Wheel type inspection robot convenient for stable butt joint

Abstract

The utility model relates to the technical field of inspection robots, and discloses a wheel type inspection robot convenient for stable butt joint, which comprises a robot body mounted on one side of a charging pile body and a passive jack mounted at the rear end of the robot body, and an active plug is fixedly connected to one end, close to the robot body, of the charging pile body. The rear end of the robot body is connected with a transmission mechanism and an induction mechanism. According to the wheel type inspection robot convenient for stable butt joint, when the robot returns to the charging cabin for charging, in the retreating process of the robot body, the distance between the passive jack and the active plug at the moment can be automatically judged as long as the induction mechanism is in contact with the induction plate on the charging pile body, and then the distance can be automatically judged through the transmission mechanism. The driving moving assembly drives the passive jack to move towards one side by a corresponding distance, in this way, the passive jack can be directly aligned with the active plug, then the robot body is controlled to retreat by a certain distance, the passive jack is inserted into the active plug for charging, and convenience and rapidness are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a wheeled inspection robot which is convenient for stable docking. Background Art

[0002] Wheeled inspection robots are automated devices using wheeled mobile platforms, designed to perform regular inspections and monitoring within specific areas or facilities. These robots are typically equipped with various sensors and detection devices, such as cameras, thermal imaging cameras, gas detectors, sonar systems, and laser radar (LiDAR), to collect environmental data and equipment status information.

[0003] After patrolling for a period of time, current wheeled robots need to return to the charging cabin for charging, and current charging is mostly contact-type. However, when the robot returns to the charging cabin, if the position of its own charging port is already level with the position of the charging head on the charging pile, but the left and right distances are not aligned, then it is necessary to control the robot to move forward for a certain distance, and then control the robot to reverse for a second adjustment (or even more adjustments) before its own charging port can be inserted into the charging head on the charging pile. The overall process is relatively cumbersome. Utility Model Content

[0004] In view of the deficiencies in the prior art, the present invention provides a wheeled inspection robot that is easy to dock stably, so as to solve the problem that the current robot body cannot quickly dock with the charging pile body when returning to the charging cabin for charging.

[0005] The utility model provides the following technical solutions: a wheeled inspection robot that is easy to dock stably, comprising a robot body installed on one side of a charging pile body and a passive socket installed at the rear end of the robot body, an active plug fixedly connected to one end of the charging pile body close to the robot body, a transmission mechanism and a sensing mechanism connected to the rear end of the robot body, an output end of the transmission mechanism connected to a moving component, the other end of the moving component connected to the passive socket, an induction plate fixedly connected to the upper end of the charging pile body close to the active plug, an end of the induction mechanism away from the robot body abutting against the induction plate, and both the transmission mechanism and the sensing mechanism are electrically connected to the internal controller of the robot body.

[0006] Furthermore, a storage cavity and a moving port are provided at the rear end of the robot body, the transmission mechanism is located in the moving port, one end of the moving component away from the passive socket is located in the moving port, and the other end of the moving component is located in the storage cavity.

[0007] Furthermore, the transmission mechanism includes a motor and a screw, the outer wall of the motor is fixedly connected to one end of the inner wall of the moving mouth, the output shaft of the motor is fixedly connected to one end of the screw, the other end of the screw passes through the moving component and is rotatably connected to the other end of the moving mouth, and the motor is electrically connected to the internal controller of the robot body.

[0008] Furthermore, the moving mechanism includes a moving block and a moving plate. The moving block is sleeved and threadedly connected to the outer wall of the screw rod. The outer wall of the moving block is slidably connected to the inner wall of the moving port. The side of the moving block away from the moving port is fixedly connected to one side of the moving plate. The other side of the moving plate is fixedly connected to one end of the passive jack. The outer wall of the moving plate is slidably connected to the inner wall of the storage cavity.

[0009] Furthermore, a support opening and a sliding opening are respectively provided at both ends of the upper surface of the storage cavity, a shielding assembly is connected to the side of the storage cavity away from the robot body, the inner walls of the support opening and the sliding opening are connected to a lifting mechanism, and the output end of the lifting mechanism is connected to the shielding assembly.

[0010] Furthermore, the lifting mechanism includes an electric push rod and a sliding rod. The outer wall of the electric push rod is fixedly connected to the inner wall of the support opening. The outer wall of one end of the sliding rod is slidably connected to the inner wall of the sliding opening. The output end of the electric push rod and the lower end of the sliding rod respectively pass through the support opening and the sliding opening, and are connected to the shielding component. The electric push rod is electrically connected to the internal controller of the robot body.

[0011] Furthermore, the shielding assembly includes an accordion plate, a U-shaped support frame and two support blocks. The upper surface of the accordion plate is fixedly connected to the upper surface of the storage cavity, the bottom surface of the accordion plate is fixedly connected to the upper surface of the U-shaped support frame, the bottom surface of the U-shaped support frame is against the bottom surface of the storage cavity, the two support blocks are respectively fixedly connected to the inner walls at both ends of the U-shaped support frame, and the upper surfaces of the two U-shaped support frames are respectively fixedly connected to the output end of the electric push rod and the lower end of the sliding rod.

[0012] Furthermore, a spring cavity is provided at the rear end of the robot body, and an end of the sensing mechanism away from the sensing plate is located in the spring cavity.

[0013] Furthermore, the sensing mechanism includes an extrusion spring and a contact rod, one end of the extrusion spring is fixedly connected to the inner wall of the spring cavity, the other end of the extrusion spring is fixedly connected to one end of the contact rod, the other end of the contact rod passes through the spring cavity and abuts against the surface of the sensing plate, and the contact rod is electrically connected to the internal controller of the robot body.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This wheeled inspection robot, which is easy to dock stably, drives the passive socket to move left and right by arranging a sensing mechanism, a transmission mechanism and a moving component at the rear end of the robot body, and also sets a sensing plate on the charging pile body. When the robot body returns to the charging cabin for charging, and the passive socket and the active plug have been kept level, but are still not aligned in the left and right distance, the robot body can automatically determine the distance between the passive socket and the active plug at this time as long as the sensing mechanism contacts the sensing plate on the charging pile body during the backward process. Then, the moving component can be driven by the transmission mechanism to move the passive socket to one side by a corresponding distance, so that the passive socket can be directly aligned with the active plug, and then the robot body can be controlled to retreat a certain distance so that the passive socket can be inserted into the active plug for charging, which is convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall appearance of the robot body and the charging pile body of the utility model;

[0017] Figure 2 For this utility model Figure 1 A schematic diagram of each component from another perspective;

[0018] Figure 3 This is a detailed connection diagram of the robot body, sensing mechanism, transmission mechanism and other components of the utility model;

[0019] Figure 4 It is a detailed connection diagram of the transmission mechanism, moving assembly and shielding assembly of the utility model;

[0020] Figure 5 For this utility model Figure 4 A magnified schematic diagram of point A in the middle;

[0021] Figure 6 It is a partial cross-sectional schematic diagram of the robot body of the present invention.

[0022] In the figure: 1. Robot body; 2. Charging pile body; 3. Induction plate; 4. Active plug; 5. Organ plate; 6. Contact rod; 7. Extrusion spring; 8. Motor; 9. Screw rod; 10. Moving block; 11. Moving plate; 12. Passive jack; 13. Electric push rod; 14. Sliding rod; 15. U-shaped support frame; 16. Support block; 101. Storage cavity; 102. Moving port; 103. Spring cavity; 104. Support port; 105. Sliding port. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] See also Figures 1-6 A wheeled inspection robot that is easy to dock stably includes a robot body 1 installed on one side of a charging pile body 2 and a passive socket 12 installed at the rear end of the robot body 1. The end of the charging pile body 2 close to the robot body 1 is fixedly connected to an active plug 4, and the rear end of the robot body 1 is connected to a transmission mechanism and a sensing mechanism. The output end of the transmission mechanism is connected to a moving component, and the other end of the moving component is connected to the passive socket 12. The upper end of the charging pile body 2 close to the active plug 4 is fixedly connected to a sensing plate 3, and the end of the sensing mechanism away from the robot body 1 is against the sensing plate 3. The transmission mechanism and the sensing mechanism are both electrically connected to the internal controller of the robot body 1.

[0025] The wheeled inspection robot in the present invention is similar in structure to the existing wheeled inspection robot, such as the wheeled inspection robot disclosed in the patent publication number CN213021465U. Figures 1 to 6 As shown, the wheeled inspection robot that is easy to dock stably in the present invention returns to the charging cabin for charging, and the passive socket and the active plug have been kept level, but are still not aligned in the left and right distances. Because the extended length of the sensing mechanism is slightly greater than the length of the passive socket 12, the robot body 1 is in the process of retreating. After the sensing mechanism contacts the sensing plate 3 on the charging pile body 2, the sensing plate 3 immediately transmits an electrical signal to the internal processor of the robot body 1, and then controls the robot body 1 to stop moving through the internal controller. At the same time, the internal processor calculates the distance between the active plug 4 and the passive socket 12 at this time (here the active plug 4 can be set in the middle of the sensing plate 3). The center position, the default position of the passive jack 12 is set just below the sensing mechanism), and then the internal controller can automatically determine the distance between the passive jack 12 and the active plug 4 at this time (for example, a difference of 3 cm), and then the internal controller turns on the transmission mechanism. After the transmission mechanism is started, the moving component can be driven to drive the passive jack 12 to move a corresponding distance to one side (for example, also move 3 cm), so that the passive jack 12 can be directly aligned with the active plug 4, and then the robot body 1 is controlled to retreat a distance. At this time, the passive jack 12 can be inserted into the active plug 4 (the sensing mechanism will be compressed at this time and will not affect charging), and then normal charging can be carried out, which is convenient and fast.

[0026] It should be noted here that the internal processor and internal controller of the robot body 1 are currently available technologies, and the passive jack 12 is connected to the internal power supply by wires. The wires are provided with a reserved length that is sufficient for them to move left and right. During the movement, the wires can be preferentially set under the screw rod 9 and the moving block 10 to avoid wear of the wires, so they will not be described in detail.

[0027] Please refer to Figure 3 and Figure 6 The rear end of the robot body 1 is provided with a storage cavity 101 and a moving port 102 , the transmission mechanism is located in the moving port 102 , one end of the moving component away from the passive socket 12 is located in the moving port 102 , and the other end of the moving component is located in the storage cavity 101 .

[0028] More specifically, by providing the storage cavity 101 and the moving opening 102, not only can the external space occupied by the transmission mechanism and the moving component be reduced, but the transmission mechanism and the moving component can also be protected to reduce the probability of damage.

[0029] Please refer to Figure 3 and Figure 4 The transmission mechanism includes a motor 8 and a screw 9. The outer wall of the motor 8 is fixedly connected to one end of the inner wall of the moving port 102. The output shaft of the motor 8 is fixedly connected to one end of the screw 9. The other end of the screw 9 passes through the moving component and is rotatably connected to the other end of the moving port 102. The motor 8 is electrically connected to the internal controller of the robot body 1.

[0030] More specifically, when it is necessary to control the passive socket 12 to move left and right, it is only necessary to turn on the motor 8 through the internal controller of the robot body 1. After the motor 8 is started, the output shaft can drive the screw rod 9 to rotate. After the screw rod 9 rotates, it can drive the moving component connected to the surface to move left and right in the moving port 102 and the storage cavity 101.

[0031] Please refer to Figure 3 The moving mechanism includes a moving block 10 and a moving plate 11. The moving block 10 is sleeved and threadedly connected to the outer wall of the screw rod 9. The outer wall of the moving block 10 is slidingly connected to the inner wall of the moving port 102. The side of the moving block 10 away from the moving port 102 is fixedly connected to one side of the moving plate 11. The other side of the moving plate 11 is fixedly connected to one end of the passive jack 12. The outer wall of the moving plate 11 is slidingly connected to the inner wall of the storage cavity 101.

[0032] More specifically, when the screw rod 9 rotates, the moving block 10 threadedly connected to its surface can move left and right inside the moving port 102. In the process of the moving block 10 moving left and right, it can drive the moving plate 11 connected to the surface to move left and right, and then drive the passive socket 12 on the surface of the moving plate 11 to move left and right to align and match with the active plug 4.

[0033] Please refer to Figure 6 A support opening 104 and a sliding opening 105 are respectively provided at both ends of the upper surface of the storage cavity 101. A shielding component is connected to the side of the storage cavity 101 away from the robot body 1. The inner walls of the support opening 104 and the sliding opening 105 are connected to a lifting mechanism, and the output end of the lifting mechanism is connected to the shielding component.

[0034] More specifically, by setting a support opening 104 and a sliding opening 105, and setting a lifting mechanism inside the support opening 104 and the sliding opening 105, and setting a shielding component inside the storage cavity 101, and then controlling the lifting of the shielding component by the lifting mechanism, the transmission mechanism, the moving component and the passive jack 12 can be protected by the shielding component when charging is not required, thereby reducing the probability of the above-mentioned components being directly exposed to the outside and being damaged.

[0035] Please refer to Figure 3 and Figure 4 The lifting mechanism includes an electric push rod 13 and a sliding rod 14. The outer wall of the electric push rod 13 is fixedly connected to the inner wall of the support opening 104. The outer wall of one end of the sliding rod 14 is slidably connected to the inner wall of the sliding opening 105. The output end of the electric push rod 13 and the lower end of the sliding rod 14 respectively pass through the supporting opening 104 and the sliding opening 105, and are connected to the shielding component. The electric push rod 13 is electrically connected to the internal controller of the robot body 1.

[0036] More specifically, when charging is required, the controller inside the robot body 1 only needs to turn on the electric push rod 13. After the electric push rod 13 is turned on, it can cooperate with the sliding rod 14 at the other end of the shielding component to rise inside the support opening 104 and the sliding opening 105. During the rise, the shielding component below is pulled upward, thereby exposing the passive socket 12 located in the storage cavity 101. Conversely, when charging is not required, the shielding component can be lowered for protection through the electric push rod 13.

[0037] Please refer to Figure 5 The shielding assembly includes an accordion plate 5, a U-shaped support frame 15 and two support blocks 16. The upper surface of the accordion plate 5 is fixedly connected to the upper surface of the storage cavity 101, the bottom surface of the accordion plate 5 is fixedly connected to the upper surface of the U-shaped support frame 15, the bottom surface of the U-shaped support frame 15 is against the bottom surface of the storage cavity 101, the two support blocks 16 are respectively fixedly connected to the inner walls at both ends of the U-shaped support frame 15, and the upper surfaces of the two U-shaped support frames 15 are respectively fixedly connected to the output end of the electric push rod 13 and the lower end of the sliding rod 14.

[0038] More specifically, during normal protection, the bottom surfaces of the U-shaped support frame 15 and the two support blocks 16 will rest against the bottom surface of the storage cavity 101 under the action of the electric push rod 13, protecting components such as the moving assembly and the passive jack 12.

[0039] When charging is needed, the output end of the electric push rod 13 is recovered, which can drive the support block 16 to rise. When the support block 16 rises, it can bring the U-shaped support frame 15 up together. In the process of the U-shaped support frame 15 rising, the accordion board 5 connected to the upper surface can be pulled up together. When the accordion board 5 rises, it will fold according to its own characteristics, thereby exposing the moving component and the passive socket 12.

[0040] Please refer to Figure 3 A spring cavity 103 is provided at the rear end of the robot body 1 , and an end of the sensing mechanism away from the sensing plate 3 is located in the spring cavity 103 .

[0041] More specifically, by providing the spring cavity 103 , firstly, the external space occupied by the sensing mechanism can be reduced; secondly, the sensing mechanism can be protected.

[0042] Please refer to Figure 3 and Figure 4 The sensing mechanism includes an extrusion spring 7 and a contact rod 6. One end of the extrusion spring 7 is fixedly connected to the inner wall of the spring cavity 103, and the other end of the extrusion spring 7 is fixedly connected to one end of the contact rod 6. The other end of the contact rod 6 passes through the spring cavity 103 and abuts against the surface of the sensing plate 3. The contact rod 6 is electrically connected to the internal controller of the robot body 1.

[0043] More specifically, under normal circumstances, the front end of the contact rod 6 will protrude a certain distance from the robot body 1 due to the action of the extrusion spring 7. Then, when the robot body 1 retreats, the front end of the contact rod 6 will contact the sensor plate 3. At the same time, the sensor plate 3 transmits the electrical signal to the processor inside the robot body 1, and then calculates the distance between the passive jack 12 and the active plug 4. After the transmission mechanism drives the moving component to move to the corresponding position, the robot body 1 continues to retreat. During the retreat process, the contact rod 6 compresses the extrusion spring 7 toward the inside of the spring cavity 103, so the contact rod 6 will not affect the charging of the robot body 1.

[0044] It should be noted that a large number of touch sensors are densely distributed inside the sensing plate 3, which can achieve accurate recognition of touch points and position feedback. This is a very mature technology in the prior art, so it will not be described in detail.

[0045] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wheeled inspection robot that is easy to dock stably, comprising a robot body (1) mounted on one side of a charging pile body (2) and a passive socket (12) mounted at the rear end of the robot body (1), wherein an active plug (4) is fixedly connected to one end of the charging pile body (2) close to the robot body (1), and characterized in that: The rear end of the robot body (1) is connected to a transmission mechanism and a sensing mechanism, the output end of the transmission mechanism is connected to a moving component, the other end of the moving component is connected to a passive socket (12), the upper end of the charging pile body (2) close to the active plug (4) is fixedly connected to a sensing plate (3), the end of the sensing mechanism away from the robot body (1) is against the sensing plate (3), and the transmission mechanism and the sensing mechanism are both electrically connected to an internal controller of the robot body (1).

2. The wheeled inspection robot that is easy to dock stably according to claim 1, characterized in that: A storage cavity (101) and a moving opening (102) are provided at the rear end of the robot body (1); a transmission mechanism is located in the moving opening (102); one end of the moving component away from the passive socket (12) is located in the moving opening (102); and the other end of the moving component is located in the storage cavity (101).

3. The wheeled inspection robot that is easy to dock stably according to claim 2, characterized in that: The transmission mechanism includes a motor (8) and a screw rod (9), wherein the outer wall of the motor (8) is fixedly connected to one end of the inner wall of the moving opening (102), the output shaft of the motor (8) is fixedly connected to one end of the screw rod (9), the other end of the screw rod (9) passes through the moving component and is rotationally connected to the other end of the moving opening (102), and the motor (8) is electrically connected to the internal controller of the robot body (1).

4. The wheeled inspection robot that is easy to dock stably according to claim 3, characterized in that: The moving mechanism comprises a moving block (10) and a moving plate (11); the moving block (10) is sleeved and threadedly connected to the outer wall of the screw rod (9); the outer wall of the moving block (10) is slidably connected to the inner wall of the moving opening (102); the side of the moving block (10) away from the moving opening (102) is fixedly connected to one side of the moving plate (11); the other side of the moving plate (11) is fixedly connected to one end of the passive jack (12); and the outer wall of the moving plate (11) is slidably connected to the inner wall of the receiving cavity (101).

5. A wheeled inspection robot that facilitates stable docking according to claim 2, 3 or 4, characterized in that: A support opening (104) and a sliding opening (105) are respectively provided at both ends of the upper surface of the storage cavity (101); a shielding assembly is connected to the side of the storage cavity (101) away from the robot body (1); the inner walls of the support opening (104) and the sliding opening (105) are connected to a lifting mechanism; and the output end of the lifting mechanism is connected to the shielding assembly.

6. The wheeled inspection robot that is easy to dock stably according to claim 5, characterized in that: The lifting mechanism includes an electric push rod (13) and a sliding rod (14), the outer wall of the electric push rod (13) is fixedly connected to the inner wall of the support opening (104), the outer wall of one end of the sliding rod (14) is slidably connected to the inner wall of the sliding opening (105), the output end of the electric push rod (13) and the lower end of the sliding rod (14) respectively pass through the support opening (104) and the sliding opening (105), and are connected to the shielding component, and the electric push rod (13) is electrically connected to the internal controller of the robot body (1).

7. The wheeled inspection robot that is easy to dock stably according to claim 6, characterized in that: The shielding assembly comprises an accordion plate (5), a U-shaped support frame (15) and two support blocks (16); the upper surface of the accordion plate (5) is fixedly connected to the upper surface of the storage cavity (101); the bottom surface of the accordion plate (5) is fixedly connected to the upper surface of the U-shaped support frame (15); the bottom surface of the U-shaped support frame (15) is against the bottom surface of the storage cavity (101); the two support blocks (16) are respectively fixedly connected to the inner walls at both ends of the U-shaped support frame (15); and the upper surfaces of the two U-shaped support frames (15) are respectively fixedly connected to the output end of the electric push rod (13) and the lower end of the sliding rod (14).

8. A wheeled inspection robot that is easy to dock stably according to claims 1, 2, 3, 4, 6, and 7, characterized in that: A spring cavity (103) is provided at the rear end of the robot body (1), and an end of the sensing mechanism away from the sensing plate (3) is located in the spring cavity (103).

9. The wheeled inspection robot that is easy to dock stably according to claim 8, characterized in that: The induction mechanism comprises an extrusion spring (7) and a contact rod (6), one end of the extrusion spring (7) is fixedly connected to the inner wall of the spring cavity (103), the other end of the extrusion spring (7) is fixedly connected to one end of the contact rod (6), the other end of the contact rod (6) passes through the spring cavity (103) and abuts against the surface of the induction plate (3), and the contact rod (6) is electrically connected to an internal controller of the robot body (1).

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