Maintenance robot intelligent charging device and linkage folding wing spraying extension arm thereof

Abstract

The invention discloses a maintenance robot intelligent charging device and a linkage folding wing spraying extension arm thereof, comprising an extension arm mechanism which comprises a rear arm, a long connecting rod and a front arm; the rear arm is rotationally connected with the base; the base is fixedly connected with the front fixing plate and the rear fixing plate; a first joint structure is welded to the front end of the rear arm and fixedly connected with the end of the front arm. The rear end of the long connecting rod is hinged to the base, and the front end is rotationally connected with the first joint structure to form a reverse quadrilateral structure; the rear end of the rear arm is connected with a hydraulic structure, and when the hydraulic structure pushes the rear arm to rotate, the long connecting rod drives the front arm to rotate through the first joint structure to achieve opening and closing of the unfolding arm. The charging head mechanism is rotationally connected with the base; the charging head mechanism and the rear arm rotate in a matched mode through the second joint structure, and the charging head mechanism and the charging pile mechanism are driven to be connected for charging. The arm unfolding mechanism can be opened and closed and is in linkage with the charging head mechanism, and the tail end of the arm unfolding mechanism can swing along with obstacles within the given length range and has the reset capacity.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical engineering robots, in particular to the field of field operation robots, and specifically relates to an intelligent charging device for a maintenance robot and a linked folding-wing spray arm thereof. Background Art

[0002] Currently, robots are gradually being used to maintain precast beams in beam yards. However, these robots encounter two problems during operation: the first is the ability to operate continuously, which primarily requires the robot to be able to recharge autonomously. The second problem is that when spraying the bottom of the box beam, an extension arm must be installed. However, the extension arm is relatively long and needs to be retracted when not in operation. Furthermore, there are often various obstacles within 1 meter of the end of the extension arm. This requires the extension arm to be able to open and close, and to be able to swing with obstacles and reset within a certain range at the end. Precisely because of the problems of autonomous charging, extension and retraction of the extension arm, and obstacle avoidance and reset, achieving autonomous beam yard operations through robots remains a technical challenge that needs to be solved urgently. Based on the above problems, an intelligent charging device for a maintenance robot has been designed, with an extension arm that can open and close, swing with obstacles within a given length range at the end, and reset capability. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent charging device for a maintenance robot and its linked folding wing spray arm. The technical solution adopted is:

[0004] An intelligent charging device for a maintenance robot and its linked folding-wing spraying arm include an arm extension mechanism comprising a rear arm, a long connecting rod, and a front arm;

[0005] The rear arm is rotatably connected to the base, and the base is fixedly connected to the front fixing plate and the rear fixing plate;

[0006] A first joint structure is welded to the front end of the rear arm, and the first joint structure is fixedly connected to the end of the forearm; the rear end of the long connecting rod is hinged to the base, and the front end is rotatably connected to the first joint structure to form an inverted quadrilateral structure;

[0007] The rear end of the rear arm is connected to a hydraulic structure. When the hydraulic structure drives the rear arm to rotate, the long connecting rod drives the forearm to rotate through the first joint structure, thereby realizing the opening and closing of the arm.

[0008] Also included is a charging head mechanism rotatably connected to the base;

[0009] The charging head mechanism and the rear arm rotate in coordination through a second joint structure, driving the charging head mechanism to connect with the charging pile mechanism for charging.

[0010] In one embodiment, the rear end of the rear arm is a first hollow sleeve, the rear arm shaft core is inserted into the first hollow sleeve, and the rear arm shaft core is rotatably connected to the base;

[0011] A rear arm shaft tooth is welded to the bottom of the first hollow sleeve, and the second joint structure is fixedly connected to the charging head mechanism. The rear arm shaft tooth cooperates with the second joint structure to drive the charging head mechanism to rotate.

[0012] In one embodiment, the hydraulic structure includes a hydraulic cylinder body, wherein the hydraulic cylinder body is hinged with an upper fixing plate of the hydraulic cylinder and a lower fixing plate of the hydraulic cylinder; the upper fixing plate of the hydraulic cylinder and the lower fixing plate of the hydraulic cylinder are fixed to the back of the base by bolts;

[0013] A telescopic rod is provided at the front end of the hydraulic cylinder body, the front end of the telescopic rod passes through the base and is connected to a connecting plate pin, and the connecting plate is connected to the rear end of the rear arm;

[0014] The hydraulic cylinder body is further provided with a shock absorbing spring, and the front end of the telescopic rod is placed in the shock absorbing spring.

[0015] In one embodiment, the first joint structure includes an upper gear, a middle gear, and a lower gear that are welded together, and each of the upper gear and the lower gear has 6 through holes for accommodating balls;

[0016] The upper gear, the middle gear and the lower gear are welded to the end of the forearm;

[0017] The upper gear, the middle gear and the lower gear are hinged to the upper joint housing and the lower joint housing via a first rotating shaft. The upper joint housing and the lower joint housing are hinged to a sector gear via a second rotating shaft. The tail of the sector gear is hinged to the front end of the long connecting rod. The upper joint housing and the lower joint housing are welded to the front end of the rear arm.

[0018] The upper gear, the middle gear and the lower gear are integrally matched with the sector gear.

[0019] In one embodiment, the second joint structure includes a charging head shaft tooth, a charging head fixing plate, and a charging head rotating core;

[0020] The charging head shaft teeth are welded to the charging head mechanism, the charging head fixing plate is fixed to the base, the charging head rotating core passes through the charging head fixing plate and is embedded into the second hollow sleeve, and the second hollow sleeve is embedded in the tooth hole of the charging head shaft teeth;

[0021] The rear arm shaft teeth engage with the charging head shaft teeth and rotate to drive the charging head mechanism to turn.

[0022] In one embodiment, the charging head mechanism includes a charging head inclined rod, the rear end of the charging head inclined rod is welded to an upper closing plate, the upper opening and closing pin is hinged to the lower opening and closing, and the lower opening and closing is welded to the charging head rotating shaft gear;

[0023] The upper opening and closing member and the lower opening and closing member are connected to a shock absorbing structure via a screw;

[0024] A pair of clamping plates are welded to the front end of the charging head inclined rod, and the clamping plates are bolted to the charging fork;

[0025] The front end of the charging fork is fixedly clamped with a first protective shell, the first protective shell has a built-in copper head, and a spring is provided between the copper head and the charging fork as a buffer;

[0026] The charging fork is further hingedly connected to a second protective shell, and a torsion spring is provided between the second protective shell and the charging fork;

[0027] The second protective shell contacts the upper plate of the charging pile and is pushed back to allow the copper head to contact the copper plate for charging;

[0028] The second protective shell contacts the upper plate of the charging pile and is reset under the action of the torsion spring.

[0029] In one embodiment, the shock-absorbing structure includes a shock-absorbing spring, and the shock-absorbing spring is connected to the bottom holes of the upper opening and the lower opening as a whole through a shock-absorbing screw and a nut.

[0030] In one embodiment, the charging pile mechanism includes a charging pile base fixed on the ground, wherein the charging pile base is provided with a notch, and a lifting structure is slidably connected in the notch;

[0031] It also includes a charging pile upper plate and a charging pile lower plate connected by a long screw, a nut four and a nut five, and the bottom of the charging pile lower plate is hinged to the lifting structure;

[0032] The upper plate of the charging pile and the lower plate of the charging pile are both provided with slots, and copper plates are fixedly clamped in the slots, and the copper plates are fixedly connected to rubber strips.

[0033] In another embodiment, the slot is a double slot, and the copper plates in different slots are respectively connected to the positive and negative poles of the power supply.

[0034] In one embodiment, the lifting structure comprises a lifting mechanism bottom plate, wherein the lifting mechanism bottom plate is provided with an ear plate, and the ear plate is slidably connected to the slot;

[0035] The upper part of the bottom plate of the lifting mechanism is hinged to four lower lifting links, the upper ends of the four lower lifting links are respectively hinged to upper lifting links, and the upper ends of the four upper lifting links are hinged to the lower plate of the charging pile;

[0036] The hinges of the four lower lifting links and the four upper lifting links are fixedly connected with threaded sleeves, and the lifting rotating rod screw is connected to the threaded sleeves.

[0037] The advantages and positive effects of the present invention are:

[0038] 1. The charging pile mechanism has multi-directional adjustable spatial adaptability. The slot spacing in the charging pile mechanism is adjustable, and its length can adapt to the robot's travel error. At the same time, the charging slot is equipped with an external protective rubber strip;

[0039] 2. The arm mechanism can be opened and closed, and the end can swing with obstacles within a given length range and has reset capability;

[0040] 3. The arm extension mechanism and the charging head mechanism can be extended and retracted in a linked manner, and the hydraulic structure is operated by water power, which is simple and reliable.

[0041] 4. The arm and joint structure have the advantages of low resistance and small size. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The technical solutions of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that these drawings are designed for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, unless otherwise specified, these drawings are intended only to conceptually illustrate the structures described herein and are not necessarily drawn to scale.

[0043] Figure 1 This is a schematic diagram of the overall structure of the extension arm and the charging head of the present invention;

[0044] Figure 2 This is an enlarged view of the arm and charging head A described in the present invention. Figure 1 ;

[0045] Figure 3 This is an enlarged view of the arm and charging head A described in the present invention. Figure 2 ;

[0046] Figure 4 This is an exploded view of the extension arm and charging head of the present invention;

[0047] Figure 5 This is an enlarged view of the arm and charging head B of the present invention. Figure 1 ;

[0048] Figure 6 This is an enlarged view of the arm and charging head B of the present invention. Figure 2 ;

[0049] Figure 7 This is an exploded view of the arm of the present invention;

[0050] Figure 8This is an exploded view of the joint according to the present invention;

[0051] Figure 9 This is an exploded view of the charging head of the present invention;

[0052] Figure 10 This is a schematic diagram of the three-dimensional structure of the charging pile of the present invention;

[0053] Figure 11 This is an exploded view of the charging pile of the present invention;

[0054] Figure 12 This is an enlarged view of the charging pile C described in the present invention;

[0055] Figure 13 This is an enlarged view of the charging pile D of the present invention;

[0056] Figure 14 This is a three-dimensional schematic diagram of the overall structure of the extension arm and the charging head of the present invention in the charging state;

[0057] Figure 15 A top view of the overall structure of the extension arm and the charging head of the present invention in a charging state;

[0058] Figure 16 This is a three-dimensional schematic diagram of the overall structure of the extension arm and the charging head of the present invention in the charging completion state;

[0059] Figure 17 A top view of the overall structure of the extension arm and the charging head of the present invention in the charging completion state;

[0060] In the picture:

[0061] 1. Rear arm, 11. Rear arm shaft core, 12. Rear arm shaft teeth, 13. Connecting plate, 14. First hollow sleeve, 15. Second hollow sleeve, 2. Long connecting rod, 3. Upper joint shell, 31. Upper gear, 32. Middle gear, 33. Lower gear, 34. Fan gear, 35. Rotating shaft 1, 36. Rotating shaft 2, 37. Nut 1, 38. Nut 2, 39. Lower joint shell, 310. Ball, 4. Forearm, 5. Charging head inclined rod, 51. Nut 3, 52. Clamp, 53. Charging fork, 54. Spring, 55. First protective shell, 56. Copper head, 57. Second protective shell, 58. Upper opening and closing, 59. Lower opening Together, 510, shock-absorbing spring, 511, shock-absorbing screw, 6, base, 61, charging head shaft gear, 62, charging head fixing plate, 63, charging head rotating core, 64, hydraulic cylinder upper fixing plate, 65, hydraulic cylinder body, 651, shock-absorbing spring, 66, hydraulic cylinder lower fixing plate, 67, front fixing plate, 68, rear fixing plate, 69, telescopic rod, 7, charging pile base, 8, lifting rotating rod, 81, upper lifting connecting rod, 82, lifting mechanism bottom plate, 83, lower lifting connecting rod, 9, charging pile upper plate, 91, charging pile lower plate, 92, long screw, 93, nut four, 94, nut five, 95, copper plate, 96, rubber strip. DETAILED DESCRIPTION

[0062] First of all, it should be noted that the specific structure, characteristics and advantages of the present invention will be specifically described below in an exemplary manner. However, all descriptions are only used for illustration and should not be understood as limiting the present invention. In addition, any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature displayed or implied in the drawings, can still be combined or deleted between these technical features (or their equivalents) to obtain more other embodiments of the present invention that may not be directly mentioned herein. In addition, in order to simplify the drawings, the same or similar technical features may be marked in only one place in the same drawing.

[0063] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0064] The following is combined with Figure 1 -Attached Figure 17 The present invention will be described in detail.

[0065] Example 1:

[0066] An intelligent charging device for a maintenance robot and its linked folding-wing spraying arm include an arm extension mechanism, which includes a rear arm 1, a long connecting rod 2, and a front arm 4;

[0067] The rear arm 1 is rotatably connected to the base 6, and the base 6 is fixedly connected to the front fixing plate 67 and the rear fixing plate 68;

[0068] The front end of the rear arm 1 is welded with a first joint structure, which is fixedly connected to the end of the forearm 4; the rear end of the long connecting rod 2 is hinged to the base 6, and the front end is rotatably connected to the first joint structure to form an inverted quadrilateral structure;

[0069] The rear end of the rear arm 1 is connected to a hydraulic structure. When the hydraulic structure drives the rear arm 1 to rotate, the long connecting rod 2 drives the front arm 4 to rotate through the first joint structure, thereby realizing the opening and closing of the arm.

[0070] It also includes a charging head mechanism rotatably connected to the base 6;

[0071] The charging head mechanism and the rear arm 1 rotate in coordination through the second joint structure, driving the charging head mechanism to connect with the charging pile mechanism for charging.

[0072] Working principle:

[0073] The maintenance robot moves along a pre-set trajectory, using its external ultrasonic sensor to determine whether a beam is present. If so, the water pump activates, and water flows through the hydraulic structure, pushing the push rod outward, causing the arm mechanism to rotate outward, and the charging head mechanism passively retracts under the action of the gears.

[0074] When the spraying operation stops or charging is required, the water pump stops, the hydraulic structure retracts the push rod under the action of the reversing valve group, the charging head mechanism is passively pushed outward under the action of the gear, and the dual charging heads are docked with the corresponding grooves of the charging pile mechanism under the action of the semi-rigid charging head inclined rod 5. The robot starts the control signal to realize charging.

[0075] Furthermore, in this embodiment, it can be considered that the rear end of the rear arm 1 is a first hollow sleeve 14, and the rear arm rotating shaft core 11 is inserted into the first hollow sleeve 14, and the rear arm rotating shaft core 11 is rotatably connected to the base 6;

[0076] The bottom of the first hollow sleeve 14 is welded with a rear arm shaft tooth 12, and the second joint structure is fixedly connected to the charging head mechanism. The rear arm shaft tooth 12 cooperates with the second joint structure to drive the charging head mechanism to rotate.

[0077] Furthermore, in this embodiment, it can also be considered that the hydraulic structure includes a hydraulic cylinder body 65, the hydraulic cylinder body 65 is pin-hinged with the hydraulic cylinder upper fixing plate 64 and the hydraulic cylinder lower fixing plate 66; the hydraulic cylinder upper fixing plate 64 and the hydraulic cylinder lower fixing plate 66 are fixed to the back of the base 6 by bolts;

[0078] A telescopic rod 69 is provided at the front end of the hydraulic cylinder body 65. The front end of the telescopic rod 69 passes through the base 6 and is pin-connected to the connecting plate 13. The connecting plate 13 is connected to the rear end of the rear arm 1.

[0079] The hydraulic cylinder body 65 is further provided with a shock absorbing spring 651 , and the front end of the telescopic rod 69 is placed inside the shock absorbing spring 651 .

[0080] In this embodiment, Figure 1-7 As shown, the arm extension mechanism and charging head mechanism are simultaneously connected to the base 6, which is fixedly connected to the front fixing plate 67 and the rear fixing plate 68 via bolts. The arm extension mechanism is opened and closed by a hydraulic cylinder body 65, which is hinged to the upper and lower fixing plates 64 and 66 via pins. The upper and lower fixing plates 64 and 66 are fixed to the back of the base 6 via bolts. The telescopic rod 69 is hinged to the connecting plate 13 via a pin. Through this connection, the hydraulic cylinder body pushes the rear arm 1 to open and close the arm.

[0081] The hydraulic cylinder is equipped with a shock-absorbing spring 651 to prevent the hydraulic cylinder from contracting too quickly and reduce the impact of the extension arm on the vehicle body.

[0082] The charging head rotating core 63 hinges the charging head with the charging head fixing plate 62 and the base 6 through the hollow sleeve of the charging head rotating shaft teeth 61 , and the charging head rotating core 63 is welded to the base 6 .

[0083] The rear end of the rear arm 1 is a first hollow sleeve 14 , the bottom of which is welded with a rear arm shaft tooth 12 . The first hollow sleeve 14 passes through the tooth hole of the rear arm shaft tooth 12 and cooperates with the charging head shaft tooth 61 .

[0084] like Figure 14-17 As shown, when the maintenance robot enters the charging state, the arms are closed and the charging head is unfolded; when charging is finished, the arms are opened and the charging head is closed.

[0085] Furthermore, in this embodiment, it can also be considered that the first joint structure includes an upper gear 31, a middle gear 32 and a lower gear 33 that are welded together, and the upper gear 31 and the lower gear 33 each have 6 through holes for accommodating the balls 310;

[0086] The upper gear 31, the middle gear 32 and the lower gear 33 are welded to the end of the forearm 4;

[0087] The upper gear 31, the middle gear 32 and the lower gear 33 are hinged to the upper joint housing 3 and the lower joint housing 39 via a first rotating shaft 35. The upper joint housing 3 and the lower joint housing 39 are hinged to a sector gear 34 via a second rotating shaft 36. The tail of the sector gear 34 is hinged to the front end of the long connecting rod 2. The upper joint housing 3 and the lower joint housing 39 are welded to the front end of the rear arm 1.

[0088] The upper gear 31 , the middle gear 32 , and the lower gear 33 are integrally matched with the sector gear 34 .

[0089] In this embodiment, Figure 8 As shown, the upper joint shell 3 and the lower joint shell 39 are located at the upper and lower outermost sides, and the outer contours of the upper gear 31, the middle gear 32, and the lower gear 33 are consistent and welded together. The upper gear 31 and the lower gear 33 each have 6 through holes for placing the ball 310, thereby reducing the rotational friction with the upper joint shell 3 and the lower joint shell 39.

[0090] The rotating shaft 35 hinges the upper joint housing 3, the lower joint housing 39, the upper gear 31, the middle gear 32, and the lower gear 33, and the bottom is tightened with the rotating shaft 35 using a nut 37.

[0091] The second rotating shaft 36 hinges the upper joint housing 3, the lower joint housing 39 and the sector gear 34, and the bottom is tightly fitted with the second rotating shaft 36 using a second nut 38.

[0092] The upper gear 31 , the middle gear 32 , and the lower gear 33 are integrally matched with the sector gear 34 to achieve rotation.

[0093] like Figure 5-7 As shown, the front end of the long connecting rod 2 is hinged to the base 6 and the rear end of the sector gear 34, forming an inverted quadrilateral mechanism. The upper joint housing 3 and the lower joint housing 39 are welded to the front end of the rear arm 1, and the end of the forearm 4 is welded to the upper gear 31, the middle gear 32, and the lower gear 33. When the hydraulic cylinder body pushes the rear arm 1 to rotate, the long connecting rod 2 rotates the upper gear 31, the middle gear 32, and the lower gear 33 through the sector gear 34, thereby driving the forearm 4 to expand.

[0094] Furthermore, in this embodiment, it can also be considered that the second joint structure includes the charging head shaft teeth 61, the charging head fixing plate 62 and the charging head rotating core 63;

[0095] The charging head shaft teeth 61 are welded to the charging head mechanism, the charging head fixing plate 62 is fixed to the base 6, the charging head rotating core 63 passes through the charging head fixing plate 62 and is embedded in the second hollow sleeve 15, and the second hollow sleeve 15 is embedded in the tooth hole of the charging head shaft teeth 61;

[0096] The rear arm shaft teeth 12 engage and rotate with the charging head shaft teeth 61 to drive the charging head mechanism to rotate.

[0097] Furthermore, in this embodiment, the charging head mechanism may include a charging head inclined rod 5, a rear end of which is welded with an upper closing plate 58, the upper opening and closing 58 being pin-hinged to a lower opening and closing 59, and the lower opening and closing 59 being welded with the charging head rotating shaft teeth 61;

[0098] The upper opening and closing member 58 and the lower opening and closing member 59 are connected to a shock absorbing structure via a screw rod;

[0099] A pair of clamping plates 52 are welded to the front end of the charging head inclined rod 5, and the clamping plates 52 are bolted to the charging fork 53;

[0100] The front end of the charging fork 53 is fixedly clamped with a first protective shell 55. The first protective shell 55 has a built-in copper head 56. A spring 54 is provided between the copper head 56 and the charging fork 53 as a buffer.

[0101] The charging fork 53 is further hinged to a second protective shell 57 , and a torsion spring is provided between the second protective shell 57 and the charging fork 53 ;

[0102] The second protective shell 57 contacts the upper plate 9 of the charging pile and is pushed back to allow the copper head 56 to contact the copper plate 95 for charging;

[0103] The second protective shell 57 contacts the upper plate 9 of the charging pile and is reset under the action of the torsion spring.

[0104] Furthermore, in this embodiment, it can also be considered that the shock-absorbing structure includes a shock-absorbing spring 510, and the shock-absorbing spring 510 is connected to the bottom holes of the upper opening 58 and the lower opening 59 as a whole through a shock-absorbing screw 511 and a nut 51.

[0105] like Figure 9 As shown, the upper opening and closing 58 and the lower opening and closing 59 are hinged by a pin shaft, and the nut 3 51, the shock-absorbing spring 510 and the shock-absorbing screw 511 are connected as a whole through the bottom holes of the upper opening and closing 58 and the lower opening and closing 59 to form a shock-absorbing mechanism, while ensuring that the charging head is always pressed against the copper plate 95.

[0106] The rear end of the charging head inclined rod 5 is welded to the bottom of the upper opening and closing 58, and the bottom of a pair of clamping plates 52 is welded to the front end of the charging head inclined rod 5 and fixedly connected to the charging fork 53 by three bolts.

[0107] The protective shell 55 is fixedly clamped at the front end of the charging fork 53. The copper head 56 is placed inside the protective shell 55. A spring 54 acts as a buffer between the protective shell 55 and the charging fork 53. The protective shell 57 is hinged to the charging fork 53 via a pin and is equipped with a torsion spring. The protective shell 57 is semi-open, and the open end can completely enclose the protective shell 55. When the protective shell 57 contacts the upper plate 9 of the charging pile, the protective shell 57 is pushed back, allowing the copper head 56 to contact the copper plate 95 for charging. When the protective shell 57 leaves the upper plate 9 of the charging pile, the protective shell 57 returns to its original position under the action of the torsion spring, protecting the copper head 56.

[0108] Furthermore, in this embodiment, it can also be considered that the charging pile mechanism includes a charging pile base 7 fixed on the ground, and the charging pile base 7 is provided with a notch, and the lifting structure is slidably connected in the notch;

[0109] It also includes a charging pile upper plate 9 and a charging pile lower plate 91 connected by a long screw 92, a nut four 93 and a nut five 94, and the bottom of the charging pile lower plate 91 is hinged to the lifting structure;

[0110] Slots are provided on both the charging pile upper plate 9 and the charging pile lower plate 91 , and copper plates 95 are fixedly engaged in the slots. A rubber strip 96 is fixedly connected to the copper plates 95 .

[0111] In this embodiment, the upper plate 9 and lower plate 91 of the charging pile each have two through-holes through which two long screws 92 pass, which are secured and tightened with nuts 94 at their bases. To adjust the spacing between the upper plate 9 and the lower plate 91, a nut 93 is provided between the upper plate 9 and the lower plate 91 to connect the long screws 92. By turning the nut 93, the spacing can be adjusted by limiting the position and adjusting the height.

[0112] There are three notches on the charging pile base 7, and they are arranged along the width of the charging pile base 7, so that the lifting structure can slide back and forth.

[0113] Furthermore, in this embodiment, it can also be considered that the slot is a double slot, and the copper plates 95 in different slots are respectively connected to the positive and negative poles of the power supply.

[0114] Furthermore, in this embodiment, it can also be considered that the lifting structure includes a lifting mechanism bottom plate 82, and the lifting mechanism bottom plate 82 is provided with an ear plate, which is slidably connected to the notch through the ear plate;

[0115] The upper part of the lifting mechanism bottom plate 82 is hinged to four lower lifting links 83, the upper ends of the four lower lifting links 83 are hinged to upper lifting links 81 respectively, and the upper ends of the four upper lifting links 81 are hinged to the lower plate 91 of the charging pile;

[0116] The hinges between the four lower lifting links 83 and the four upper lifting links 81 are fixedly connected with threaded sleeves, and the lifting rotating rod 8 is screw-connected to the threaded sleeves.

[0117] like Figure 10-13 As shown, the charging pile base 7 is fixed on the ground, and the lifting mechanism bottom plate 82 itself has three ear plates corresponding to the three notches of the charging pile base 7, so that the charging pile can move forward and backward.

[0118] The lifting rod 8 is engraved with threads and forms a lifting mechanism similar to a "manual jack" with 8 lifting connecting rods 81. Its upper part is hinged to the bottom pin hole of the charging pile lower plate 91, and the distance between the charging pile upper plate 9 and the charging pile lower plate 91 can be adjusted by nut four 93.

[0119] The two copper plates 95 are respectively bonded to the slots of the charging pile upper plate 9 and the charging pile lower plate 91, and the copper plates 95 are flush with the arc surface of the charging pile upper plate 9 or the charging pile lower plate 91 to prevent the charging head from being blocked.

[0120] The rubber strip 96 is nailed to the upper plate 9 of the charging pile, which can protect the copper plate 95 from being tidy, prevent foreign matter from being splashed, and prevent short circuit problems caused by external contact.

[0121] Working process:

[0122] The intelligent charging device is installed on the beam yard maintenance vehicle through the base 6. When the beam yard maintenance vehicle arrives near the charging pile, the vehicle receives the charging signal, closes its own expansion arm, and links to expand the charging head, and continues to drive to the charging pile position. The copper head 56 of the charging head contacts the copper plate 95 of the charging pile and charging begins; when charging is completed, the vehicle drives out of the charging pile position, the hydraulic cylinder body 65 pushes the expansion arm away, and links to retract the charging head.

[0123] In summary, the present invention provides an intelligent charging device for a maintenance robot in which an arm extension mechanism and a charging head mechanism can be extended and retracted in linkage, and a linked folding-wing spray arm thereof.

[0124] The above embodiments describe the present invention in detail, but the contents described are only preferred embodiments of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An intelligent charging device for a maintenance robot and its linked folding-wing spray arm, characterized by: The invention comprises an arm extension mechanism, which comprises a rear arm (1), a long connecting rod (2) and a front arm (4); The rear arm (1) is rotatably connected to the base (6), and the base (6) is fixedly connected to the front fixing plate (67) and the rear fixing plate (68); A first joint structure is welded to the front end of the rear arm (1), and the first joint structure is fixedly connected to the end of the forearm (4); the rear end of the long connecting rod (2) is hinged to the base (6), and the front end is rotatably connected to the first joint structure to form an inverted quadrilateral structure; The rear end of the rear arm (1) is connected to a hydraulic structure. When the hydraulic structure drives the rear arm (1) to rotate, the long connecting rod (2) drives the front arm (4) to rotate through the first joint structure, thereby realizing the opening and closing of the arm. It also includes a charging head mechanism rotatably connected to the base (6); The charging head mechanism and the rear arm (1) rotate in coordination via a second joint structure, driving the charging head mechanism to connect with the charging pile mechanism for charging.

2. The intelligent charging device for the maintenance robot and its linked folding-wing spray arm according to claim 1, characterized in that: The rear end of the rear arm (1) is a first hollow sleeve (14), a rear arm rotating shaft core (11) is inserted into the first hollow sleeve (14), and the rear arm rotating shaft core (11) is rotatably connected to the base (6); A rear arm shaft tooth (12) is welded to the bottom of the first hollow sleeve (14), and the second joint structure is fixedly connected to the charging head mechanism. The rear arm shaft tooth (12) cooperates with the second joint structure to drive the charging head mechanism to rotate.

3. The intelligent charging device for the maintenance robot and its linked folding-wing spray arm according to claim 1, characterized in that: The hydraulic structure comprises a hydraulic cylinder body (65), wherein the hydraulic cylinder body (65) is hingedly connected to an upper fixing plate (64) of the hydraulic cylinder and a lower fixing plate (66) of the hydraulic cylinder by pins; the upper fixing plate (64) of the hydraulic cylinder and the lower fixing plate (66) of the hydraulic cylinder are fixed to the back of the base (6) by bolts; A telescopic rod (69) is provided at the front end of the hydraulic cylinder body (65), the front end of the telescopic rod (69) passes through the base (6) and is pin-connected to a connecting plate (13), and the connecting plate (13) is connected to the rear end of the rear arm (1); The hydraulic cylinder body (65) is also equipped with a shock absorbing spring (651), and the front end of the telescopic rod (69) is placed in the shock absorbing spring (651).

4. The intelligent charging device for the maintenance robot and its linked folding-wing spray arm according to claim 2, characterized in that: The first joint structure comprises an upper gear (31), a middle gear (32) and a lower gear (33) which are welded together, and each of the upper gear (31) and the lower gear (33) has six through holes for accommodating balls (310); The upper gear (31), the middle gear (32) and the lower gear (33) are welded to the end of the forearm (4); The upper gear (31), the middle gear (32) and the lower gear (33) are hinged to the upper joint shell (3) and the lower joint shell (39) via a first rotating shaft (35); the upper joint shell (3) and the lower joint shell (39) are hinged to the fan gear (34) via a second rotating shaft (36); the tail of the fan gear (34) is hinged to the front end of the long connecting rod (2); the upper joint shell (3) and the lower joint shell (39) are welded to the front end of the rear arm (1); The upper gear (31), the middle gear (32) and the lower gear (33) are integrally matched with the sector gear (34).

5. The intelligent charging device for the maintenance robot and its linked folding-wing spray arm according to claim 2, characterized in that: The second joint structure comprises a charging head rotating shaft tooth (61), a charging head fixing plate (62) and a charging head rotating core (63); The charging head rotating shaft teeth (61) are welded to the charging head mechanism, the charging head fixing plate (62) is fixed on the base (6), the charging head rotating core (63) passes through the charging head fixing plate (62) and is embedded in the second hollow sleeve (15), and the second hollow sleeve (15) is embedded in the tooth hole of the charging head rotating shaft teeth (61); The rear arm rotating shaft teeth (12) engage and rotate with the charging head rotating shaft teeth (61), driving the charging head mechanism to rotate.

6. The intelligent charging device for the maintenance robot and its linked folding-wing spray arm according to claim 5, characterized in that: The charging head mechanism comprises a charging head inclined rod (5), the rear end of the charging head inclined rod (5) is welded with an upper closing plate (58), the upper opening and closing (58) is pin-hinged to the lower opening and closing (59), and the lower opening and closing (59) is welded with the charging head rotating shaft gear (61); The upper opening and closing member (58) and the lower opening and closing member (59) are connected to a shock-absorbing structure via a screw rod; A pair of clamping plates (52) are welded to the front end of the charging head inclined rod (5), and the clamping plates (52) are bolted to the charging fork (53); The front end of the charging fork (53) is fixedly clamped with a first protective shell (55), the first protective shell (55) is internally provided with a copper head (56), and a spring (54) is provided between the copper head (56) and the charging fork (53) as a buffer; The charging fork (53) is further hingedly connected to a second protective shell (57), and a torsion spring is provided between the second protective shell (57) and the charging fork (53); The second protective shell (57) contacts the upper plate (9) of the charging pile and is pushed back to allow the copper head (56) to contact the copper plate (95) for charging; The second protective shell (57) contacts the upper plate (9) of the charging pile and is reset under the action of the torsion spring.

7. The intelligent charging device for the maintenance robot and its linked folding-wing spray arm according to claim 6, characterized in that: The shock-absorbing structure includes a shock-absorbing spring (510), and the shock-absorbing spring (510) is connected to the bottom holes of the upper opening (58) and the lower opening (59) through a shock-absorbing screw (511) and a nut (51).

8. The intelligent charging device for the maintenance robot and its linked folding-wing spray arm according to claim 1, characterized in that: The charging pile mechanism comprises a charging pile base (7) fixed on the ground, wherein the charging pile base (7) is provided with a notch, and a lifting structure is slidably connected in the notch; It also includes a charging pile upper plate (9) and a charging pile lower plate (91) connected by a long screw (92), a nut four (93) and a nut five (94), and the bottom of the charging pile lower plate (91) is hinged to the lifting structure; The charging pile upper plate (9) and the charging pile lower plate (91) are both provided with slots, and a copper plate (95) is fixedly clamped in the slots, and a rubber strip (96) is fixedly connected to the copper plate (95).

9. The intelligent charging device for the maintenance robot and its linked folding-wing spray arm according to claim 8, characterized in that: The slots are double slots, and the copper plates (95) in different slots are respectively connected to the positive and negative poles of the power supply.

10. The intelligent charging device for the maintenance robot and its linked folding-wing spray arm according to claim 8, characterized in that: The lifting structure comprises a lifting mechanism bottom plate (82), wherein the lifting mechanism bottom plate (82) is provided with an ear plate, and is slidably connected to the slot through the ear plate; The upper portion of the lifting mechanism bottom plate (82) is hinged to four lower lifting links (83), the upper ends of the four lower lifting links (83) are respectively hinged to upper lifting links (81), and the upper ends of the four upper lifting links (81) are hinged to the charging pile lower plate (91); The hinges between the four lower lifting links (83) and the four upper lifting links (81) are fixedly connected with threaded sleeves, and the lifting rotating rod (8) is screw-connected to the threaded sleeves.

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