High-voltage plugging electrical system suitable for all-weather unmanned open-air operation and transportation equipment

Abstract

The invention relates to an intelligent unmanned mine field scheme, in particular to a high-voltage plugging electrical system and transportation equipment suitable for all-weather unmanned outdoor operation. A high-voltage plugging electrical system suitable for all-weather unmanned open-air operation is applied to a transport vehicle group, each transport vehicle comprises a first end and a second end, and adjacent transport vehicles are in lap joint through the first ends and the second ends; the high-voltage electrical plugging and unplugging system comprises a mechanical arm assembly which is arranged at a first end and comprises a mechanical arm single body, and an image mechanism and a clamp mechanism which are arranged at the tail end of the mechanical arm single body; the socket assembly is arranged at the first end and comprises a first support, a female end socket located on the first support, a first track pushing mechanism and a first positioning tool, the first positioning tool is arranged on the first track pushing mechanism and can slide along the first track pushing mechanism under driving, and the female end socket is fixed to the first support; and the plug assembly is arranged at the second end and comprises a male end plug.

Description

Technical Field

[0001] This invention relates to intelligent unmanned mining solutions, and in particular to a high-voltage plug-in electrical system and transportation equipment suitable for all-weather unmanned open-air operations. Background Art

[0002] In large industrial sites such as mines and earthmoving sites, bulk material transportation is a key link in the production process. Due to the long transportation distance and large transportation volume, the transportation method of connecting multiple conveyor cars has become the mainstream choice. By connecting multiple conveyor cars in sequence to form a continuous transportation channel, the bulk material can be efficiently transported from the starting point to the front placing car, realizing the precise delivery and orderly distribution of bulk material, which greatly improves transportation efficiency and production benefits. The normal operation of each conveyor car depends on the continuous rotation of its internal rollers, and the rotation of the rollers requires a stable power supply.

[0003] To address voltage and current issues in long-distance power supply, using 10kV high-voltage electricity for long-distance transmission is a feasible solution. High-voltage electricity reduces line losses and improves power supply efficiency during transmission. Therefore, plug-in connectors are installed on the transmission vehicle to convert the 10kV high-voltage electricity into 380V low-voltage power to meet the equipment's power requirements.

[0004] The power supply connection of the conveyor vehicle mainly relies on manual plugging and unplugging of plugs into sockets. Now, fully intelligent unmanned mine conveyor vehicles can be automatically deployed and assembled. When the conveyor vehicle is disassembled or assembled, the staff can manually unplug or plug the plug into the socket on site to complete the circuit switching. First, because the layout on site is very long, it is time-consuming and laborious for the staff to run back and forth on site, and there is a possibility that some plugs may be forgotten. Second, at the moment of plug insertion or unplugging, poor contact or sudden current change may occur, which can easily cause injury. Although protective equipment such as insulated gloves and insulated tools are used, and operation warning signs and safety isolation measures are set up, the working environment in mines, earthmoving sites and other places is usually very harsh, with a lot of dust, humidity, corrosive gases and other factors. The implementation of safety measures may also be limited by environmental conditions, and it is difficult to achieve the expected results.

[0005] Therefore, developing an all-weather unmanned plug-in power solution suitable for bulk material transportation scenarios has significant practical implications and broad market prospects. Summary of the Invention

[0006] To address the problems of time-consuming and labor-intensive manual plugging and unplugging of power cords in fully intelligent unmanned mining transport vehicles, the risk of forgetting to plug in power cords, the safety hazards associated with manual plugging and unplugging, and the limitations of safety measures in harsh environments, and to achieve intelligent improvements in transport vehicles, this application provides a high-voltage plugging and unplugging power system and transport equipment suitable for all-weather unmanned open-air operations.

[0007] To solve the aforementioned technical problems, this invention provides a high-voltage pluggable power supply system suitable for all-weather unmanned open-air operations, applied to a transport vehicle group. Each transport vehicle includes a first end and a second end, with adjacent transport vehicles forming an overlap through the first end and the second end respectively. The high-voltage pluggable power supply system includes: a robotic arm assembly disposed at the first end, comprising a robotic arm unit, and an image mechanism and a clamping mechanism disposed at the end of the robotic arm unit; and a socket assembly disposed at the first end, comprising a first bracket, and a female socket, a first track pushing mechanism, and a first positioning fixture located on the first bracket, the first positioning fixture being disposed at the first end. A track pushing mechanism is provided and can slide along it under drive, with the female socket fixed at the first bracket; a plug assembly is provided at the second end, including a male plug; a controller is configured to: S1, control the image mechanism to acquire first image information of the male plug, and control the movement of the robotic arm to lock the male plug in place by the clamping mechanism; S2, acquire second image information of the first positioning fixture, and control the robotic arm to transfer and position the male plug in the first positioning fixture; S3, control the first track pushing mechanism to drive the male plug to slide along the direction close to the female socket until it contacts the female socket and meets the preset preload force.

[0008] In a further embodiment of this application, the plug assembly further includes a second bracket, a second track pushing mechanism, and a second positioning fixture. The second positioning fixture is disposed on the second track pushing mechanism and can slide along it under drive; the male plug is located on the second positioning fixture.

[0009] In a further embodiment of this application, the first support and the second support have the same structure, the first positioning fixture and the second positioning fixture have the same structure, and the first track pushing mechanism and the second track pushing mechanism have the same structure.

[0010] In a further embodiment of this application, the first positioning fixture includes a first base plate and a first guide rail bracket. The first base plate is connected to the first track pushing mechanism to slide along the first track pushing mechanism. The first guide rail bracket is perpendicular to the first base plate and includes a first vertical groove. The second positioning fixture includes a second base plate and a second guide rail bracket. The second base plate is connected to the second track pushing mechanism to slide along the second track pushing mechanism. The second guide rail bracket is perpendicular to the second base plate and includes a second vertical groove. The male plug is positioned at the first positioning fixture via the first vertical groove and at the second positioning fixture via the second vertical groove.

[0011] In a further embodiment of this application, the male plug includes a plug body, a front fixing plate, a rear fixing plate, a first connecting plate, a male electromagnetic adsorption plate, positioning pins, and a first positioning slide post; the front fixing plate and the rear fixing plate are respectively used to fit the two ends of the plug body; the first connecting plate is connected to the front fixing plate and the rear fixing plate, the male electromagnetic adsorption plate is vertically disposed on the first connecting plate, and there are at least two positioning pins that protrude from the front fixing plate; wherein, the first positioning slide post is disposed on both sides of the front fixing plate, and the cross-sectional area of ​​the first positioning slide post gradually increases from one end to the other; when the male plug is transferred and positioned on the first positioning fixture, its smaller end enters the first vertical slide groove first.

[0012] In a further embodiment of this application, the clamping mechanism includes a force sensor, a floating structure, an electromagnet, and several locking pins; the floating structure is connected to the force sensor via a flange; the electromagnet is connected to the side of the floating structure away from the force sensor so as to controllably adsorb the male end electromagnetic adsorption plate; the locking pins are connected to the floating structure, and the male end electromagnetic adsorption plate is provided with a first positioning hole corresponding to the locking pin.

[0013] In a further embodiment of this application, the image mechanism is integrated into the fixture mechanism and includes: a camera connecting plate, an openable vision camera housing, a vision positioning camera, an opening cylinder, and a cooling fan; the camera connecting plate is connected to the floating structure, the vision positioning camera is disposed inside the openable vision camera housing, and the opening and closing of the openable vision camera housing is controlled by the opening cylinder; the cooling fan is integrated into the openable vision camera housing.

[0014] In a further embodiment of this application, the floating structure includes: an XY-axis float, a Z-axis floating rear plate, a Z-axis floating front plate, a connecting sleeve, and a spring-loaded Z-axis positioning shaft; the XY-axis float is connected to a force sensor, the Z-axis floating rear plate is fixed to the XY-axis float, and the Z-axis floating rear plate and the Z-axis floating front plate are connected by the connecting sleeve to constrain the floating direction of the Z-axis floating front plate; the spring-loaded Z-axis positioning shaft is connected between the Z-axis floating rear plate and the Z-axis floating front plate.

[0015] In a further embodiment of this application, the socket assembly further includes a positioning groove and a socket fixing member; a through hole is provided on the first bracket, the female socket passes through the through hole and is fixed to the first bracket by the socket fixing member; the positioning groove is fixed at the first bracket and is correspondingly provided with a positioning pin; when the male plug slides along the direction of the female socket, the positioning pin is pre-inserted into the positioning groove for positioning when the female socket contacts the male plug.

[0016] In a further embodiment of this application, the socket assembly includes a first protective structure; the high-voltage plugging and unplugging system also includes a protective cover placement bracket corresponding to the first protective structure. The first protective structure is located on a first positioning fixture, and in its initial state, the first protective structure is connected to the plug-in end of the female socket; the first protective structure includes a first protective cover, a protective cover connecting plate, and a protective cover electromagnetic adsorption plate, and the protective cover electromagnetic adsorption plate is provided with a second positioning hole e corresponding to a locking pin; the controller is further configured to: before executing execution S1, control the first track pushing mechanism to move the first positioning fixture away from the female socket until the first protective structure is separated from the female socket by a preset first distance; identify the third image information of the first protective structure, control the robotic arm unit to lock the clamping mechanism to the first protective structure, and then place the first protective structure on the protective cover placement bracket.

[0017] In a further embodiment of this application, the plug assembly further includes a second protective structure, which is fixedly disposed at the through hole of the second bracket, and initially connected to the plug end of the male plug; the controller is further configured to:

[0018] Before executing S1, the second track pushing mechanism is controlled to move the second positioning fixture away from the male plug until the male plug is disengaged from the second protective structure at a preset second distance.

[0019] In a further embodiment of this application, the first track pushing mechanism includes: a slide rail structure fixed to a first bracket, a first positioning fixture disposed on the slide rail structure and capable of moving along the slide rail structure; and a drive electric cylinder fixed to the first bracket, with its output end connected to the first positioning fixture, so that the first positioning fixture moves along the slide rail structure.

[0020] In a further embodiment of this application, the high-voltage pluggable electrical system also includes an electrical control box, which is located at the first end.

[0021] A second aspect of this application also provides a transport device, comprising: a high-voltage pluggable power system as described above; a plurality of transport vehicles, each transport vehicle including a first end and a second end, with adjacent transport vehicles forming an angled or parallel overlap via the first end and the second end respectively.

[0022] This invention addresses the problems in the prior art.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] By acquiring image information of the male plug and the first positioning fixture through an image processing mechanism, the controller can precisely control the movements of the robotic arm and the first track pushing mechanism based on this information, achieving accurate docking of the male plug and the female socket, thus improving the accuracy and reliability of the connection. The entire insertion and removal process is automatically controlled by the controller according to preset steps, reducing manual intervention, improving operational efficiency, and reducing errors and safety risks caused by human factors. Controlling the male plug and female socket to meet the preset pre-tightening force ensures good electrical contact between them, reduces contact resistance, improves the stability and efficiency of power transmission, and also helps prevent problems such as arcing and overheating caused by poor contact, thus extending the service life of the equipment.

[0025] More importantly, this application applies to ultra-high voltage docking, and during disengagement, the male plug and female socket must be completely separated. If a conventional robotic arm is used to directly clamp and dock, the transmission components at the joints will wear during long-term operation or complex movements, and the sensors may also have certain measurement errors. These factors will cause the positioning accuracy of the robotic arm to gradually decrease with the increase in usage time and movement complexity. If the robotic arm directly inserts the male plug into the female socket, these accumulated errors may prevent the plug from being accurately inserted into the socket, resulting in docking failure and serious consequences. When the positioning direction of the male plug is perpendicular to the sliding direction, the main force applied to the male plug during sliding is the pushing or pulling force along the sliding direction, while gravity is applied through the male plug in the vertical direction. These two forces are independent of each other, which can effectively eliminate the accumulated error of the robotic arm and ensure the positional accuracy of the male plug in the horizontal direction.

[0026] Meanwhile, since docking requires a certain rigid contact force, the first positioning fixture can provide a stable support platform for the male plug. During the docking process, the male plug is fixed on the first positioning fixture, maintaining a stable position and posture to ensure reliable docking with the female socket. After docking, the male plug and female socket need to meet a preset preload to ensure good electrical contact and waterproofing. Using a first track pushing mechanism to push the male plug and female socket together allows for a more even and controllable application of the preload. The first track pushing mechanism typically uses linear guides and a drive device to push the male plug at a stable speed and force, ensuring that the preload is evenly distributed on the contact surface of the plug and socket, preventing damage to the plug or socket due to excessive local force.

[0027] Other features and advantages of the embodiments of the present invention will be described in the following detailed embodiments section. Attached Figure Description

[0028] To more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figures 1 to 2 This is a schematic diagram of the working environment of the transport vehicle provided in the embodiments of this application;

[0030] Figure 3 This is a schematic diagram of the structure of the high-voltage plug used in the transport vehicle provided in the embodiments of this application;

[0031] Figure 4 This is a schematic diagram showing adjacent transport vehicles overlapping in an embodiment of this application.

[0032] Figure 5 Provided for the embodiments of this application Figure 4 An enlarged schematic diagram of the high-voltage pluggable electrical system;

[0033] Figure 6 This is a schematic diagram of the transport vehicle provided in the embodiments of this application in an angled overlapping state;

[0034] Figure 7 This is a top view of the high-voltage pluggable electrical system provided in the embodiments of this application;

[0035] Figure 8 This is a schematic diagram of the high-voltage pluggable electrical system provided in the embodiments of this application;

[0036] Figure 9 This is a schematic diagram of the high-voltage pluggable electrical system provided in the embodiments of this application at the first axial angle;

[0037] Figure 10 This is a schematic diagram of the high-voltage pluggable electrical system provided in the embodiments of this application at the second axial angle;

[0038] Figure 11 This is a schematic diagram of a socket assembly in a high-voltage pluggable electrical system provided in an embodiment of this application;

[0039] Figure 12 This is an exploded view of the socket assembly in the high-voltage pluggable electrical system provided in the embodiments of this application;

[0040] Figure 13 A schematic diagram of a plug assembly in a high-voltage pluggable electrical system provided in an embodiment of this application;

[0041] Figure 14An exploded view of the plug assembly in the high-voltage pluggable electrical system provided in the embodiments of this application;

[0042] Figure 15 This is a schematic diagram of the structure of the first positioning tool in the high-voltage pluggable electrical system provided in the embodiments of this application;

[0043] Figure 16 This is a schematic diagram of the structure of the second positioning tool in the high-voltage pluggable electrical system provided in the embodiments of this application;

[0044] Figure 17 This is a schematic diagram of the clamping mechanism in the high-voltage plugging and unplugging electrical system provided in the embodiments of this application;

[0045] Figure 18 An exploded view of the clamping mechanism in the high-voltage pluggable electrical system provided in the embodiments of this application;

[0046] Figure 19 This is a partial schematic diagram of the plug assembly in a high-voltage pluggable electrical system provided in an embodiment of this application.

[0047] Figure 20 This is a partial schematic diagram of a socket assembly in a high-voltage pluggable electrical system provided in an embodiment of this application;

[0048] Figure 21a This is a first node diagram of the socket assembly in the high-voltage pluggable electrical system provided in the embodiments of this application when the first protective structure is separated;

[0049] Figure 21b This is a second node diagram of the first protective structure for a single robotic arm gripping a high-voltage pluggable electrical system provided in the embodiments of this application.

[0050] Figure 21c This is a third node diagram of the first protective structure for placing a robotic arm unit in the high-voltage pluggable electrical system provided in the embodiments of this application;

[0051] Figure 21d This is a fourth node diagram of the robotic arm unit placing the plug assembly onto the first support in the high-voltage plugging and unplugging system provided in the embodiments of this application. Detailed Implementation

[0052] Unless otherwise specified, the terms “second direction,” “first direction,” “third direction,” “inner,” and “outer” used in the following descriptions, indicating orientation or positional relationships, are understood to be based on the orientation or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0053] Furthermore, features specified with "first" or "second" for descriptive purposes only should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Features specified with "first" or "second" may explicitly or implicitly include at least one of the specified features. The description of "multiple" generally means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0054] In this application, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0055] In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] It should be noted that this application pertains to intelligent insertion and removal operations operating under ultra-high voltage conditions; its application conditions are as follows: Figure 1 and Figure 2 As shown, this is a transport vehicle group, where each transport vehicle 200 is interconnected to form a large-scale transport of minerals, soil, or other materials; the transport vehicles 200 are electrically connected to each other via sockets and plugs.

[0057] The scenario involves addressing the electrical conductivity issue of the transport vehicle 200 to achieve unmanned and intelligent improvements. In practical applications, the plug end, for example... Figure 3 As shown, its size and weight are both large, making manual insertion and removal extremely inconvenient. Therefore, the huge manpower cost required to move the transport vehicle 200 each time, and the inability to achieve intelligent improvement of the transport vehicle 200.

[0058] like Figures 4 to 10Therefore, the solution provided in this application is to construct a robotic workstation at the end of the transport vehicle 200, and to achieve fully automated plugging and unplugging by placing a robotic arm on each transport vehicle 200.

[0059] Specifically, each transport vehicle 200 has two ends, which can be regarded as the first end A and the second end B. Adjacent transport vehicles 200 are connected by the first end A and the second end B respectively, and electrical conduction is required at the connection point. The angle of the connection can be parallel or at an angle.

[0060] This application provides a high-voltage plugging and unplugging electrical system 100, including a robotic arm assembly 10, a socket assembly 20, a plug assembly 30, a controller 40, a protective cover placement bracket 50, and an electrical control box 60;

[0061] Therefore, the general inventive concept provided by this application is as follows:

[0062] The robotic arm assembly 10 includes a robotic arm unit 11, an imaging mechanism 13, and a gripping mechanism 14. The robotic arm unit 11 is the main body of the robotic arm. The imaging mechanism 13 is located at the end of the robotic arm unit and is used to acquire image information of target objects such as male plugs, providing visual feedback for the operation of the robotic arm. The gripping mechanism 14 is installed at the end of the robotic arm unit and is used for gripping and locking, so that the robotic arm can perform operations such as handling and positioning.

[0063] The socket assembly 20 includes a first bracket 21, a female socket 22, a first track pushing mechanism 23 and a first positioning fixture 24 located on the first bracket, and a plug assembly 30 includes a male plug 31, which cooperates with the female socket 22 to achieve electrical connection and is the endpoint of current output.

[0064] The first bracket 21 is used to support and fix other components of the socket assembly, providing structural support. The female socket 22 is fixed on the first bracket 21 and is the part that cooperates with the male plug 31 to realize electrical connection, providing an interface for current transmission. The first track pushing mechanism 23 can drive the first positioning fixture to slide along its track, which is used to push the male plug 31 toward the female socket to realize the docking of the two. The first positioning fixture 24 is used to position the male plug to ensure that the male plug 31 can accurately dock with the female socket 22 during the sliding process.

[0065] Based on the above, the high-voltage pluggable power system 100 further includes a controller 40, which is configured to:

[0066] S1. Control the image mechanism 13 to acquire the first image information of the male plug 31, and control the movement of the robotic arm unit 11 to lock the clamping mechanism 14 to the male plug 31.

[0067] S2. Obtain the second image information of the first positioning fixture 24, and control the robotic arm unit 11 to transfer and position the male plug 31 on the first positioning fixture 24.

[0068] S3. Control the first track pushing mechanism 23 to drive the male plug 31 to slide along the direction close to the female socket 21 until it contacts the female socket 21 and meets the preset pre-tightening force.

[0069] The male plug 31 is positioned in the positioning direction of the first positioning fixture 24 and is perpendicular to the sliding direction of the first positioning fixture 24.

[0070] In steps S1 to S3 above, the first image information of the male plug 31 is acquired by the image control mechanism 13, which provides a visual basis for the precise operation of the subsequent robotic arm unit 11. The control system calculates the motion trajectory and posture adjustment parameters of the robotic arm unit 11 based on the image information provided by the image mechanism 13. The robotic arm unit 11 moves according to these parameters, and the motors and transmission devices at its joints work together to enable the clamping mechanism 14 to accurately approach the male plug 31. The clamping mechanism 14 uses locking to ensure that the male plug 31 is firmly grasped during the clamping process, preventing loosening or falling off in subsequent operations. The control system further places the male plug 31 slowly and smoothly into the designated position of the first positioning fixture 24 based on the image information of the first positioning fixture 24. The first positioning fixture 24 is fixed with a guide structure and positioning elements, which can further position and fix the male plug 31 to ensure the accuracy of its position and posture. While continuing to control the sliding of the male plug 31 through the first track pushing mechanism 23, the control system monitors its contact with the female socket 21 in real time. When the male plug 31 contacts the female socket 21, the first track pushing mechanism 23 continues to apply a certain pushing force to generate a preset pre-tightening force between the two. The magnitude of the pre-tightening force can be set according to actual needs and is achieved by controlling the output force of the drive device.

[0071] By acquiring image information of the male plug and the first positioning fixture through an image processing mechanism, the controller can precisely control the movements of the robotic arm and the first track pushing mechanism based on this information, achieving accurate docking of the male plug and the female socket, thus improving the accuracy and reliability of the connection. The entire insertion and removal process is automatically controlled by the controller according to preset steps, reducing manual intervention, improving operational efficiency, and reducing errors and safety risks caused by human factors. Controlling the male plug and female socket to meet the preset pre-tightening force ensures good electrical contact between them, reduces contact resistance, improves the stability and efficiency of power transmission, and also helps prevent problems such as arcing and overheating caused by poor contact, thus extending the service life of the equipment.

[0072] More importantly, this application applies to ultra-high voltage docking, and during disengagement, the male plug 31 and the female socket 22 need to be completely separated. If a conventional robotic arm is used to directly clamp and dock, the transmission components (such as gears and lead screws) at the joints will wear during long-term operation or complex movements. Simultaneously, the sensors may have measurement errors. These factors cause the positioning accuracy of the robotic arm to gradually decrease with usage time and increased movement complexity. If the robotic arm directly inserts the male plug 31 into the female socket 22, these accumulated errors may prevent the plug from being accurately inserted, leading to docking failure and serious consequences. When the positioning direction of the male plug 31 is perpendicular to the sliding direction, the main force applied to the male plug 31 during sliding is the pushing or pulling force along the sliding direction, while gravity is applied through the male plug 31 in the vertical direction. These two forces are independent, effectively eliminating the accumulated errors of the robotic arm and ensuring the horizontal positioning accuracy of the male plug 31.

[0073] Meanwhile, since docking requires a certain rigid contact force, the first positioning fixture 24 can provide a stable support platform for the male plug 31. During the docking process, the male plug 31 is fixed on the first positioning fixture 24, maintaining a stable position and posture to ensure reliable docking with the female socket 22. After docking, the male plug 31 and the female socket 22 need to meet a preset preload to ensure good electrical contact and waterproofing. Using the first track pushing mechanism 23 to push the male plug 31 to dock with the female socket 22 allows for a more uniform and controllable application of the preload. The first track pushing mechanism 23 typically uses a linear guide rail and a drive device, which can push the male plug 31 at a stable speed and force, ensuring that the preload is evenly distributed on the contact surface of the plug and socket, preventing damage to the plug or socket due to excessive local force.

[0074] Furthermore, this indirect connection method reduces the difficulty of maintenance and upgrades when components such as the male plug 31 or female socket 22 malfunction or require upgrades. For example, if different specifications of the male plug 31 or female socket 22 need to be replaced, only the first positioning fixture 24 needs to be adjusted or replaced accordingly, without requiring large-scale modifications to the robotic arm's control program and motion trajectory. This helps improve the system's maintainability and scalability, and reduces the system's total lifecycle cost.

[0075] Based on the above-mentioned general inventive concept, a work frame is constructed at the first end A, with the robotic arm assembly 10 and socket assembly 20 also located at the first end A; the plug assembly 30 is located at the second end B. To fully consider the height difference and spatial conditions at the ends of the current transport vehicle 200, while also taking into account the movement trajectory requirements of the robotic arm, this is a superior solution derived after comprehensive analysis of the actual situation of the transport vehicle and the system's operational needs. With technological advancements and changes in actual requirements, the transport vehicle may be improved and upgraded. For example, the height difference at the ends of the transport vehicle may change, and the spatial layout may also need adjustment. In such cases, the system layout described in this application can be adjusted accordingly based on improvements to the transport vehicle without affecting the overall function and performance of the system, and remains equivalent to the scope of protection covered by this application.

[0076] Therefore, from the perspectives of mold versatility, operational continuity, and protection in non-insertion / removal states, this application provides a specific implementation method as follows:

[0077] like Figures 11 to 16 The socket assembly 20 includes a first bracket 21, a female socket 22, a first track pushing mechanism 23, and a first positioning fixture 24 located on the first bracket; similarly, the plug assembly 30 also includes a second bracket 32, a second track pushing mechanism 33, and a second positioning fixture 34, the second positioning fixture 34 being disposed on the second track pushing mechanism 33 and being able to slide along it under drive; the male plug 31 is located on the second positioning fixture 34.

[0078] In this application, the first support 21 and the second support 32 have the same structure, the first positioning fixture 24 and the second positioning fixture 34 have the same structure, and the first track pushing mechanism 23 and the second track pushing mechanism 33 have the same structure.

[0079] During the manufacturing process, only one type of mold needs to be designed and produced. Workers do not need to distinguish between different specifications of structures during installation, which reduces the possibility of installation errors and improves assembly efficiency. Furthermore, the positioning male plug 31 can adopt the same positioning method and structure. At the same time, when the equipment malfunctions and the bracket needs to be replaced, the universality of spare parts makes maintenance work more convenient and reduces maintenance costs and time.

[0080] For details, please refer to [link / reference]. Figures 15 to 16The first positioning fixture 24 includes a first base plate a1 and two first guide rail brackets a2. The first base plate a1 is connected to the first track pushing mechanism 23 so that it can slide along the first track pushing mechanism 23. The two first guide rail brackets a2 are perpendicular to the first base plate a1 and include first vertical grooves T1 with opposing openings. Similarly, the second positioning fixture 34 includes a second base plate b1 and two second guide rail brackets b2. The second base plate b1 is connected to the second track pushing mechanism 33 so that it can slide along the second track pushing mechanism 33. The two second guide rail brackets b2 are perpendicular to the second base plate b1 and include second vertical grooves T2 with opposing openings.

[0081] The male plug 31 is positioned at the first positioning fixture 24 by the first vertical slide groove T1, and at the second positioning fixture 34 by the second vertical slide groove T2.

[0082] When the male plug 31 needs to be positioned on the first positioning fixture 24, it is moved to the vicinity of the first positioning fixture 24 by a robotic arm or other handling device. Then, a specific part of the male plug 31 is inserted into the first vertical groove T1. Since the shape and size of the first vertical groove T1 match the corresponding part of the male plug 31, the male plug 31 will slide down along the first vertical groove T1 under the action of gravity or other external forces until it reaches a stable position, thereby achieving vertical positioning. At the same time, the fixed position of the first base plate a1 on the first track pushing mechanism 23 also ensures the accurate relative position of the male plug 31 in the horizontal direction.

[0083] The positioning principle of the male plug 31 in the second positioning fixture 34 is the same as that in the first positioning fixture 24. The male plug 31 is inserted into the second vertical slide groove T2 to position it in the vertical direction; the sliding function of the second base plate b1 on the second track pushing mechanism 33 can facilitate the transfer of the male plug 31 between different positions.

[0084] The vertical positioning method precisely constrains the male connector 31 in the vertical direction through a vertical groove, ensuring that the connector can only move vertically when inserted into the groove, thereby eliminating horizontal degrees of freedom and improving positioning accuracy. More importantly, it can be referenced... Figure 3The male plug 31 is extremely heavy. Vertical positioning ensures that the weight and force of the male plug 31 are mainly concentrated in the vertical direction, avoiding interference forces in other directions. The vertical groove provides stable support. This force distribution method conforms to mechanical principles, reducing wobbling and deformation of the plug during positioning and subsequent contact, thus improving structural stability. For example, in large equipment or high-load working environments, vertical positioning ensures that the male plug 31 maintains a stable positioning state over time, preventing loosening or displacement due to uneven force distribution.

[0085] The first vertical slide T1 and the second vertical slide T2 adopt the same design standards and size specifications, that is, the male plug 31 can be positioned in the same vertical positioning method on different positioning fixtures.

[0086] The male plug 31 includes a plug body 311, a front fixing plate 312, a rear fixing plate 313, a first connecting plate 314, a male electromagnetic adsorption plate 315, a positioning pin 316, and a first positioning slide post 317.

[0087] The front fixing plate 312 and the rear fixing plate 313 are respectively used to cover the two ends of the plug body 311; the first connecting plate 314 is connected to the front fixing plate 312 and the rear fixing plate 313; the male end electromagnetic adsorption plate 315 is vertically arranged on the first connecting plate 314; and there are at least two positioning pins 316 that protrude from the front fixing plate 312.

[0088] The first positioning slide pins 317 are respectively disposed on both sides of the plug front fixing plate 312, and the cross-sectional area of ​​the first positioning slide pins 317 gradually increases from one end to the other end; when the male plug 31 is transferred and positioned to the first positioning fixture 24, its smaller end enters the first vertical slide groove T1 first.

[0089] The plug body 311 is the core conductive component of the male plug 31. The front fixing plate 312 and the rear fixing plate 313 are respectively fitted onto both ends of the plug body 311, serving to fix and protect the plug body 311. The first connecting plate 314 connects the front fixing plate 312 and the rear fixing plate 313 to form a stable frame structure, providing a mounting base for other components.

[0090] The male end electromagnetic adsorption plate 315 is vertically arranged on the first connecting plate 314 so as to achieve adsorption and clamping of the male end plug 31 through the clamping mechanism 14.

[0091] The positioning pins 316 protrude from the front fixing plate 312 of the plug. The arrangement of at least two positioning pins 316 is used to provide more precise positioning when mating with the female socket 22, preventing the male plug 31 from shifting in the horizontal direction.

[0092] The first positioning slide pins 317 are respectively set on both sides of the plug front fixing plate 312. The design of the first positioning slide pins 317 gradually increasing in cross-sectional area from one end to the other gives them a guiding function. When the male plug 31 needs to be transferred and positioned in the first positioning fixture 24, the male plug 31 is moved above the first vertical slide groove T1 of the first positioning fixture 24 by the robotic arm unit 11. Since the smaller end of the first positioning slide pin 317 enters the first vertical slide groove T1 first, the smaller end can more easily guide the first positioning slide pin 317 into the slide groove. As the male plug 31 continues to descend, the first positioning slide pin 317 gradually enters the first vertical slide groove T1 completely. And because its cross-sectional area gradually increases, its fit with the first vertical slide groove T1 becomes tighter and tighter, thereby achieving precise positioning of the male plug 31.

[0093] The design of the first positioning slide post 317 with a gradually increasing cross-sectional area allows the male plug 31 to have a gradual engagement process when entering the first vertical slide groove T1. The smaller end enters the slide groove first, acting as a guide and guiding the male plug 31 to descend accurately along the direction of the slide groove, avoiding jamming or offset that may occur due to direct insertion, and improving the positioning accuracy of the male plug 31 in the vertical direction.

[0094] Please see Figure 17 and Figure 18 The clamping mechanism 14 includes a force sensor 141, a floating structure 142, an electromagnet 143, and several locking pins 144.

[0095] The floating structure 142 is connected to the force sensor 141 via a flange;

[0096] Electromagnet 143 is connected to the side of floating structure 142 away from force sensor 141 so as to controllably adsorb male electromagnetic adsorption plate 315.

[0097] The locking pin 144 is connected to the floating structure 142, and the male end electromagnetic adsorption plate 315 is provided with a first positioning hole e1 corresponding to the locking pin 144.

[0098] The clamping mechanism 14 is a device designed for precise gripping and positioning of the male connector 31. The force sensor 141, acting as a sensing component, is connected to the floating structure 142 via a flange, enabling real-time monitoring of the forces acting on the clamp during operation. The floating structure 142 provides flexibility and buffer space for the entire clamp; one side is connected to the force sensor 141, and the other side is connected to an electromagnet 143 and a locking pin 144. The electromagnet 143 is used to attract the male electromagnetic adsorption plate 315 on the male connector 31, achieving controllable fixing or release; the locking pin 144 engages with the first positioning hole e1 on the male electromagnetic adsorption plate 315 for precise positioning.

[0099] When the clamping mechanism 14 needs to grasp the male plug 31, it aligns the locking pin 144 with the first positioning hole e1 on the male electromagnetic adsorption plate 315. Due to the floating structure 142's certain floating property, the locking pin 144 can automatically adjust its position during insertion into the first positioning hole e1, compensating for any possible minor errors and ensuring that the locking pin 144 can be smoothly and accurately inserted into the first positioning hole e1, thereby achieving precise positioning of the male plug 31.

[0100] Subsequently, the electromagnet 143 is energized to generate magnetic force. Since the electromagnet 143 is connected to the floating structure 142, the electromagnet 143 attracts the male end electromagnetic adsorption plate 315, so that the male end plug 31 is initially fixed to the clamping mechanism 14.

[0101] During the adsorption process, the force sensor 141 monitors the magnitude of the adsorption force in real time. If the adsorption force is abnormal, such as being too large or too small, the system can adjust the magnetic force of the electromagnet 143 in a timely manner based on the signal fed back by the force sensor 141 to ensure a stable and safe adsorption process.

[0102] The engagement of the locking pin 144 with the first positioning hole e1 on the male electromagnetic adsorption plate 315 is a precise mechanical positioning method. The size and shape of the locking pin 144 are strictly matched with the first positioning hole e1. When the locking pin 144 is inserted into the first positioning hole e1, it can restrict the horizontal movement and rotation of the male plug 31, ensuring that the male plug 31 is accurately positioned in the clamping mechanism 14.

[0103] The force sensor 141 can monitor the force exerted on the clamping mechanism 14 during the gripping and manipulation of the male plug 31 in real time. It can promptly detect abnormalities during operation, such as insufficient suction force causing the male plug 31 to fall off, or excessive clamping force damaging the male plug 31. Once an abnormality is detected, the system can immediately take corresponding measures, such as adjusting the magnetic force of the electromagnet 143 or stopping the movement of the clamping mechanism, thereby ensuring the safety of operation and the integrity of the male plug 31.

[0104] When the first positioning slide post 317 is about to enter the first vertical slide groove T1 or the second vertical slide groove T2, due to factors such as machining errors, assembly errors or vibrations during the movement, the actual position of the first positioning slide post 317 may deviate from the center position of the slide groove.

[0105] As the first positioning slide post 317 gradually approaches the first vertical slide groove T1 or the second vertical slide groove T2, its actual position deviates from the center line of the slide groove due to various factors (such as machining accuracy, assembly error, vibration during movement, etc.). As the first positioning slide post 317 continues to move, its end will first contact the edge of the slide groove. At this time, the first positioning slide post 317 is subjected to the reaction force of the slide groove edge, which can be decomposed into a normal force perpendicular to the slide groove edge and a horizontal component force along the slide groove direction (horizontal direction). The horizontal component force will directly act on the floating structure 142, becoming the initial force source for triggering adaptive fine adjustment. The deformation of the elastic component causes the floating structure 142 as a whole to produce a certain displacement and angle change, thereby allowing the first positioning slide post 317 to make small deflection adjustments within a certain range. This deflection adjustment is dynamic. As the first positioning slide post 317 continues to move and the horizontal component force changes, the floating structure 142 continuously adjusts its own state, guiding the first positioning slide post 317 to gradually approach the center line of the slide groove. When the first positioning slide post 317 enters the bottom of the slide groove, its larger cross-section will form a tight fit with the inner wall of the first vertical slide groove T1. This tight fit not only restricts the horizontal movement of the first positioning slide post 317 but also prevents it from loosening in the vertical direction, thereby achieving precise fixation between the male plug 31 and the corresponding component.

[0106] The floating structure 142 includes: an XY-axis float 1421, a Z-axis floating rear plate 1422, a Z-axis floating front plate 1423, a connecting sleeve 1424, and a spring-loaded Z-axis positioning shaft 1425; the XY-axis float 1421 is connected to the force sensor 141, the Z-axis floating rear plate 1422 is fixed to the XY-axis float 1421, and the Z-axis floating rear plate 1422 and the Z-axis floating front plate 1423 are connected by the connecting sleeve 1424 to constrain the floating direction of the Z-axis floating front plate 1423; the spring-loaded Z-axis positioning shaft 1425 is connected between the Z-axis floating rear plate 1422 and the Z-axis floating front plate 1423.

[0107] One end of the XY-axis float 1421 is connected to the force sensor 141, which can sense the external forces in the X and Y directions in real time. When the system has a positional deviation in the X or Y direction or is subjected to external forces, the XY-axis float 1421 can make a small movement within a certain range to compensate for these deviations and ensure the positional accuracy of the connected components in the horizontal direction.

[0108] The Z-axis floating rear plate 1422 is fixed to the XY-axis floating member 1421, serving as the rear support component of the Z-axis floating structure. It provides a stable connection base for the Z-axis floating front plate 1423 and achieves the Z-axis floating function through cooperation with the spring-loaded Z-axis positioning shaft 1425 and the connecting sleeve 1424.

[0109] The Z-axis floating front plate 1423 is connected to the Z-axis floating rear plate 1422 via a connecting sleeve 1424, and is also elastically connected to the Z-axis floating rear plate 1422 via a spring-loaded Z-axis positioning shaft 1425. Under the action of Z-axis force, the Z-axis floating front plate 1423 can float within a certain range, thereby compensating for positional deviations in the Z-direction and ensuring the positional accuracy of the components connected to it in the vertical direction.

[0110] The connecting sleeve 1424 connects the Z-axis floating rear plate 1422 and the Z-axis floating front plate 1423, and serves to constrain the floating direction of the Z-axis floating front plate 1423. It restricts the Z-axis floating front plate 1423 to move only in the Z-axis direction, ensuring the accuracy and stability of the floating.

[0111] A spring-loaded Z-axis positioning shaft 1425 connects the Z-axis floating rear plate 1422 and the Z-axis floating front plate 1423, providing elastic support for the Z-axis floating front plate 1423. When the Z-axis floating front plate 1423 is subjected to a Z-axis force, the spring will undergo elastic deformation, allowing the Z-axis floating front plate 1423 to move within a certain range; when the external force disappears, the spring force will cause the Z-axis floating front plate 1423 to return to its original position, thereby realizing the Z-axis positioning and floating functions.

[0112] When the system is subjected to an external force in the X or Y direction, the XY axis float 1421 senses the force and makes a slight movement in the corresponding direction to compensate for the position deviation. At the same time, the force sensor 141 feeds back the magnitude and direction information of the external force to the control system for further adjustment and control.

[0113] When the system is subjected to an external force in the Z direction, the Z-direction floating front plate 1423 will overcome the elastic force of the spring-type Z-direction positioning shaft 1425 and move along the guide direction of the connecting sleeve 1424. The spring will undergo elastic deformation, absorbing part of the external force, while allowing the Z-direction floating front plate 1423 to float within a certain range, thereby compensating for the positional deviation in the Z direction.

[0114] After the external force disappears: When the external force disappears, the XY axis floating component 1421 will return to the middle position under the action of its own structure, and the Z-axis floating front plate 1423 will return to the initial position under the elastic force of the spring-type Z-axis positioning shaft 1425. The entire floating structure 142 will be in a stable state again.

[0115] Through the synergistic effect of the XY-axis floating component 1421 and the Z-axis floating structure, errors generated during machining and assembly, as well as positional deviations caused by external environmental factors (such as vibration and impact), can be compensated in real time, thereby greatly improving the positioning accuracy of the components connected to the floating structure 142 and ensuring the high-precision operation of the system.

[0116] The image mechanism 13 is integrated into the clamping mechanism 14 and includes a camera connection plate 131, an openable vision camera housing 132, a vision positioning camera 134, an opening cylinder 135, and a cooling fan 136.

[0117] The camera connection plate 131 is connected to the floating structure 142. The visual positioning camera 134 is set inside the openable visual camera housing 132 and the opening and closing of the openable visual camera housing 132 is controlled by the door opening cylinder 135. The cooling fan 136 is integrated into the openable visual camera housing 132.

[0118] The image mechanism 13 is integrated into the clamping mechanism 14 to provide precise visual guidance for the clamping mechanism 14 during operations such as gripping and assembly, utilizing image recognition and positioning technology. A stable connection between the image mechanism 13 and the floating structure 142 is achieved through the camera connection plate 131, allowing the visual positioning camera 134 to move synchronously with the clamping mechanism 14 and capture image information of the target object in a timely manner. The design of the openable visual camera housing 132 protects the visual positioning camera 134 from damage such as dust and impacts when the camera is not in operation, and can be quickly opened by the door-opening cylinder 135 when needed to ensure normal camera operation. The cooling fan 136 effectively solves the problem of heat accumulation during long-term camera operation, ensuring stable camera performance.

[0119] When the clamping mechanism 14 is in standby mode or when the vision positioning function is not needed, the door opening cylinder 135 is in the retracted state, and the openable vision camera housing 132 remains closed, enclosing the vision positioning camera 134 inside for protection. At this time, the cooling fan 136 is controlled to run at a low speed to maintain air circulation inside the housing and prevent heat accumulation.

[0120] When visual positioning is required, the system issues a command, and the door-opening cylinder 135 extends, pushing the openable visual camera housing 132 to open, exposing the visual positioning camera 134. The visual positioning camera 134 begins operation, acquiring image information of the target object and transmitting it to the image processing system. Simultaneously, the cooling fan 136 automatically adjusts its speed according to the camera's operating intensity and ambient temperature, enhancing heat dissipation and ensuring the camera operates at normal temperatures.

[0121] After the visual positioning task is completed, the door-opening cylinder 135 will be controlled to retract, closing the openable and closable visual camera housing 132 and protecting the visual positioning camera 134 again. The cooling fan 136 will continue to run for a period of time to dissipate the remaining heat from the camera before returning to a low-speed operating state or stopping operation.

[0122] The socket assembly 20 also includes a positioning groove 25 and a socket fixing member 26; a through hole u is provided on the first bracket 21, the female socket 22 passes through the through hole u and is fixed to the first bracket 21 by the socket fixing member 26; the positioning groove 25 is fixed at the first bracket 21 and is correspondingly provided with the positioning pin 316; when the male plug 31 slides along the direction of the female socket 21, the positioning pin 316 is pre-inserted into the positioning groove 25 for positioning when the female socket 21 contacts the male plug 31.

[0123] When the device is not electrically connected, the socket assembly 20 is in a fixed and constrained state, the female socket 22 is fixed on the first bracket 21, and the positioning groove 25 is also firmly installed in the corresponding position of the first bracket 21, waiting for the male plug 31 to be inserted.

[0124] When an electrical connection is required, the male plug 31 begins to slide along the direction of the female socket 22; during the sliding process, the positioning pin 316 gradually approaches the positioning groove 25.

[0125] When the positioning pin 316 approaches the positioning groove 25, it will accurately insert into the positioning groove 25 due to the guiding effect of the positioning groove 25. At this time, the position of the male plug 31 is initially positioned, ensuring that it can be aligned with the female socket 22 during subsequent insertion.

[0126] As the male plug 31 continues to slide, the conductive parts of the female socket 22 and the male plug 31 gradually come into contact; when both are fully inserted, the conductive contacts fit tightly, achieving a reliable electrical connection, and current and signals can be transmitted normally between them.

[0127] The coordinated use of the positioning groove 25 and the positioning pin 316 allows for precise positioning of the male plug 31 before it is inserted into the female socket 22, significantly improving the accuracy of the electrical connection. This avoids problems such as poor contact and short circuits caused by misalignment, ensuring the reliability and stability of the electrical connection.

[0128] Furthermore, the socket assembly 20 includes a first protective structure 27; a protective cover placement bracket 50 is provided corresponding to the first protective structure 27; the first protective structure 27 is located on the first positioning fixture 24, and in the initial state, the first protective structure 27 is connected to the plug end of the female socket 21.

[0129] Please continue reading. Figure 19 The first protective structure 27 includes a first protective cover 271, a protective cover connecting plate 272, and a protective cover electromagnetic adsorption plate 273. The electromagnetic adsorption plate 273 has a second positioning hole e2 corresponding to the locking pin 144. Furthermore, the controller 40 is configured to:

[0130] Before executing S1, the first track pushing mechanism 23 is controlled to move the first positioning fixture 24 away from the female socket 21 until the first protective structure 27 is separated from the female socket 21 by a preset first distance.

[0131] The third image information of the first protective structure 27 is identified, and the robotic arm unit 11 is controlled to lock the clamping mechanism 14 to the first protective structure 27, and then the first protective structure 27 is placed on the protective cover placement bracket 50.

[0132] Understandably, the first protective structure 27 is located on the first positioning fixture 24 and is tightly connected to the plug end of the female socket 21 in the initial state. This position is designed to effectively protect the plug end of the female socket 21 when it is not in operation, preventing dust, debris, etc. from entering the socket and avoiding faults such as poor contact or short circuits caused by foreign objects. The first protective cover 271 is the part that directly covers the plug end of the female socket 21. Its shape and size match the plug end of the female socket 21 and can completely cover the plug end, providing reliable protection. The protective cover connecting plate 272 serves to connect the first protective cover 271 and the protective cover electromagnetic adsorption plate 273, ensuring the structural stability of the entire first protective structure 27. The protective cover electromagnetic adsorption plate 273 is provided with a second positioning hole e2 corresponding to the locking pin 144, which cooperates with the clamping mechanism 14. Similarly, the clamping mechanism 14 is connected by an electromagnet 143. The protective cover placement bracket 50 is a component corresponding to the first protective structure 27, used to detach the first protective structure 27 from the female socket 21 and provide it with a safe placement position after it is transferred by the robotic arm unit 11. The structure of the protective cover placement bracket 50 is designed according to the shape and size of the first protective structure 27.

[0133] In the initial state, the first protective structure 27 is connected to the plug-in end of the female socket 21 to protect the female socket 21. At this time, the entire high-voltage plug-in electrical system is in standby mode, waiting to execute subsequent operation commands. Before executing step S1, the controller 40 plays a role in controlling the first track pushing mechanism 23 to move. The first track pushing mechanism 23 drives the first positioning fixture 24 to move away from the female socket 21, thereby separating the first protective structure 27 from the female socket 21. This is to prepare for subsequent electrical connection operations, ensuring that the plug-in end of the female socket 21 is exposed and can be accurately connected to the male plug.

[0134] The controller 40 identifies the third image information of the first protective structure 27. Through image recognition technology, it can accurately determine the position, posture, and other information of the first protective structure 27. Then, the controller 40 controls the movement of the robotic arm unit 11, which drives the clamping mechanism 14 to move to the first protective structure 27. The locking pin 144 on the clamping mechanism 14 is inserted into the second positioning hole e2 on the electromagnetic adsorption plate 273 of the protective cover, and at the same time, the electromagnet 143 starts to engage, achieving precise positioning and locking. After locking, the robotic arm unit 11 grips the first protective structure 27 from its current position. Under the control of the controller 40, the robotic arm unit 11 moves the gripped first protective structure 27 above the protective cover placement bracket 50, and then releases it via the electromagnet 143, accurately placing the first protective structure 27 face down on the protective cover placement bracket 50. Thus, the process of detaching, gripping, and placing the first protective structure 27 from the female socket 21 is completed. In its initial state, the first protective structure 27 protects the female socket 21, effectively preventing dust, debris, etc., from entering the socket, reducing the risk of electrical faults caused by foreign objects, and improving the safety and reliability of the entire high-voltage plug-in / plug-out system.

[0135] like Figure 20 and combined Figures 21a to 21d The plug assembly 30 further includes a second protective structure 35, which is fixedly disposed at the through hole u of the second bracket 32, and initially connected to the plug end of the male plug 31; the controller 40 is further configured to:

[0136] Before executing S1, the second track pushing mechanism 33 is controlled to move the second positioning fixture 23 away from the male plug 31 until the male plug 31 is disengaged from the second protective structure 35 at a preset second distance.

[0137] The second protective structure 35 is fixedly installed at the through hole u provided in the second bracket 32. The second bracket 32 ​​provides structural support for the entire plug assembly 30, and the design of the through hole u provides precise positioning for the installation of the second protective structure 35, ensuring that it can be stably installed in the appropriate position and effectively protect the male plug 31.

[0138] In a high-voltage pluggable electrical system, the plug assembly 30 and the socket assembly 20 need to cooperate to complete the electrical connection. Before executing step S1, the controller 40 must not only control the male plug 31 of the plug assembly 30 to disengage from the second protective structure 35, but also control the first protective structure 27 of the socket assembly 20 to disengage from the female socket 21 (as mentioned above). Only when both the male plug 31 and the female socket 21 expose their mating ends and are in the appropriate mating position can the first image information of the male plug 31 be acquired to smoothly perform subsequent electrical connection operations.

[0139] Synchronized operation allows the preparatory work (such as the detachment of the protective structure) of the socket and plug assemblies to be completed simultaneously, significantly reducing the total operation time. The socket and plug assemblies function in tandem to achieve electrical connection and also share structural similarities. Both require brackets to provide structural support and ensure stable installation; positioning fixtures are needed to fix and position the plug or socket to ensure accurate electrical connection; and a track-pushing mechanism is needed to move the plug or socket to complete the insertion and removal actions. This similarity provides a basis for component sharing. Adopting a modular design concept, designing the bracket, positioning fixture, and track-pushing mechanism as shared components can reduce the types and number of parts, lower design and production costs, and improve installation efficiency.

[0140] The first track pushing mechanism 23 includes a slide rail structure 231 and a drive cylinder 232. The slide rail structure 231 is fixed to the first bracket 21, and the first positioning fixture 24 is disposed on the slide rail structure 231 and can move along the slide rail structure 231. The drive cylinder 232 is fixed to the first bracket 21, and its output end is connected to the first positioning fixture 24, so that the first positioning fixture 24 can move along the slide rail structure 231. The slide rail structure 231 and the drive cylinder 232 are both fixed to the first bracket 21, forming a compact integrated structure. This integrated design makes the entire first track pushing mechanism 23 occupy less space, which is convenient for installation and arrangement in a limited space.

[0141] The controller 40 is located inside the electrical control box 60, typically in an area where the system frequently interacts with external equipment or operators. Placing the electrical control box 60 here shortens signal transmission distances, reduces signal attenuation and interference during transmission, and improves signal transmission stability and reliability. For example, operators can input operating commands to the electrical control box 60 via a control panel located near the first end A. The electrical control box 60 can then quickly respond and transmit control signals to the various actuators.

[0142] Please continue reading. Figure 4 This application also provides a transportation device, including the high-voltage pluggable power system 100 as described above and a plurality of transport vehicles 200, each transport vehicle 200 including a first end A and a second end B, and adjacent transport vehicles are respectively connected by the first end A and the second end B at an angle (e.g., ...). Figure 6 ) or parallel (e.g.) Figure 4 () overlap.

[0143] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still adjust the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features therein. Such adjustments or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A high-voltage pluggable electrical system suitable for all-weather unmanned open-air operations, applied to a transport vehicle group, wherein each transport vehicle includes a first end (A) and a second end (B), and adjacent transport vehicles are connected via the first end (A) and the second end (B); characterized in that, The high-voltage pluggable electrical system includes: The robotic arm assembly (10) is disposed at the first end (A) and includes a robotic arm unit (11), an image mechanism (13) and a clamping mechanism (14) disposed at the end of the robotic arm unit (11); A socket assembly (20) is disposed at the first end (A) and includes a first bracket (21), a female socket (22), a first track pushing mechanism (23) and a first positioning fixture (24) located on the first bracket. The first positioning fixture (24) is disposed on the first track pushing mechanism (23) and can slide along it under drive. The female socket (21) is fixed at the first bracket (21). A plug assembly (30) is disposed at the second end (B) and includes a male plug (31); The controller (40) is configured as follows: S1. Control the image mechanism (13) to acquire the first image information of the male plug (31), and control the movement of the robotic arm unit (11) to lock the male plug (31) with the clamping mechanism (14); S2. Obtain the second image information of the first positioning fixture (24) and control the robotic arm unit (11) to transfer and position the male plug (31) on the first positioning fixture (24); S3. Control the first track pushing mechanism (23) to drive the first positioning fixture (24) to slide along the direction close to the female end socket (21) until it contacts the female end socket (21) and meets the preset preload force; The male plug (31) is perpendicular to the positioning direction of the first positioning fixture (24) and the sliding direction of the first positioning fixture (24).

2. The high-voltage pluggable electrical system according to claim 1, characterized in that, The plug assembly (30) further includes a second bracket (32), a second track pushing mechanism (33), and a second positioning fixture (34), wherein the second positioning fixture (34) is disposed on the second track pushing mechanism (33) and can slide along it under drive; The male plug (31) is located on the second positioning fixture (34).

3. The high-voltage pluggable electrical system according to claim 2, characterized in that, The first bracket (21) and the second bracket (32) have the same structure, the first positioning fixture (24) and the second positioning fixture (34) have the same structure, and the first track pushing mechanism (23) and the second track pushing mechanism (33) have the same structure.

4. The high-voltage pluggable electrical system according to claim 2, characterized in that, The first positioning fixture (24) includes a first base plate (a1) and two first guide rail brackets (a2). The first base plate (a1) is connected to the first track pushing mechanism (23) so that it can slide along the first track pushing mechanism (23). The two first guide rail brackets (a2) are perpendicular to the first base plate (a1) and include first vertical grooves (T1) with opposing openings. The second positioning fixture (34) includes a second base plate (b1) and two second guide rail brackets (b2). The second base plate (b1) is connected to the second track pushing mechanism (33) so that it can slide along the second track pushing mechanism (33). The two second guide rail brackets (b2) are perpendicular to the second base plate (b1) and include second vertical grooves (T2) with opposing openings. The male plug (31) is positioned at the first positioning fixture (24) via the first vertical slide groove (T1) and at the second positioning fixture (34) via the second vertical slide groove (T2).

5. The high-voltage pluggable electrical system according to claim 4, characterized in that, The male plug (31) includes a plug body (311), a front fixing plate (312), a rear fixing plate (313), a first connecting plate (314), a male electromagnetic adsorption plate (315), a positioning pin (316), and a first positioning slide (317). The front fixing plate (312) and the rear fixing plate (313) are respectively used to fit the two ends of the plug body (311); the first connecting plate (314) is connected to the front fixing plate (312) and the rear fixing plate (313); the male end electromagnetic adsorption plate (315) is vertically arranged on the first connecting plate (314); and there are at least two positioning pins (316) that protrude from the front fixing plate (312). The first positioning slide (317) is respectively disposed on both sides of the plug front fixing plate (312), and the cross-sectional area of ​​the first positioning slide (317) gradually increases from one end to the other end; when the male plug (31) is transferred and positioned to the first positioning fixture (24), its smaller end enters the first vertical slide groove (T1) first.

6. The high-voltage pluggable electrical system according to claim 5, characterized in that, The clamping mechanism (14) includes a force sensor (141), a floating structure (142), an electromagnet (143), and several locking pins (144); The floating structure (142) is connected to the force sensor (141) via a flange; The electromagnet (143) is connected to the side of the floating structure (142) away from the force sensor (141) so as to controllably adsorb the male end electromagnetic adsorption plate (315). The latch (144) is connected to the floating structure (142), and the male end electromagnetic adsorption plate (315) is provided with a first positioning hole (e1) corresponding to the latch (144).

7. The high-voltage pluggable electrical system according to claim 6, characterized in that, The image mechanism (13) is integrated into the clamping mechanism (14) and includes: Camera connection plate (131), openable vision camera housing (132), vision positioning camera (134), door opening cylinder (135), and cooling fan (136); The camera connecting plate (131) is connected to the floating structure (142), the visual positioning camera (134) is disposed inside the openable visual camera housing (132), and the openable visual camera housing (132) is controlled to open and close by the door opening cylinder (135); The cooling fan (136) is integrated into the openable vision camera housing (132).

8. The high-voltage pluggable electrical system according to claim 6, characterized in that, The floating structure (142) includes: an XY axis floating component (1421), a Z-axis floating rear plate (1422), a Z-axis floating front plate (1423), a connecting sleeve (1424), and a spring-loaded Z-axis positioning shaft (1425); The XY-axis floating component (1421) is connected to the force sensor (141), the Z-axis floating rear plate (1422) is fixed to the XY-axis floating component (1421), the Z-axis floating rear plate (1422) and the Z-axis floating front plate (1423) are connected by a connecting sleeve (1424) to constrain the floating direction of the Z-axis floating front plate (1423); the spring-type Z-axis positioning shaft (1425) is connected between the Z-axis floating rear plate (1422) and the Z-axis floating front plate (1423).

9. The high-voltage pluggable electrical system according to claim 6, characterized in that, The socket assembly (20) also includes a positioning groove (25) and a socket fixing member (26); The first bracket (21) is provided with a through hole (u), and the female socket (22) passes through the through hole (u) and is fixed to the first bracket (21) by the socket fixing member (26); The positioning groove (25) is fixed to the first bracket (21) and is correspondingly provided with the positioning pin (316); When the male plug (31) slides along the direction of the female socket (21), the positioning pin (316) is pre-inserted into the positioning groove (25) for positioning when the female socket (21) contacts the male plug (31).

10. The high-voltage pluggable electrical system according to claim 9, characterized in that, The socket assembly (20) includes a first protective structure (27); the high-voltage plugging and unplugging system also includes a protective cover placement bracket (50) corresponding to the first protective structure (27). The first protective structure (27) is located on the first positioning fixture (24), and in the initial state, the first protective structure (27) is connected to the plug end of the female socket (21); The first protective structure (27) includes a first protective cover (271), a protective cover connecting plate (272), and a protective cover electromagnetic adsorption plate (273). The protective cover electromagnetic adsorption plate (273) is provided with a second positioning hole (e2) corresponding to the locking pin (144). The controller (40) is also configured to: Before executing S1, the first track pushing mechanism (23) is controlled to move the first positioning fixture (24) away from the female socket (21) until the first protective structure (27) is separated from the female socket (21) by a preset first distance; After recognizing the third image information of the first protective structure (27), controlling the robotic arm unit (11) to lock the first protective structure (27) with the clamping mechanism (14), the first protective structure (27) is placed on the protective cover placement bracket (50).

11. The high-voltage pluggable electrical system according to claim 10, characterized in that, The plug assembly (30) further includes a second protective structure (35), which is fixedly disposed at the through hole (u) provided in the second bracket (32), and in the initial state, the second protective structure (35) is connected to the plug end of the male plug (31); The controller (40) is also configured to: Before executing S1, the second track pushing mechanism (33) is controlled to move the second positioning fixture (23) away from the male plug (31) until the male plug (31) is disengaged from the second protective structure (35) by a preset second distance.

12. The high-voltage pluggable electrical system according to claim 3, characterized in that, The first track pushing mechanism (23) includes: The slide rail structure (231) is fixed on the first bracket (21), and the first positioning fixture (24) is disposed on the slide rail structure (231) and can move along the slide rail structure (231); A drive electric cylinder (232) is fixed to the first bracket (21) and its output end is connected to the first positioning fixture (24) so ​​that the first positioning fixture (24) moves along the slide rail structure (231).

13. The high-voltage pluggable electrical system according to any one of claims 1 to 12, characterized in that, The high-voltage pluggable electrical system also includes an electrical control box (60), which is located at the first end (A).

14. A transportation device, characterized in that, include: The high-voltage pluggable electrical system as described in any one of claims 1 to 11; Several transport vehicles, each transport vehicle including a first end (A) and a second end (B), and adjacent transport vehicles are connected at an angle or parallel through the first end (A) and the second end (B) respectively.

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