltage plate tends to be flat, and the electric-legged robot contacts the electrode plate for charging.

2. The electric legged robot charging device for static elimination according to claim 1, characterized in that: The power control box comprises a distribution box and a mounting plate arranged in the distribution box; a guide rail is arranged on the mounting plate, and an air switch, a surge protector and an intermediate relay are slidably arranged on the guide rail.

3. The electric legged robot charging device for static elimination according to claim 2, characterized in that: The air switch, the surge protector and the intermediate relay are all connected to the guide rail via buckles.

4. The electric legged robot charging device for static elimination according to claim 1, characterized in that: An anti-scratch sheet is provided on the base, and the sliding end of the static pressure sheet is in sliding contact with the anti-scratch sheet.

5. The electric legged robot charging device for static elimination according to claim 4, characterized in that: A bottom cover plate is provided at the bottom end of the base, and a bottom cover plate sealing ring is provided between the bottom cover plate and the base.

6. The electric legged robot charging device for static elimination according to claim 5, characterized in that: The base is provided with a base indicator light, and the base is provided with an indicator light sealing gasket located at the base indicator light.

7. The electric legged robot charging device for static elimination according to claim 6, characterized in that: One end of the electrostatic pressure plate is fixed to the base through a bolt, and an electrostatic pressure plate sealing ring is provided at the bolt.

8. The electric legged robot charging device for static elimination according to claim 7, characterized in that: An electrode sealing ring is provided between the electrode plate and the base.

9. The electric legged robot charging device for static elimination according to claim 7, characterized in that: A base shock-absorbing pad is provided on the base.

10. A charging method for an electric legged robot for static elimination, characterized in that: An electric-legged robot charging device for static elimination as described in any one of claims 1 to 9 is used. When the electric-legged robot squats or lies down above the base, the electric-legged robot contacts the electrostatic pressure plate to eliminate static electricity. When the electrostatic pressure plate is pressed down, the bottom electrode of the robot contacts the electrode plate on the base for charging. One end of the electrostatic pressure plate slides along the surface of the base. After charging, the electric-legged robot leaves the base and the electrostatic pressure plate is reset.

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