Rail type inspection robot end transmission power generation mechanism

Abstract

The application relates to a track type inspection robot terminal transmission power generation mechanism in the field of power industry operation and maintenance, which comprises a hoisting frame, a terminal motor arranged on the hoisting frame, an output end of the terminal motor connected with a motor end driving wheel, a driven wheel arranged below the hoisting frame, the motor end driving wheel and the driven wheel being synchronous through a transmission belt, and a tooth surface arranged on the outer side of the transmission belt; a robot end driving wheel frame is arranged on the hoisting track on the robot, the robot end driving wheel is driven through a driving motor, the robot is controlled to move along the hoisting track, the transmission wheel and the generator are coaxial, the driving motor drives the robot end driving wheel to move to the terminal end of the hoisting track, the transmission wheel is engaged with the tooth surface on the outer side of the transmission belt, the terminal motor rotates, and the whole power generation mechanism is driven to rotate through the motor end driving wheel. Through the terminal power generation method, electric arc sparks caused by traditional contact type charging can be effectively avoided, and the robot can be normally charged in some special dangerous scenes.

Description

Technical Field

[0001] This invention relates to technology in the field of power industry operation and maintenance, specifically a track-type inspection robot end-effector power generation mechanism. Background Technology

[0002] With the rapid development of intelligent operation and maintenance in power systems, track-mounted inspection robots are widely used in substations, transmission lines, and other scenarios due to their stability and efficiency. However, their continuous operation capability is limited by the battery life of their built-in lithium batteries. Current mainstream charging methods, such as contact charging piles or wireless charging stations, typically require the robot to pause its inspection task, precisely dock at a fixed charging point, and even occupy additional limited space to install charging facilities. This not only reduces inspection efficiency and continuity, but also increases system complexity and cost, and is difficult to implement in narrow or complex track layouts. Especially in the end-of-track area where the robot needs to frequently travel back and forth to perform tasks, there is a lack of a seamlessly integrated, efficient, and reliable charging solution. Therefore, there is an urgent need to develop an end-of-track charging device that can be deeply integrated with the track system, enabling the robot to "charge while moving / on the spot" without affecting its positioning stability, so as to completely solve the battery life bottleneck of inspection robots and improve the level of unmanned operation and maintenance. The track inspection robot end-of-track transmission power generation device of this invention is proposed to address this core need. Summary of the Invention

[0003] This invention provides a main and auxiliary track switching and scheduling system for track robots, aiming to achieve efficient inspection of long-distance tracks.

[0004] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: An end-effector generator mechanism for a track-mounted inspection robot includes: The drive component includes a lifting frame, on which an end motor is mounted; The transmission component includes a motor-end drive wheel and a driven wheel. The output end of the end motor is connected to the motor-end drive wheel. The driven wheel is located below the lifting frame. The motor-end drive wheel and the driven wheel are synchronized through a transmission belt. The outer side of the transmission belt is provided with a toothed surface. The hoisting track is a circular track with an I-shaped cross-section. The robot is equipped with a robot end drive wheel mounted on the hoisting track. The robot end drive wheel is driven by a drive motor to control the robot to move along the hoisting track. The power generation mechanism includes a transmission wheel and a generator, which are coaxial. The drive motor drives the robot end drive wheel to move to the end of the hoisting track. The transmission wheel meshes with the tooth surface on the outer side of the transmission belt, and the end motor rotates, which drives the entire power generation mechanism to rotate through the motor end drive wheel.

[0005] Further technology of the present invention: Preferably, the robot device is powered by a lithium battery, the generator is powered by the lithium battery, and the lithium battery powers the drive motor.

[0006] Preferably, an end-effector generator mechanism for a track-mounted inspection robot further includes a control system and sensors. The hoisting track below the end motor has a hollow center, and the sensors point to the hollow center of the hoisting track. The feedback signal generated by the sensor's signal acquisition module is converted into a control signal suitable for communication transmission. The control system receives the control signal to control the drive motor to turn off and the end motor to turn on.

[0007] Preferably, after the lithium battery is fully charged, it sends a power signal to the control system, and the control system controls the drive motor to start and the end motor to stop according to the lithium battery power signal.

[0008] The beneficial effects of this invention are: (1) By using end-point power generation, the arcing and sparks caused by traditional contact charging can be effectively avoided, and the robot can be charged normally in some special dangerous scenarios. (2) Compared with wireless charging, this method does not require precise robot positioning and is stable and reliable through mechanical transmission. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the end-effector power generation mechanism of a track-type inspection robot according to the present invention. Figure 2 This is a schematic diagram of the track-changing hanger structure of the present invention; In the diagram, 1: hoisting frame, 2: end motor, 3: motor end drive wheel, 4: driven wheel, 5: transmission belt, 6: hoisting track, 7: robot, 8: robot end drive wheel, 9: transmission wheel, 10: generator, 11: lithium battery, 12: cutout. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0012] like Figure 1-2 This embodiment provides an end-effector power generation mechanism for a track-type inspection robot, comprising: The drive component includes a lifting frame 1, on which an end motor 2 is mounted; The transmission component includes a motor-driven wheel 3 and a driven wheel 4. The output end of the end motor 2 is connected to the motor-driven wheel 3. The driven wheel 4 is located below the hoisting frame 1. The motor-driven wheel 3 and the driven wheel 4 are synchronized through a transmission belt 5. The outer side of the transmission belt 5 is provided with a toothed surface. The hoisting track 6 is a circular track with an I-shaped cross-section. The robot 7 is equipped with a robot end drive wheel 8 mounted on the hoisting track 6. The robot end drive wheel 8 is driven by a drive motor to control the robot 7 to move along the hoisting track 6. The generator 10 includes a transmission wheel 9 and a generator 10, which are coaxial. The drive motor drives the robot end drive wheel 8 to move to the end of the hoisting track 6 (i.e., the track below the end motor 2). The transmission wheel 9 meshes with the tooth surface on the outer side of the transmission belt 5, and the end motor 2 rotates, which drives the entire generator 10 to rotate through the motor end drive wheel 3.

[0013] The robot 7 has a lithium battery 11 inside, the generator 10 powers the lithium battery 11, and the lithium battery 11 powers the drive motor.

[0014] A track-type inspection robot 7 with an end-drive generator 10 structure also includes a control system and sensors. The hoisting track 6 below the end motor 2 has a hollowed-out section 12 in the middle. The sensor points to the hollowed-out section 12 in the middle of the hoisting track 6. The feedback signal generated by the sensor's signal acquisition module is converted into a control signal suitable for communication transmission. The control system receives the control signal to control the drive motor to turn off and the end motor 2 to turn on.

[0015] Once the lithium battery 11 is fully charged, it sends a power signal to the control system. The control system then controls the drive motor to start and the end motor 2 to stop based on the power signal from the lithium battery 11.

[0016] The lithium battery 11 is equipped with a judgment module and a signal transmission module; The judgment module determines whether the remaining power value is higher than or equal to 100%; when it determines whether the remaining power value is higher than or equal to 100%, it generates a signal. The signal transmission module is used to transmit optical signals, receive optical signals through dual PD receiver tubes, and convert the optical signals into electrical signals, amplify them, and then transmit them to the control system.

[0017] When robot 7 moves to the power generation device at the end of the track, the track has a hollowed-out section 12. At this time, the transmission wheel 9 meshes with the transmission belt 5. The infrared reflective sensor provides feedback signals to control the drive motor to turn off and the end motor 2 to turn on. The end motor 2 turns on and rotates, driving the transmission wheel 9 to rotate through the transmission components, thereby driving the generator 10 to work.

[0018] Once the lithium battery 11 is fully charged, it sends a power signal to the control system. The control system then controls the drive motor to turn on and the end motor 2 to turn off based on the power signal from the lithium battery 11. The robot 7 then moves along the hoisting track 6 via the drive motor.

[0019] It should be noted that the robot 7 uses a lithium battery 11, which allows for adjustment of the end motor 2's speed according to the constant current and constant voltage charging requirements, ensuring stable charging. This makes the robot 7 highly practical in intelligent inspection processes within power projects. By adjusting the motor speed to regulate the charging voltage and switch between constant current and constant voltage, the lifespan of the battery cells can be effectively extended.

[0020] Terminology Explanation: Smart Inspection: A technology based on advanced technologies, such as the Internet of Things, big data, and artificial intelligence, to monitor and analyze equipment and the environment in real time, thereby achieving remote inspection, automated inspection, and intelligent inspection.

[0021] In this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. A track-mounted inspection robot end-effector power generation mechanism, characterized in that, include: The drive component includes a lifting frame, on which an end motor is mounted; The transmission component includes a motor-end drive wheel and a driven wheel. The output end of the end motor is connected to the motor-end drive wheel. The driven wheel is located below the lifting frame. The motor-end drive wheel and the driven wheel are synchronized through a transmission belt. The outer side of the transmission belt is provided with a toothed surface. The hoisting track is a circular track with an I-shaped cross-section. The robot is equipped with a robot end drive wheel mounted on the hoisting track. The robot end drive wheel is driven by a drive motor to control the robot to move along the hoisting track. The power generation mechanism includes a transmission wheel and a generator, which are coaxial. The drive motor drives the robot end drive wheel to move to the end of the hoisting track. The transmission wheel meshes with the tooth surface on the outer side of the transmission belt, and the end motor rotates, which drives the entire power generation mechanism to rotate through the motor end drive wheel.

2. The end-effector power generation mechanism for a track-mounted inspection robot according to claim 1, characterized in that, The robot device is powered by a lithium battery, which in turn powers the generator and the drive motor.

3. The end-effector power generation mechanism for a track-type inspection robot according to claim 2, characterized in that, It also includes a control system and sensors. The hoisting track below the end motor has a hollow center. The sensor points to the hollow center of the hoisting track. The feedback signal generated by the sensor's signal acquisition module is converted into a control signal suitable for communication transmission. The control system receives the control signal to control the drive motor to turn off and the end motor to turn on.

4. The end-effector power generation mechanism for a track-type inspection robot according to claim 3, characterized in that, Once the lithium battery is fully charged, it sends a power signal to the control system. The control system then controls the drive motor to start and the end motor to stop based on the lithium battery power signal.

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