Rail type inspection robot and charging device thereof

Abstract

The utility model discloses a track type inspection robot and a charging device thereof, and relates to the technical field of inspection robots, the charging device comprises a mobile charging module and a driving member, the mobile charging module comprises a housing and a transmission assembly, one end of the housing is connected with the inspection robot, the other end of the housing is slidably connected with a track, and the driving member is connected with the track. A mounting cavity is formed in the shell, and an avoiding hole communicating with the mounting cavity is formed in the shell; the transmission assembly is arranged in the mounting cavity, the transmission assembly is connected with a charging terminal, the charging terminal penetrates through the avoiding hole to extend out of the mounting cavity, and the charging terminal is electrically connected with the inspection robot; the driving part is used for driving the transmission assembly to drive the charging terminal to move between the charging position and the initial position so as to correspondingly enable the charging terminal to abut against or be separated from the electrode plate. The driving part drives the transmission assembly to control abutting and separation of the charging terminal and the electrode plate, contact type autonomous charging of the inspection robot can be achieved, and the charging efficiency and safety are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, and particularly relates to an orbital inspection robot and a charging device thereof. Background Art

[0002] An orbital inspection robot is an automated robot system designed to move along a specific track and perform various inspection tasks. Such robots are commonly used in industries, power, transportation, security, etc., for monitoring equipment status, environmental conditions, or conducting other types of inspection work. The power source of the inspection robot is a battery carried by itself.

[0003] The existing charging technologies for inspection robots mainly adopt non-contact autonomous charging or contact manual charging. Compared with contact charging, non-contact charging has low efficiency, long charging time, low energy utilization rate, and high economic cost. And contact manual charging requires manual operation, cannot completely free people's hands, and has low charging efficiency for inspection robots, so it urgently needs to be improved. Summary of the Utility Model

[0004] The main purpose of the utility model is to propose an orbital inspection robot and a charging device thereof, aiming to solve the technical problems in the existing technology that the charging technology for inspection robots mainly adopts non-contact autonomous charging or contact manual charging, the non-contact charging has low efficiency, long charging time, low energy utilization rate, and the contact manual charging requires manual operation and has low charging efficiency.

[0005] To achieve the above object, the charging device of the orbital inspection robot proposed by the utility model, the inspection robot can walk along the track, electrode plates are installed on the track, the charging device includes a mobile charging module and a driving member, the mobile charging module includes a housing and a transmission assembly, one end of the housing is connected to the inspection robot, the other end of the housing is slidably connected to the track, an installation cavity is formed inside the housing, and the housing is provided with an avoidance hole communicating with the installation cavity; the transmission assembly is arranged in the installation cavity, a charging terminal is connected to the transmission assembly, the charging terminal passes through the avoidance hole to extend out of the installation cavity, and the charging terminal is electrically connected to the inspection robot; the driving member is used to drive the transmission assembly to drive the charging terminal to move between a charging position and an initial position, so as to correspondingly make the charging terminal abut against or disengage from the electrode plate.

[0006] In one embodiment, the avoidance hole is formed in the top of the housing, the charging terminal vertically penetrates through the avoidance hole, the transmission assembly includes a transmission structure and a lifting structure, the transmission structure is connected to the lifting structure, the charging terminal is connected to the lifting structure, and the driving member is used to drive the transmission structure to drive the lifting structure to lift in the housing, so as to drive the charging terminal to lift between the initial position and the charging position.

[0007] In one embodiment, the lifting structure includes a first movable plate, a second movable plate, an elastic member and a connecting frame. The second movable plate and the first movable plate are arranged at intervals in the vertical direction. The transmission structure is connected to the first movable plate, the charging terminal is connected to the second movable plate, the first movable plate and the second movable plate are connected by the elastic member, and the connecting frame is connected to the first movable plate and extends upward above the second movable plate; the driving member is used to drive the transmission structure to drive the first movable plate to lift in the housing. When the first movable plate rises, it can drive the second movable plate to rise through the elastic member. When the first movable plate descends, it can drive the connecting frame to descend until it abuts against the top of the second movable plate, so as to drive the second movable plate to descend jointly through the connecting frame and the elastic member.

[0008] In one embodiment, the mobile charging module further includes a guiding assembly. The guiding assembly is located in the installation cavity. The guiding assembly includes a guiding rod and a fixing platform. The fixing platform is arranged below the first movable plate. The guiding rod is connected between the fixing platform and the top wall of the housing. The guiding rod vertically penetrates through the first movable plate, the second movable plate and the connecting frame in sequence and is slidably matched with the first movable plate, the second movable plate and the connecting frame.

[0009] In one embodiment, a limiting platform is formed at the upper end of the connecting frame. The limiting platform is located above the second movable plate. The limiting platform can abut against the top of the second movable plate when the connecting frame descends.

[0010] In one embodiment, the number of the connecting frames is two. The two connecting frames are arranged side by side along the extending direction of the track and are respectively connected to both ends of the first movable plate. The charging terminal is located between the two connecting frames.

[0011] In one embodiment, the transmission structure includes a driving gear, a driven gear and a transmission rod. The driving gear meshes with the driven gear. The lower end of the transmission rod is hinged to the end face of the driven gear through an eccentric column. The upper end of the transmission rod is hinged to the lifting structure. The driving member is used to drive the driving gear to rotate, so as to drive the transmission rod to swing and lift through the driven gear.

[0012] In one embodiment, the mobile charging module further includes a detection component located in the installation cavity. The detection component includes a first detector, a detection board, and a second detector. The detection board is connected to the charging terminal. When the charging terminal moves to the initial position or the charging position, it can drive the detection board to correspondingly trigger the first detector or the second detector.

[0013] In one embodiment, the charging device includes two such mobile charging modules, which are respectively located on both sides of the track. On one side wall of each housing facing the other housing, there are rollers for rolling cooperation with the track. The driving member is used to drive the two transmission components to respectively drive the corresponding charging terminals to move between the charging position and the initial position.

[0014] The present utility model also provides an orbital inspection robot applying the above charging device.

[0015] For the orbital inspection robot and its charging device provided by the present utility model, by arranging the transmission component in the installation cavity, the housing provides protection for the transmission component. The charging terminal is arranged on the transmission component. The driving member drives the transmission component to drive the charging terminal to move between the initial position and the charging position, so that when the charging terminal is in the charging position, it abuts against the electrode plate and charges the inspection robot, realizing the contact charging of the inspection robot. When the charging terminal is in the initial position, it disengages from the electrode plate, thus facilitating the inspection robot to walk on the track. The abutment and disengagement of the charging terminal and the electrode plate are both controlled by the driving member driving the transmission component, which can realize the contact autonomous charging of the inspection robot without manual operation, effectively improving the charging efficiency and safety of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0017] Figure 1 It is a schematic structural diagram of an embodiment of the orbital inspection robot provided by the present utility model;

[0018] Figure 2 It is a schematic structural diagram of an embodiment of the charging device of the orbital inspection robot provided by the present utility model;

[0019] Figure 3 The side view structural schematic diagram of the charging device of the rail type inspection robot provided by the present utility model when the charging terminal is in the initial position;

[0020] Figure 4 The side view structural schematic diagram of the charging device of the rail type inspection robot provided by the present utility model when the charging terminal is in the charging position.

[0021] Explanation of the reference numerals in the drawings:

[0022] 100, mobile charging module; 110, driving member; 111, driving gear; 120, transmission assembly; 121, driven gear; 122, transmission rod; 123, first movable plate; 124, elastic member; 130, charging terminal; 131, second movable plate; 132, positive terminal; 133, negative terminal; 140, housing; 141, installation cavity; 143, fixed platform; 150, guiding rod; 160, connecting frame; 161, limiting portion; 170, detection plate; 180, second detector; 181, second triggering channel; 182, second limiting portion; 190, first detector; 191, first triggering channel; 192, first limiting portion; 100b, connecting transmission rod; 100c, roller; 200, inspection robot; 300, rail; 310, electrode plate; 311, positive electrode plate; 312, negative electrode plate.

[0023] The realization of the purpose, functional features and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts fall within the scope of protection of the present utility model.

[0025] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative position relationship and movement conditions between the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0026] In addition, if the descriptions such as "first", "second", etc. are involved in the embodiments of the present utility model, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0027] In the present utility model, the descriptions of directions such as "upper", "lower", etc. are based on Figures 1 to 4 the directions shown, and are only used to explain the relative positional relationship between the components in Figures 1 to 4 the posture shown. If this specific posture changes, the directional indication will also change accordingly.

[0028] The existing charging technologies for inspection robots mainly adopt non-contact autonomous charging methods or manual charging replacement. Compared with contact charging, non-contact charging has low efficiency, long charging time, low energy utilization rate, and high economic cost input. And manual charging replacement cannot completely free people's hands, and the charging efficiency of the inspection robot is low, so it urgently needs to be improved.

[0029] The present utility model provides a charging device for an inspection robot 200 of a track 300 type. The inspection robot 200 can walk along the track 300. An electrode plate 310 is installed on the track 300. The charging device includes a mobile charging module 100 and a driving member 110. The mobile charging module 100 includes a housing 140 and a transmission component 120. One end of the housing 140 is connected to the inspection robot 200, and the other end of the housing 140 is slidably connected to the track 300. An installation cavity 141 is formed inside the housing 140, and the housing 140 is provided with an avoidance hole communicating with the installation cavity 141. The transmission component 120 is arranged in the installation cavity 141. A charging terminal 130 is connected to the transmission component 120. The charging terminal 130 passes through the avoidance hole to extend out of the installation cavity 141, and the charging terminal 130 is electrically connected to the inspection robot 200. The driving member 110 is used to drive the transmission component 120 to drive the charging terminal 130 to move between a charging position and an initial position, so as to correspondingly make the charging terminal 130 abut against or disengage from the electrode plate 310.

[0030] Please refer to Figure 1, The charging device is slidably connected to the track 300 to drive the inspection robot 200 to move on the track 300. The electrode plate 310 is fixed to the track 300. When the inspection robot 200 needs to be charged, the inspection robot 200 moves along the track 300 to the position of the electrode plate 310. Subsequently, the driving member 110 drives the transmission assembly 120 to move. The transmission assembly 120 drives the charging terminal 130 to move from the initial position to the charging position. The charging terminal 130 abuts against and is electrically connected to the electrode plate 310 to charge the inspection robot 200 through the electrode plate 310. When the inspection robot 200 finishes charging, the driving member 110 drives the transmission assembly 120 to drive the charging terminal 130 to move from the charging position to the initial position, so that the charging terminal 130 is disengaged from abutting against the electrode plate 310, and the inspection robot 200 can move on the track 300. It can be explained that by setting a controller in the inspection robot 200, controlling the inspection robot 200 to move to the position of the electrode plate 310 through the controller, and controlling the driving member 110 to work through the controller, the automatic charging of the inspection robot 200 can be realized.

[0031] The charging device of the track 300 - type inspection robot 200 proposed by the present utility model protects the transmission assembly 120 by the housing 140 by arranging the transmission assembly 120 in the installation cavity 141. The charging terminal 130 is arranged on the transmission assembly 120. The driving member 110 drives the transmission assembly 120 to drive the charging terminal 130 to move between the initial position and the charging position, so that the charging terminal 130 abuts against the electrode plate 310 and charges the inspection robot 200 when in the charging position, realizing the contact charging of the inspection robot 200; when the charging terminal 130 is in the initial position, it is disengaged from abutting against the electrode plate 310, facilitating the movement of the inspection robot 200 on the track 300. The abutting and disengagement of the charging terminal 130 and the electrode plate 310 are both controlled by the driving member 110 driving the transmission assembly 120, which can realize the contact - type autonomous charging of the inspection robot 200 without manual operation, effectively improving the charging efficiency and safety of the inspection robot 200.

[0032] In an embodiment, the avoidance hole is opened at the top of the housing 140. The charging terminal 130 vertically penetrates through the avoidance hole. The transmission assembly 120 includes a transmission structure and a lifting structure. The transmission structure is connected to the lifting structure. The charging terminal 130 is connected to the lifting structure. The driving member 110 is used to drive the transmission structure to drive the lifting structure to lift in the housing 140, so as to drive the charging terminal 130 to lift between the initial position and the charging position.

[0033] Please refer to Figure 1 and Figure 2, the bottom of the housing 140 is connected to the inspection robot 200, and the top of the housing 140 is slidably connected to the track 300, so that the electrode plate 310 is located above the housing 140. An installation cavity 141 is formed inside the housing 140. The transmission structure is located at the bottom of the installation cavity 141, the lifting structure is located in the middle of the installation cavity 141, and the charging terminal 130 is connected to the lifting structure and extends upward outside the installation cavity 141. The charging terminal 130 can be lifted to the charging position or lowered to the initial position under the drive of the lifting structure. The liftable setting of the charging terminal 130 enables the charging terminal 130 to adapt to electrode plates 310 of different heights, thereby increasing the versatility of the charging device.

[0034] In an embodiment, the lifting structure includes a first movable plate 123, a second movable plate 131, an elastic member 124, and a connecting frame 160. The second movable plate 131 and the first movable plate 123 are arranged at an interval in the vertical direction. The transmission structure is connected to the first movable plate 123, and the charging terminal 130 is connected to the second movable plate 131. The first movable plate 123 and the second movable plate 131 are connected by the elastic member 124. The connecting frame 160 is connected to the first movable plate 123 and extends upward above the second movable plate 131. The driving member 110 is used to drive the transmission structure to drive the first movable plate 123 to lift in the housing 140. When the first movable plate 123 rises, it can drive the second movable plate 131 to rise through the elastic member 124. When the first movable plate 123 descends, it can drive the connecting frame 160 to descend until it abuts against the top of the second movable plate 131, so as to drive the second movable plate 131 to descend together through the connecting frame 160 and the elastic member 124.

[0035] Please refer to Figure 3 and Figure 4, the first movable plate 123 is located below the second movable plate 131. The charging terminal 130 is connected to the second movable plate 131, and the connecting frame 160 is connected to the first movable plate 123. The transmission structure can drive the first movable plate 123 to move up and down under the drive of the driving member 110, and the first movable plate 123 drives the connecting frame 160 to move up and down synchronously. When the first movable plate 123 rises, it compresses the elastic member 124, and drives the second movable plate 131 to rise through the elastic member 124. The second movable plate 131 drives the charging terminal 130 to rise until it abuts against the electrode plate 310. Since the elastic member 124 is compressed, the distance between the two ends of the elastic member 124 decreases, thereby absorbing part of the moving stroke of the first movable plate 123, making the rising distance of the second movable plate 131 less than the rising distances of the first movable plate 123 and the connecting frame 160. The connecting frame 160 moves upward relative to the second movable plate 131, so that the upper end of the connecting frame 160 is separated from the second movable plate 131. When the first movable plate 123 descends, the first movable plate 123 gradually stretches the elastic member 124, and the distance between the two ends of the elastic member 124 increases. When the elastic member 124 gradually changes from the compressed state to the normal state, the elastic member 124 absorbs the moving stroke of the first movable plate 123, and the second movable plate 131 remains fixed, and the charging terminal 130 remains in contact with the electrode plate 310. When the first movable plate 123 continues to descend, the elastic member 124 gradually changes from the normal state to the stretched state, and the elastic member 124 exerts a pulling force on the second movable plate 131. At the same time, the upper end of the connecting frame 160 abuts against the second movable plate 131, and the connecting frame 160 and the elastic member 124 jointly pull the second movable plate 131 to descend, so that the charging terminal 130 is separated from the electrode plate 310.

[0036] By arranging the elastic member 124 between the first movable plate 123 and the second movable plate 131, the impact when the charging terminal 130 abuts against the electrode plate 310 can be reduced, thereby protecting the charging terminal 130 and the electrode plate 310. At the same time, during the charging process, the elastic member 124 remains in the compressed state, and the elastic member 124 continuously exerts an upward pressure on the second movable plate 131, so as to keep the charging terminal 130 in continuous contact with the electrode plate 310 and ensure stable charging. When the descending stroke of the first movable plate 123 is short, the elastic member 124 can absorb the descending stroke of the first movable plate 123, so as to keep the charging terminal 130 in continuous contact with the electrode plate 310 when the first movable plate 123 undergoes a slight displacement. By arranging the connecting frame 160 on the first movable plate 123, when the first movable plate 123 descends, the upper end of the connecting frame 160 abuts against the second movable plate 131, so that the connecting frame 160 assists the elastic member 124 to jointly drive the second movable plate 131 to descend, thereby avoiding excessive pulling force on the elastic member 124 and being able to provide protection for the elastic member 124.

[0037] In one embodiment, the mobile charging module 100 further includes a guiding component. The guiding component is located in the installation cavity 141 and includes a guiding rod 150 and a fixing platform 143. The fixing platform 143 is arranged below the first movable plate 123. The guiding rod 150 is connected between the fixing platform 143 and the top wall of the housing 140. The guiding rod 150 sequentially passes through the first movable plate 123, the second movable plate 131, and the connection frame 160 in the vertical direction and is slidably engaged with the first movable plate 123, the second movable plate 131, and the connection frame 160.

[0038] Please continue to refer to Figure 3 and Figure 4 , a side wall of the housing 140 protrudes into the installation cavity 141 to form the fixing platform 143. The guiding rod 150 extends vertically and is connected between the top surface of the fixing platform 143 and the top wall of the housing 140. When the first movable plate 123, the second movable plate 131, and the connection frame 160 move vertically, they are all slidably engaged with the guiding rod 150. By providing the guiding rod 150 to guide the movement of the first movable plate 123 and the second movable plate 131, the stability of the charging terminal 130 during the lifting and lowering process is ensured. In one embodiment, the elastic member 124 is a spring, and the spring is sleeved outside the guiding rod 150.

[0039] In one embodiment, a limiting platform is formed at the upper end of the connection frame 160. The limiting platform is located above the second movable plate 131, and the limiting platform can abut against the top of the second movable plate 131 when the connection frame 160 descends.

[0040] Please refer to Figure 2 , the connection frame 160 extends upward from the side surface of the second movable plate 131, and the limiting platform extends horizontally above the second movable plate 131, so that the limiting platform can abut against the top of the second movable plate 131 when the connection frame 160 descends and drive the movable plate to descend together with the connection frame 160. When the charging terminal 130 is in the initial position, the limiting platform remains in abutment with the top of the second movable plate 131, thereby limiting the second movable plate 131 through the limiting platform to hold the charging terminal 130 in the initial position.

[0041] In one embodiment, the number of the connection frames 160 is two. The two connection frames 160 are arranged side by side along the extending direction of the track 300 and are respectively connected to both ends of the first movable plate 123. The charging terminal 130 is located between the two connection frames 160.

[0042] It should be noted that the two connecting frames 160 are respectively located on both sides of the charging terminal 130, and the two connecting frames 160 are symmetrically arranged with respect to the charging terminal 130. The two connecting frames 160 evenly share the pulling force on the second movable plate 131, which helps to reduce the tilt or offset of the second movable plate 131. In one embodiment, the number of the guide rods 150 is also two. The upper ends of the two connecting frames 160 are respectively provided with the two guide rods 150. Through the sliding fit between the two connecting frames 160 and the two guide rods 150, the moving directions of the first movable plate 123 and the second movable plate 131 are accurately guided, and the stability of the second movable plate 131 during the lifting process is effectively improved.

[0043] In one embodiment, the transmission structure includes a driving gear 111, a driven gear 121 and a transmission rod 122. The driving gear 111 meshes with the driven gear 121. The lower end of the transmission rod 122 is hinged to the end face of the driven gear 121 through an eccentric column. The upper end of the transmission rod 122 is hinged to the lifting structure. The driving member 110 is used to drive the driving gear 111 to rotate, so as to drive the transmission rod 122 to swing and lift through the driven gear 121.

[0044] Please refer to Figure 2 , when the driving member 110 drives the driving gear 111 to rotate, the driving gear 111 drives the driven gear 121 to rotate. The driven gear 121 drives the lower end of the transmission rod 122 to rotate synchronously with the driven gear 121. The upper end of the transmission rod 122 moves up and down vertically, and the upper end of the transmission rod 122 is connected to the first movable plate 123. Thus, the first movable plate 123 is driven to move up and down through the transmission rod 122. By connecting the transmission rod 122 to the end face of the driven gear 121, the rotational motion of the driven gear 121 is converted into the linear motion of the first movable plate 123. The driving gear 111 and the driven gear 121 rotate in the same direction to realize the up and down movement of the first movable plate 123, without changing the rotation direction of the driving gear 111 and the driven gear 121, which is convenient for the charging terminal 130 to move up and down repeatedly.

[0045] In one embodiment, the mobile charging module 100 further includes a detection component. The detection component is located in the installation cavity 141. The detection component includes a first detector 190, a detection plate 170 and a second detector 180. The detection plate 170 is connected to the charging terminal 130; when the charging terminal 130 moves to the initial position or the charging position, it can drive the detection plate 170 to correspondingly trigger the first detector 190 or the second detector 180.

[0046] Understandably, the detection board 170 is connected to the charging terminal 130. When the charging terminal 130 moves up and down between the initial position and the charging position, the second detector 180 and the first detector 190 are arranged at an interval up and down. A first trigger channel 191 is formed in the first detector 190, and a first limiting part 192161 is arranged at the bottom of the first trigger channel 191. A second trigger channel 181 is formed in the second detector 180, and a second limiting part 182161 is arranged at the top of the second trigger channel 181. The detection board 170 moves up and down together with the charging terminal 130. When the charging terminal 130 descends to the initial position, the detection board 170 extends into the first trigger channel 191 and abuts against the first limiting part 192161, and the detection board 170 triggers the first detector 190. When the charging terminal 130 ascends to the charging position, the detection board 170 extends into the second trigger channel 181 and abuts against the second limiting part 182161, so that the detection board 170 triggers the second detector 180. The second detector 180 is electrically connected to the electrode plate 310, and sends power supply information to the electrode plate 310 after the second detector 180 is triggered. The electrode plate 310 will start the power supply function only after receiving the power supply signal. By setting the detection component to detect the position state of the charging terminal 130, it is ensured that the electrode plate 310 supplies power after the charging terminal 130 moves into place, effectively preventing the electrode plate 310 from leaking electricity.

[0047] In one embodiment, the charging device includes two mobile charging modules 100, the two mobile charging modules 100 are respectively located on both sides of the track 300, and rollers 100c for rolling cooperation with the track 300 are arranged on the side walls of each housing 140 facing the other housing 140. The driving member 110 is used to drive the two transmission components 120 to drive the corresponding charging terminals 130 to move between the charging position and the initial position respectively.

[0048] It should be noted that the two mobile charging modules 100 are respectively slidably matched with both sides of the track 300 and clamp the track 300 between the two mobile charging modules 100, so as to ensure that the inspection robot 200 walks smoothly along the track 300. Two charging terminals 130 are respectively arranged in the two mobile charging modules 100, and two electrode plates 310 are respectively arranged at the positions corresponding to the two charging terminals 130 on the track 300. When the two charging terminals 130 move to the charging position together, they can respectively abut against the corresponding electrode plates 310, effectively improving the charging efficiency of the inspection robot 200. The two driven gears 121 in the two mobile charging modules 100 are connected by a connecting rod 100b to ensure the synchronous movement of the two charging terminals 130.

[0049] In one embodiment, the two charging terminals 130 are respectively a positive terminal 132 and a negative terminal 133, and the corresponding two electrode plates 310 are respectively a positive electrode plate 311 and a negative electrode plate 312. The positive terminal 132 and the negative terminal 133 can respectively abut against the positive electrode plate 311 and the negative electrode plate 312 when moving to the charging position to charge the inspection robot 200.

[0050] The present utility model further provides a rail 300 - type inspection robot 200 to which the above - mentioned charging device is applied. The specific structure of the charging device refers to the above - mentioned embodiments. Since the rail 300 - type inspection robot 200 adopts all the technical solutions of the above - mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above - mentioned embodiments, which will not be elaborated one by one here.

[0051] The rail 300 - type inspection robot 200 walks along the rail 300 by slidingly cooperating with the rail 300 through the charging device, and charges by abutting the charging terminals 130 in the charging device against the electrode plates 310 on the rail 300, thereby realizing the contact - type autonomous charging of the rail 300 - type inspection robot 200, without manual operation, effectively improving the charging efficiency and safety of the inspection robot 200.

[0052] The above - mentioned are only exemplary embodiments of the present utility model, and do not limit the patent scope of the present utility model. Any equivalent structural transformation made by using the content of the specification and drawings of the present utility model under the technical concept of the present utility model, or direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims

1. A charging device for an orbital inspection robot, characterized in that, The inspection robot can walk along the track, and electrode plates are installed on the track. The charging device includes: A mobile charging module, which includes a housing and a transmission component. One end of the housing is connected to the inspection robot, and the other end of the housing is slidably connected to the track. An installation cavity is formed inside the housing, and the housing is provided with an avoidance hole communicating with the installation cavity. The transmission component is arranged in the installation cavity, and a charging terminal is connected to the transmission component. The charging terminal passes through the avoidance hole to extend out of the installation cavity, and the charging terminal is electrically connected to the inspection robot. A driving member, which is used to drive the transmission component to drive the charging terminal to move between a charging position and an initial position, so as to correspondingly make the charging terminal abut against or disengage from the electrode plate.

2. The charging device of the rail type inspection robot according to claim 1, characterized in that, The avoidance hole is opened at the top of the housing, and the charging terminal is vertically arranged in the avoidance hole. The transmission component includes a transmission structure and a lifting structure. The transmission structure is connected to the lifting structure, and the charging terminal is connected to the lifting structure. The driving member is used to drive the transmission structure to drive the lifting structure to lift and lower in the housing, so as to drive the charging terminal to lift and lower between the initial position and the charging position.

3. The charging device of the rail-type inspection robot according to claim 2, characterized in that, The lifting structure includes a first movable plate, a second movable plate, an elastic member and a connecting frame. The second movable plate and the first movable plate are arranged at intervals in the up and down direction. The transmission structure is connected to the first movable plate, and the charging terminal is connected to the second movable plate. The first movable plate and the second movable plate are connected by the elastic member. The connecting frame is connected to the first movable plate and extends upward above the second movable plate. The driving member is used to drive the transmission structure to drive the first movable plate to lift and lower in the housing. When the first movable plate rises, it can drive the second movable plate to rise through the elastic member. When the first movable plate descends, it can drive the connecting frame to descend to abut against the top of the second movable plate, so as to drive the second movable plate to descend together through the connecting frame and the elastic member.

4. The charging device of the rail type inspection robot according to claim 3, characterized in that, The mobile charging module further includes a guiding component, which is located in the installation cavity. The guiding component includes a guiding rod and a fixing platform. The fixing platform is arranged below the first movable plate, and the guiding rod is connected between the fixing platform and the top wall of the housing. The guiding rod is vertically arranged through the first movable plate, the second movable plate and the connecting frame in sequence, and is slidably matched with the first movable plate, the second movable plate and the connecting frame.

5. The charging device of the rail-type inspection robot according to claim 3, characterized in that, The upper end of the connecting frame forms a limiting platform, which is located above the second movable plate. The limiting platform can abut against the top of the second movable plate when the connecting frame descends.

6. The charging device of the rail type inspection robot according to claim 5, characterized in that The number of the connecting frames is two. The two connecting frames are arranged side by side along the extending direction of the track and are respectively connected to both ends of the first movable plate. The charging terminal is located between the two connecting frames.

7. The charging device of the rail type inspection robot according to claim 2, characterized in that, The transmission structure includes a driving gear, a driven gear and a transmission rod. The driving gear meshes with the driven gear. The lower end of the transmission rod is hinged to the end face of the driven gear through an eccentric column, and the upper end of the transmission rod is hinged to the lifting structure. The driving member is used to drive the driving gear to rotate, so as to drive the transmission rod to swing and lift through the driven gear.

8. The charging device of the rail type inspection robot according to any one of claims 1 to 7, characterized in that, The mobile charging module further includes a detection component. The detection component is located in the installation cavity. The detection component includes a first detector, a detection plate and a second detector. The detection plate is connected to the charging terminal. When the charging terminal moves to the initial position or the charging position, it can drive the detection plate to correspondingly trigger the first detector or the second detector.

9. The charging device of the rail-type inspection robot according to any one of claims 1 to 7, characterized in that The charging device includes two of the mobile charging modules. The two mobile charging modules are respectively located on both sides of the track. A roller for rolling cooperation with the track is provided on the side wall of each housing facing the other housing. The driving member is used to drive the two transmission components to respectively drive the corresponding charging terminals to move between the charging position and the initial position.

10. An orbital inspection robot, characterized in that, There is applied a charging device as described in any one of claims 1 to 9.

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