CN212265882U - Device for exchanging battery without power interruption based on electric power tunnel inspection robot - Google Patents
Device for exchanging battery without power interruption based on electric power tunnel inspection robot Download PDFInfo
- Publication number
- CN212265882U CN212265882U CN202021235440.2U CN202021235440U CN212265882U CN 212265882 U CN212265882 U CN 212265882U CN 202021235440 U CN202021235440 U CN 202021235440U CN 212265882 U CN212265882 U CN 212265882U
- Authority
- CN
- China
- Prior art keywords
- battery
- robot
- gear
- horizontal
- vertical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a device for replacing batteries based on a power tunnel inspection robot without power interruption, wherein a transverse telescopic rod and a longitudinal telescopic rod are arranged on a battery replacement control device of the device; the transverse telescopic rod is fixedly connected with the battery supporting arm, a forward battery fixing lock rod and a backward battery fixing lock rod are arranged on the battery supporting arm, and the battery cabin is clamped on the battery supporting arm; the battery charging plate is fixedly connected with the longitudinal telescopic rod, a charging plate electrode is arranged on the battery charging plate, the length of the charging plate electrode is consistent with that of the battery lifting arm, and the length is at least the length of the two battery bins. The utility model provides a tunnel patrol and examine robot charging efficiency in the motion low and the off-line problem of robot outage in the battery replacement process.
Description
Technical Field
The utility model belongs to the technical field of utility tunnel and cable tunnel's operation monitoring and specifically relates to a device of not cutting off power supply and trading battery based on robot is patrolled and examined in tunnel.
Background
With the development of urban economy, underground cable channel resources are more and more deficient, the construction requirements of power cable lines are gradually enlarged, and cable tunnels gradually replace the traditional cable laying mode. Due to the characteristics of sealing property, long distance, complex environment, multiple pipe networks and the like of the underground cable tunnel, the monitoring requirement on the cable tunnel is greatly improved. The conventional personnel inspection mode is changed into an online real-time monitoring mode, along with the development of the robot technology, the application of the tunnel inspection robot is more and more emphasized, the mobile inspection mode is more flexible and can quickly find problems, and the mobile inspection mode is accepted by the market; due to the environmental conditions of the electric power tunnel or the pipe gallery, the rail type inspection robot is popularized, the endurance mileage of the robot is also a focus of attention, and most of the existing rail type inspection robots adopt a fixed-point charging method to solve the problem of the endurance mileage of the robot. Charging piles are generally evenly distributed in a tunnel, and the robot autonomously charges when detecting low electric quantity, so that the problem of endurance mileage is solved, but the efficiency is low, the charging time is generally more than 2 hours, the robot is not controlled by an external instruction when the electric quantity is low, the instruction can be responded after charging operation is carried out, some emergency situations are likely to be impossible to be processed in time, devices and methods for replacing batteries are provided by some manufacturers, most of the devices for replacing batteries provided by the manufacturers are full batteries after the batteries of the robot body are taken out, and the problem of endurance of the robot can be solved, however, in the battery replacement process, the robot is in an off-line state due to the fact that no power supply battery is arranged, the state of the robot cannot be known on the system platform side, the robot cannot be known when a problem occurs, and certain hidden dangers exist in the inspection process.
Disclosure of Invention
Utility model purpose:
the utility model provides a device of not cutting off power supply and trading battery based on robot is patrolled and examined in tunnel, its aim at solve the tunnel and patrol and examine the robot charging efficiency in the motion low and change the problem of in-process robot outage off-line at the battery.
The technical scheme is as follows:
a device for replacing batteries of an inspection robot based on an electric power tunnel without power interruption is characterized in that a transverse telescopic rod and a longitudinal telescopic rod are arranged on a battery replacement control device of the device; the transverse telescopic rod is fixedly connected with the battery supporting arm, a forward battery fixing lock rod and a backward battery fixing lock rod are arranged on the battery supporting arm, and the battery cabin is clamped on the battery supporting arm; the battery charging plate is fixedly connected with the longitudinal telescopic rod, a charging plate electrode is arranged on the battery charging plate, the length of the charging plate electrode is consistent with that of the battery lifting arm, and the length is at least the length of the two battery bins.
Trade power source and the management module line connection that charges that sets up in the electric control device, the management module that charges respectively with the positive negative pole of charging panel electrode, trade electric operating module line connection, trade electric operating module respectively with wireless communication module, infrared module, horizontal flexible subassembly, vertical flexible subassembly and magnetism inhale the locking lever line connection, magnetism inhales the locking lever and sets up respectively in the inside both sides of battery support arm, magnetism inhales the locking lever and cup joints with preceding fixed locking lever of battery and the fixed locking lever of back battery respectively, horizontal flexible subassembly is connected with horizontal telescopic link, vertical flexible subassembly is connected with vertical telescopic link.
The longitudinal telescopic assembly consists of a longitudinal telescopic control motor, a first gear, a second gear, a longitudinal screw rod and a longitudinal telescopic rod sleeve, wherein the longitudinal telescopic control motor is fixedly connected with the first gear, the first gear is meshed with the second gear, the second gear is fixedly connected with the longitudinal screw rod, the longitudinal screw rod is in threaded connection with the longitudinal telescopic rod sleeve, and the longitudinal telescopic rod sleeve is fixedly arranged in the longitudinal telescopic rod.
The transverse telescopic assembly comprises a transverse telescopic control motor, a third gear, a fourth gear, a transverse lead screw and a transverse telescopic sleeve, the transverse telescopic control motor is fixedly connected with the third gear, the third gear is meshed with the fourth gear, the fourth gear is fixedly connected with the transverse lead screw, the transverse lead screw is in threaded connection with the transverse telescopic sleeve, and the transverse telescopic sleeve is fixedly arranged in the transverse telescopic rod.
The infrared module is an infrared diffuse scattering probe and is arranged on two sides of the battery replacement control device.
The battery compartment is internally provided with a battery body, the top end of the battery compartment is provided with a transverse positioning groove and positive and negative electrodes of the two groups of batteries, the battery body is respectively connected with the positive and negative electrodes of the two groups of batteries, one side of the battery compartment is provided with a longitudinal positioning groove, and the other side of the battery compartment is provided with a battery replacement positioning groove.
The longitudinal positioning groove can be clamped with an electromagnetic lock rod of the robot, and positive and negative electrodes of the battery are in contact with a power supply electrode of the robot.
The beneficial effects and advantages are that:
1. the utility model can improve the endurance mileage of the inspection robot, and is suitable for the tunnel or pipe gallery operating in long distance;
2. the utility model can complete the replacement of the battery in the moving process, and is fast and efficient;
3. the utility model discloses can ensure to accomplish the change of battery at the in-process of not cutting off the power supply, make the robot always online, ensure the safe and reliable operation of robot.
Drawings
FIG. 1 is a structural view of a battery replacing device;
FIG. 2 is a side view of the interior of the battery replacement control device;
FIG. 3 is a top view of a robotic battery compartment structure;
FIG. 4 is a front view of a robotic battery compartment structure;
FIG. 5 is a side view of a robotic battery compartment structure;
FIG. 6 is a structural configuration diagram of a battery compartment and a robot;
FIG. 7 is a side view of the robot;
FIG. 8 is a flow chart of battery replacement;
the figure is marked with: 101. a battery replacement control device 102, a transverse telescopic rod 103, a battery supporting arm 104, a front battery fixing lock rod 105, a rear battery fixing lock rod 106, a longitudinal telescopic rod 107, a battery charging plate 108, a charging plate electrode 201, a battery bin 202, a robot 301, a first positive electrode 302, a second positive electrode 303, a first negative electrode 304, a second negative electrode 305, a transverse positioning groove 306, a battery replacement positioning groove 307, a longitudinal positioning groove 401, an electromagnetic lock rod 402, a robot power supply electrode 501, a power interface 502, a charging management module 503, a wireless communication module 504, a battery replacement operation module 505, a longitudinal telescopic control motor 506, a first gear 507, a second gear 508, a longitudinal telescopic rod 509, a longitudinal telescopic rod sleeve 510, an infrared module 511, a transverse telescopic control motor 512, a third gear, 513. a fourth gear 514, a transverse screw rod 515, a transverse telescopic sleeve 516 and a magnetic locking rod.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The utility model provides a device of battery is traded in not cutting off power supply based on robot is patrolled and examined in tunnel. Trade the electric installation for short, the utility model discloses the structure of the battery to the robot designs to the battery compartment of robot has designed, jointly with trade the process that the uninterrupted power of electric installation completion robot changed the battery. But the control system of robot is current control system, the utility model discloses a method need combine current control system to realize, but current control system is not the utility model discloses an improve the department, the utility model discloses only embody and trade the electric installation, and the realization process of device.
When the robot moves to the battery replacing device, a battery replacing operation instruction is sent to the battery replacing device, the battery replacing device can place a full-charge battery bin to be replaced at the motion track of the robot in advance, a telescopic link mechanism (a transverse telescopic component) is used for placing a battery in front of the robot, the robot can open a battery fixing lock pin of the robot, so that the battery to be charged is in a replaceable state, when the robot moves to the battery replacing device, the battery replacing device can fall down a forward battery fixing lock rod used for fixing the battery on the battery replacing device, so that the battery replacing device and the battery bin of the robot can be effectively combined, a contact of the battery bin in the robot is connected with a battery electrode by adopting a sliding contact or a strip-shaped metal copper sheet, the contact penetrates through the whole battery bin of the robot, and the full-charge battery bin in front pushes the battery bin of the robot body backwards in the forward movement process of the robot, in the process of changing, the battery compartment that full charge and the battery compartment that needs to be changed are in on the battery contact of robot jointly, be equivalent to two parallelly connected battery compartments, along with the whole battery compartment of robot forward movement changes the completion, trade the fixed locking lever of back battery of the device other end that falls, the robot can normally move ahead, trade the electricity process and accomplish, trade the device and can contract the battery compartment to the charging panel under, and fall the telescopic link of charging panel, the electrode of charging panel can contact with the electrode of the battery compartment of changing down, charge for the battery, prepare next battery replacement process.
The utility model provides a device that does not have a power failure and trades battery based on electric power tunnel inspection robot, is shown as the structure view that battery trades electric installation as figure 1, and the device includes trades electric controlling means 101, horizontal telescopic link 102, battery support lift arm 103, preceding battery fixed locking lever 104, backward battery fixed locking lever 105, vertical telescopic link 106, battery charging panel 107, charging panel electrode 108, and battery storehouse 201 is constituteed.
The battery replacement control device 101 of the device is provided with a transverse telescopic rod 102 and a longitudinal telescopic rod 106; the transverse telescopic rod 102 is fixedly connected with a battery lifting arm 103, a front battery fixing lock rod 104 and a rear battery fixing lock rod 105 are arranged on the battery lifting arm 103, and the front battery fixing lock rod 104 and the rear battery fixing lock rod 105 are structures capable of limiting the transverse (forward or backward) movement of the battery. The battery lifting arm 103 can be clamped with a plurality of battery bins 201; the longitudinal telescopic rod 106 is fixedly connected with a battery charging plate 107, a charging plate electrode 108 is arranged on the battery charging plate 107, the charging electrode 108 is a positive charging copper bar and a negative charging copper bar, the length of the charging plate electrode 108 is consistent with that of the battery lifting arm 103, and the length is at least the length of two battery bins 201. In this embodiment, the length of the charging plate electrode 108 and the length of the battery supporting arm 103 are the length that can satisfy 2 battery bins 201, when the battery replacement operation is performed, firstly, a fully charged battery bin 201 is placed on the battery supporting arm 103, and extends out through the transverse telescopic rod 102, the battery supporting arm 103 contacts with the robot 202, along with the forward movement of the robot 202, the battery bin 201 to be replaced slides onto the battery supporting arm 103, at this time, two battery bins (a battery bin to be charged and a fully charged battery bin) simultaneously exist on the battery supporting arm 103, when the fully charged battery bin 201 is completely replaced onto the robot 202, the robot 202 locks the fully charged battery bin 201, the robot 202 continues to move, at this time, only one battery bin 201 to be charged exists on the battery supporting arm 103, the longitudinal telescopic rod 106 falls down through the contraction of the transverse telescopic rod 102, the battery bin to be charged on the battery supporting arm 103 contacts with the charging plate electrode 108, the length of the charging plate electrode 108 is consistent with that of the battery holding arm 103, namely, no matter where the battery bin 201 is located on the battery holding arm 103, charging can be realized. That is, the length of the charging plate electrode 108 and the length of the battery holding arm 103 ensure that the charging is not affected by the change of the position of the battery after the battery replacement operation.
As shown in fig. 2, which is a schematic view of the inside of the battery swapping control device 101, a power interface 501 disposed in the battery swapping control device 101 is connected to a charging management module 502 by a wire, the power interface 501 is a 220v ac three-phase interface and is electrically connected to a 220v ac, the charging management module 502 is a charging management module of 220VAC to 12VDC, the charging management module 502 is respectively connected to the positive and negative electrodes of the charging plate electrode 108 and the battery swapping operation module 504 by a wire, the battery swapping operation module 504 is respectively connected to the wireless communication module 503, the infrared module 510, the transverse telescopic assembly, the longitudinal telescopic assembly and the magnetic latching rod 516 by a wire, the magnetic latching rod 516 is a magnetic-attracting type retractable rod, the magnetic latching rods 516 are respectively disposed on the front and rear inner sides of the battery lifting arm 103, one magnetic latching rod 516 is sleeved with the forward battery fixing latching rod 104, one magnetic latching rod 516 is sleeved with the backward battery fixing, lifting or falling of the forward battery fixing lock lever 104 and the backward battery fixing lock lever 105 is achieved. The transverse telescoping assembly is connected to the transverse telescoping rod 102 and the longitudinal telescoping assembly is connected to the longitudinal telescoping rod 106. The magnetically actuable latch rod 516 is commercially available from Guangzhou Sery electronics, Inc., model number: LY-01. The charge management module 502 may be purchased from Cian Huamai electronic technology, Inc. model HMC-J102.
When the robot contacts with the battery replacing device, the battery lifting arm 103 falls down to the battery fixing lock rod 104 under the control of the battery replacing operation module 504, and rises to the battery fixing lock rod 105; when the robot finishes battery replacement, the battery lifting arm 103 sequentially raises the forward battery fixing lock rod 104 and the backward battery fixing lock rod 105 under the control of the battery replacement operation module 504. At this time, the fully charged battery is electrically connected to the robot, and the battery compartment to be charged is engaged with the battery holding arm 103, and can be charged.
The wireless communication module 503 is a wireless communication module, and the communication mode thereof can be 2.4G wireless communication, Bluetooth communication, wifi communication, and communication interaction for battery replacement operation with the robot; the battery replacement operation module 504 is a core module of battery replacement operation, and is composed of a microcontroller, a motor driving circuit, a wireless communication interface circuit, a UART interface circuit and a digital input interface circuit, wherein the microcontroller is electrically connected with the motor driving circuit by adopting an H-bridge driving circuit, the microcontroller adopts stm32F103, and is connected with the H-bridge circuit by utilizing a timer complementary output interface of the microcontroller, the microcontroller and the wireless communication interface circuit can adopt an Ethernet interface circuit or UART, SPI, IIC and other interface circuits, the microcontroller is electrically connected with the UART interface circuit, the microcontroller is electrically connected with the digital input interface circuit, the motor driving circuit is respectively connected with a transverse telescopic component and a longitudinal telescopic component, the UART wireless communication interface circuit is connected with the wireless communication module 503, and the UART interface circuit is electrically connected with the charging management module 502, the digital input interface circuit is connected with two infrared modules 510. In this embodiment, the wireless communication module 503 is preferably wifi communication, and can be purchased from san zhen, san wang communications, inc, model number NPM 301Z.
The longitudinal telescopic assembly is any structure capable of moving the battery charging board 107 up and down, and is preferably a screw rod sleeve structure in the present application. The longitudinal telescopic assembly consists of a longitudinal telescopic control motor 505, a first gear 506, a second gear 507, a longitudinal screw 508 and a longitudinal telescopic rod sleeve 509, the longitudinal telescopic control motor 505 is in line connection with the battery replacement operation module 504, and the operation of the longitudinal telescopic control motor 505 is realized through a microcontroller in the battery replacement operation module 504. The longitudinal expansion control motor 505 is fixedly connected with a first gear 506, the first gear 506 is meshed with a second gear 507, the second gear 507 is fixedly connected with a longitudinal screw 508, the longitudinal screw 508 is in threaded connection with a longitudinal expansion rod sleeve 509, and the longitudinal expansion rod sleeve 509 is fixedly arranged (welded or in other existing methods) in the longitudinal expansion rod 106. The transmission structure formed by the first gear 506 and the second gear 507, the third gear 512 and the fourth gear 513 is any existing structure capable of realizing transmission, such as a worm gear and a worm and the like. The longitudinal expansion control motor 505 drives the first gear 506 to rotate, the first gear 506 rotates to drive the second gear 507 to rotate, the second gear 507 rotates to drive the longitudinal screw 508 to rotate, and the longitudinal screw 508 rotates to drive the longitudinal expansion rod sleeve 509 to axially move along the longitudinal screw 508, i.e. to drive the longitudinal expansion rod 106 to expand and contract.
The transverse telescopic assembly consists of a transverse telescopic control motor 511, a third gear 512, a fourth gear 513, a transverse screw 514 and a transverse telescopic sleeve 515, the transverse telescopic control motor 511 is in line connection with the battery replacement operation module 504, and the transverse telescopic control motor 511 runs through a microcontroller in the battery replacement operation module 504. The transverse expansion control motor 511 is fixedly connected with a third gear 512, the third gear 512 is meshed with a fourth gear 513, the fourth gear 513 is fixedly connected with a transverse screw rod 514, the transverse screw rod 514 is in threaded connection with a transverse expansion sleeve 515, and the transverse expansion sleeve 515 is fixedly arranged (welded or in other existing methods) in the transverse expansion rod 102. The transverse telescopic control motor 511 drives the third gear 512 to rotate, the third gear 512 rotates to drive the fourth gear 513 to rotate, the fourth gear 513 rotates to drive the transverse screw rod 514 to rotate, and the transverse screw rod 514 rotates to drive the transverse telescopic sleeve 515 to move along the axial direction of the transverse screw rod 514, namely, the transverse telescopic rod 102 is driven to move in a telescopic manner.
The longitudinal expansion control motor 505 and the lateral expansion control motor 511 may be stepping motors or dc brushless motors.
The infrared modules 510 are infrared diffuse scattering probes, and the two infrared modules 510 are disposed on two sides inside the battery replacement control device 101. The infrared module 510 is configured to monitor a position of the robot, and mainly determine whether the robot reaches a predetermined position before a battery replacement operation and whether the robot reaches the predetermined position after the battery replacement operation is completed.
As shown in fig. 3-5, which are structural views of the robot battery compartment, the battery compartment 201 includes a battery body, a transverse positioning slot 305 and two sets of positive and negative electrodes (a first positive electrode 301, a second positive electrode 302, a first negative electrode 303, and a second negative electrode 304) of batteries are disposed at the top end of the battery compartment 201, the two sets of positive and negative electrodes of batteries are arranged at two ends of the top of the battery compartment 201, the positive electrodes are in a single positive electrode column and the negative electrodes are in a single negative electrode column, two lines of the positive electrode of the battery body are respectively connected to the first positive electrode 301 and the second positive electrode 302, and two lines of the negative electrode of the battery body are respectively connected. When the battery compartment 201 is electrically connected with the robot 202, the first positive electrode 301 and the second positive electrode 302 are in contact with (electrically connected with) the positive electrode of the robot power supply electrode 402, and the first negative electrode 303 and the second negative electrode 304 are in contact with the negative electrode of the robot power supply electrode 402; when the battery cartridge 201 is charged, the first positive electrode 301 and the second positive electrode 302 are in contact with the positive electrode of the charge plate electrode 108, and the first negative electrode 303 and the second negative electrode 304 are in contact with the positive electrode of the charge plate electrode 108.
The transverse positioning groove 305 is positioned at the center of the top end of the battery compartment 201, the transverse positioning groove 305 is used for being matched with the battery positioning lock rod 401 of the robot 202, so that the robot 202 can fix the battery compartment 201 and limit the transverse movement of the battery compartment 201, one side of the battery compartment 201 is provided with a longitudinal positioning groove 307, the longitudinal positioning groove 307 is a T-shaped groove, the longitudinal positioning groove 307 is used for being butted with the robot 202, when changing the battery operation, along with the removal of robot 202, the longitudinal positioning groove 307 of battery compartment 201 can be pegged graft on robot 202, play the location, fixed effect, prevent that the robot from breaking away from at the motion in-process battery, the opposite side of battery compartment 201 is provided with trades electric positioning groove 306, it is T type groove to trade electric positioning groove 306, mainly cooperate with the battery support arm 103 that trades electric device, battery support arm 103 joint is in trading electric positioning groove 306, and battery compartment 201 can move along battery support arm 103.
As shown in fig. 6, the battery compartment 201 is combined with the robot 202, and the battery compartment 201 is located at a side surface of the robot 202 and forms a unified whole with the robot.
As shown in fig. 7, which is a side sectional view of the robot, the longitudinal positioning groove 307 can be clamped with an electromagnetic lock rod 401 of the robot 202, and the electromagnetic lock rod 401 for battery fixation is in a locked state as a default state, that is, the electromagnetic lock rod 401 for battery fixation is clamped into the longitudinal positioning groove 307, so as to realize the locking between the battery and the robot; when the robot is automatically opened before the battery replacement operation is performed, the electromagnetic lock rod 401 is lifted up to realize unlocking, so that the battery compartment 201 is in a state of being capable of moving laterally; the positive and negative electrodes of the battery are in contact with the robot power supply electrode 402, that is, the robot power supply electrode 402 is mechanically and electrically connected with the battery compartment 201, and the robot power supply electrode 402 is a positive and negative double-sliding contact wire or a copper bar and receives power supply of the battery.
A method for exchanging batteries of an inspection robot based on a power tunnel without power interruption comprises the steps that a robot 202 sends out a battery exchange instruction; preparing a battery replacement device; the battery replacement device judges whether the robot 202 reaches a preset position; the robot 202 is in butt joint with the battery replacement device to replace the battery; the battery replacement device judges whether the robot 202 is replaced; the robot 202 completes the battery replacement, and the battery replacement device charges the replaced battery.
The method for replacing the battery is described in detail below with reference to the structure of the device of the present invention, as shown in fig. 8, which is a detailed flow chart of the battery replacement,
firstly, the robot sends a battery replacement instruction;
preparing a battery replacement device: the battery charging plate 107 is lifted to prevent the positive and negative electrodes from contacting each other when the battery moves transversely to cause equipment damage, and then the battery replacement device extends out of the transverse telescopic arm 102 to wait for the robot to reach a preset position. At this time, the battery lifting arm 103 is already provided with a fully charged battery compartment 201, so that the fully charged battery compartment 201 is placed right in front of the motion track of the robot, and the battery can be replaced.
The battery replacement device judges whether the robot reaches a preset position; an infrared module 510 on the battery swapping device judges whether the robot reaches a preset position; the method of infrared module 510 determination is the existing method, and is not the improvement of the present invention. The infrared module 510 can be purchased from laser technology Limited, Huashang, of Shenzhen, manufacturer, model number: S-CGQ-10-30V-M18-PNP-1M.
The robot 202 is docked with the battery replacing device and the battery is replaced: when the robot reaches a preset position, a battery compartment to be charged on the robot 202 corresponds to a fully charged battery compartment on the battery holding arm 103, the robot 202 raises an electromagnetic lock rod 401 used for fixing a battery inside, at the moment, the battery compartment 201 to be charged of the robot 202 is in a state of being capable of laterally moving, the battery holding arm 103 of the battery replacing device falls down to the battery fixing lock rod 104, and after the battery holding arm 105 is raised, the battery holding arm 103 can be clamped into the battery replacing positioning groove 306 of the battery compartment 201 to be charged (at the moment, the robot is still in contact connection with the battery compartment 201 to be charged to supply power to the robot); the robot 202 will continue to move forward at this time, during the moving process, the two battery compartments 201 (to be charged and fully charged) will be located on the battery contact (robot power supply electrode 402) of the robot 202 together, which is equivalent to the parallel connection of the two battery compartments 201 (i.e. at this time, the first positive electrode 301 and the second negative electrode 304 of the battery compartment 201 to be charged are in contact connection with the robot, the second positive electrode 302 and the first negative electrode 303 of the fully charged battery compartment 201 are in contact connection with the robot, so as to implement the parallel connection of the two battery compartments and supply power to the robot together), and as the robot 202 moves forward, the battery compartment is replaced (at this time, the robot is in contact connection with the fully charged battery compartment 201, so as to supply power to the robot).
The infrared module 510 determines whether the battery replacement operation is completed, i.e., whether the battery compartment is replaced.
The robot 202 completes the battery replacement, and the battery replacement device charges the replaced battery: when the infrared module 510 judges that the replacement is completed, the robot 202 drops the electromagnetic lock rod 401 used for fixing the battery inside, the robot 202 fixes the fully charged battery bin 201, and then the robot 202 can normally run forward to perform inspection operation after dropping the battery fixing lock rod 105. The above processes realize that the robot system can not be powered off in the replacing process, the battery replacing operation is completed in the moving process of the robot in real time and on line, the problems that the robot is low in charging efficiency in motion and the robot is powered off and off-line in the battery replacing process are solved, and the reliability and the working efficiency of the robot are improved.
Then the battery replacing device controls the transverse telescopic assembly to contract the transverse telescopic arm 102 through the battery replacing operation module 504, and controls the longitudinal telescopic assembly to fall down on the charging plate 107 through the battery replacing operation module 504, so that an electrode of the battery bin 201 to be charged on the battery lifting arm 103 is correspondingly contacted with the charging electrode 108, the battery bin 201 to be charged is charged, and the uninterrupted replacing process of the battery is completed.
The utility model has the advantages of a device of track robot quick replacement battery can not cut off the power supply at the in-process robot system of change, and is real-time online, accomplishes the change operation of battery at the removal in-process of robot, has improved the reliability and the work efficiency of robot.
Claims (7)
1. The utility model provides a device that does not cut off power supply and trades battery based on electric power tunnel patrols and examines robot which characterized in that: a transverse telescopic rod (102) and a longitudinal telescopic rod (106) are arranged on a battery replacement control device (101) of the device; the transverse telescopic rod (102) is fixedly connected with a battery supporting arm (103), a forward battery fixing lock rod (104) and a backward battery fixing lock rod (105) are arranged on the battery supporting arm (103), and a battery bin (201) is clamped on the battery supporting arm (103); the battery charging plate (107) is fixedly connected with the longitudinal telescopic rod (106), a charging plate electrode (108) is arranged on the battery charging plate (107), the length of the charging plate electrode (108) is consistent with that of the battery lifting arm (103), and the length is at least the length of two battery bins (201).
2. The device for continuously changing the battery based on the electric power tunnel inspection robot according to claim 1, characterized in that: trade power source (501) and the management module of charging (502) line connection that sets up in electric control device (101), the management module of charging (502) respectively with the positive negative pole of charging panel electrode (108), trade electric operation module (504) line connection, trade electric operation module (504) respectively with wireless communication module (503), infrared module (510), horizontal flexible subassembly, vertical flexible subassembly and magnetism inhale locking lever (516) line connection, magnetism inhale locking lever (516) and set up respectively in the inside both sides of battery support lift arm (103), magnetism inhale locking lever (516) and cup joint with preceding fixed locking lever of battery (104) and backward fixed locking lever of battery (105) respectively, horizontal flexible subassembly is connected with horizontal telescopic link (102), vertical flexible subassembly is connected with vertical telescopic link (106).
3. The device for continuously changing the battery based on the electric power tunnel inspection robot according to claim 2, wherein: vertical flexible subassembly is by vertical flexible control motor (505), first gear (506), second gear (507), vertical lead screw (508), vertical telescopic link sleeve (509) is constituteed, vertical flexible control motor (505) first gear (506) of fixed connection, first gear (506) mesh with second gear (507) mutually, second gear (507) and vertical lead screw (508) fixed connection, vertical lead screw (508) and vertical telescopic link sleeve (509) threaded connection, vertical telescopic link sleeve (509) is fixed to be set up in vertical telescopic link (106).
4. The device for continuously changing the battery based on the electric power tunnel inspection robot according to claim 2, wherein: horizontal flexible subassembly is by horizontal flexible control motor (511), third gear (512), fourth gear (513), horizontal lead screw (514), horizontal telescopic sleeve (515) are constituteed, horizontal flexible control motor (511) fixed connection third gear (512), third gear (512) and fourth gear (513) mesh mutually, fourth gear (513) and horizontal lead screw (514) fixed connection, horizontal lead screw (514) and horizontal telescopic sleeve (515) threaded connection, horizontal telescopic sleeve (515) are fixed to be set up in horizontal telescopic link (102).
5. The device for continuously changing the battery based on the electric power tunnel inspection robot according to claim 2, wherein: the infrared module (510) is an infrared diffuse scattering probe, and the infrared module (510) is arranged on two sides of the battery replacement control device (101).
6. The device for continuously changing the battery based on the electric power tunnel inspection robot according to claim 1, characterized in that: be provided with battery body in battery compartment (201), battery compartment (201) top is provided with the positive and negative electrode of horizontal constant head tank (305) and two sets of batteries, and battery body is connected with the positive and negative electrode of two sets of batteries respectively, and one side of battery compartment (201) is provided with vertical constant head tank (307), and the opposite side of battery compartment (201) is provided with trades electric constant head tank (306).
7. The device for continuously changing the battery based on the electric power tunnel inspection robot according to claim 6, wherein: the longitudinal positioning groove (307) can be clamped with an electromagnetic lock rod (401) of the robot (202), and positive and negative electrodes of the battery are in contact with a power supply electrode (402) of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021235440.2U CN212265882U (en) | 2020-06-30 | 2020-06-30 | Device for exchanging battery without power interruption based on electric power tunnel inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021235440.2U CN212265882U (en) | 2020-06-30 | 2020-06-30 | Device for exchanging battery without power interruption based on electric power tunnel inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212265882U true CN212265882U (en) | 2021-01-01 |
Family
ID=73881544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021235440.2U Active CN212265882U (en) | 2020-06-30 | 2020-06-30 | Device for exchanging battery without power interruption based on electric power tunnel inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212265882U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645109A (en) * | 2020-06-30 | 2020-09-11 | 沈阳达能电安全高新产业技术研究院有限公司 | Device and method for exchanging battery without power interruption based on electric power tunnel inspection robot |
-
2020
- 2020-06-30 CN CN202021235440.2U patent/CN212265882U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645109A (en) * | 2020-06-30 | 2020-09-11 | 沈阳达能电安全高新产业技术研究院有限公司 | Device and method for exchanging battery without power interruption based on electric power tunnel inspection robot |
| CN111645109B (en) * | 2020-06-30 | 2023-09-22 | 沈阳达能电安全高新产业技术研究院有限公司 | Device and method for changing battery without power outage based on power tunnel inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2844104C (en) | All electric powered mobile jumbo drill machine | |
| CN111645109A (en) | Device and method for exchanging battery without power interruption based on electric power tunnel inspection robot | |
| CN212265882U (en) | Device for exchanging battery without power interruption based on electric power tunnel inspection robot | |
| CN103660956B (en) | The transportation system of coal mining | |
| CN107634574B (en) | Automatically controlled mechanical drive cartridge clip formula dry battery is from switching power supply unit | |
| CN204870597U (en) | Automatic platform of supplying power of free -standing AGV | |
| CN108146282A (en) | A kind of automatic charging stake | |
| CN113141044A (en) | Automatic charging system of track robot | |
| CN111181067B (en) | Track system of line inspection robot for overhead transmission line | |
| CN216684107U (en) | Automatic charging device of AGV dolly | |
| CN111477980A (en) | Automatic battery replacement device and use method thereof | |
| CN216314805U (en) | Rechargeable self-propelled driving feed system | |
| CN105515113B (en) | A kind of mobile charging system and its control method | |
| CN210957843U (en) | Charging system of power transmission line inspection robot | |
| CN208528374U (en) | Electrodes in mine hot stove shell robot welding system | |
| CN114041431A (en) | Rechargeable self-propelled driving feed system | |
| CN219095134U (en) | DC power supply top-hanging type substation inspection robot | |
| CN207952993U (en) | A kind of turntable switching library | |
| CN209992864U (en) | Photovoltaic industry AGV electromechanical control system and photovoltaic industry AGV | |
| CN102152731A (en) | Automatic energy continuation device for vehicle driven by storage battery and control method | |
| CN216888364U (en) | Self-moving charging chassis and intelligent garbage can | |
| CN108436349A (en) | Electrodes in mine hot stove shell robot welding system | |
| CN219591951U (en) | Power supply device for circulating beam field movable pedestal | |
| CN217787324U (en) | Battery PACK electrical test frock | |
| CN219601640U (en) | Be applied to intelligent charging system of unmanned aerial vehicle of forestry safety monitoring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |