CN117162859B - An automatic charging and replacing device for a rail-mounted inspection robot - Google Patents

Abstract

The invention relates to an automatic charging and replacing device for a rail-mounted inspection robot, and belongs to the technical field of electric energy storage equipment. It includes a charging and swapping device workbench, a jacking component, a rotary switching component, three battery charging compartment components, a sensor component and a telescopic fork component. By connecting the battery limiting structure above the upper plate of the telescopic fork assembly, and then driving the telescopic fork assembly to move and rotate through the jacking component and the rotation switching component, the position of the battery limiting structure is adjusted to ensure the battery limiting structure Position accuracy when picking up and putting down the battery of a rail-mounted inspection robot. Through the cooperation of the jacking component and the rotating switching component, the telescopic fork component can be used to fully automate the battery picking and placing process of the rail-mounted inspection robot, reducing the labor intensity of manual battery replacement, shortening the battery replacement time, and reducing safety risks. , improving the work efficiency and utilization rate of the rail-mounted inspection robot.

Description

An automatic charging and replacing device for a rail-mounted inspection robot

Technical field

The invention relates to the technical field of electric energy storage equipment, and in particular to an automatic charging and replacing device for a rail-mounted inspection robot.

Background technique

In underground environment work, the commonly used belt conveyors have the characteristics of long transmission distance, large workload, and are suitable for harsh working environments. However, the long-term and high-intensity work of belt conveyors has great hidden dangers of accidents. Various types of failures occur. Once the belt conveyor fails, it will not only affect the production efficiency of the coal mine and cause huge economic losses, but also threaten the personal safety of the staff. The detection method of the rail-mounted inspection robot is more accurate and it has strong environmental adaptability. It has gradually become a common inspection method for belt conveyors. Compared with traditional manual inspection, the rail-mounted inspection robot can reduce the number of employees and reduce costs. Safety risks, improve production efficiency, and save production costs. Although intelligent inspection has more convenient monitoring and greater significance for belt conveyors than traditional manual inspection, the energy consumption problem of the rail-mounted inspection robot restricts its further development and improvement. Battery The battery life determines the continuous operation time of the rail-mounted inspection robot, which in turn affects the economic benefits of coal mining.

Currently, the traditional wired charging method is mainly used underground to replenish electric energy for the rail-mounted inspection robot. When the battery in the rail-mounted inspection robot is exhausted, the wire transmission method is used to directly charge the battery. Generally, the charging time of the battery is 3~4 hours, while the rail-mounted inspection robot needs to wait for the battery to be fully charged before it can be put back into use. Due to the long charging time, this charging method not only interrupts the work process, wastes the usage of the rail-mounted inspection robot, and delays the work progress, but also has certain safety hazards due to environmental factors. In addition, the battery is installed inside the rail-mounted inspection robot and is fixed and cannot be replaced freely. If the battery capacity decreases, the battery must be replaced manually by professional technicians. The technician needs to remove the empty battery from the rail-mounted inspection robot. Remove the battery from the inspection robot and replace it with a full-capacity battery and install it on the rail-mounted inspection robot. The replaced battery also needs to be charged manually. This method increases manpower consumption, and the replacement process is cumbersome and takes a long time. , and also reduces the automation level of the rail-mounted inspection robot.

Contents of the invention

In order to solve the above technical problems, the present invention provides an automatic charging and replacing device for a rail-mounted inspection robot that can automatically replace batteries. The technical solution of the present invention is as follows:

The invention provides an automatic charging and swapping device for a rail-mounted inspection robot, which includes a charging and swapping device workbench, a jacking assembly, a rotary switching assembly, three battery charging bin assemblies, a sensor assembly and a telescopic fork assembly. The jacking assembly is installed inside the workbench of the charging and exchanging device, the rotation switching assembly is connected to the jacking assembly, and the three battery charging compartment assemblies are installed on the workbench of the charging and exchanging device. At the top, the sensor assembly is installed on the jacking assembly and the telescopic fork assembly, and the telescopic fork assembly is installed on the rotary switching assembly; the jacking assembly is used to drive the rotary switching assembly To move vertically up and down, the rotation switching assembly is used to drive the telescopic fork assembly to rotate horizontally, and the battery charging compartment assembly is used to store the battery of the rail-mounted inspection robot and charge the battery of the rail-mounted inspection robot. The battery is charged, and the sensor assembly is used to detect the lifting condition of the jacking assembly and detect the distance between the battery position of the telescopic fork assembly and the rail-mounted inspection robot; the telescopic fork assembly is used for For picking up and placing the battery of the rail-mounted inspection robot; the telescopic fork assembly includes an upper plate, a middle plate, a lower plate, a battery limiting structure and a driving structure. One end of the upper plate and one end of the middle plate Sliding connection, the other end of the middle layer board is slidingly connected to one end of the lower layer board, the bottom of the lower layer board is connected to the rotation switching component, the driving structure is installed inside the lower layer board, and the battery The limiting structure is an L-shaped structure. The vertical part of the battery limiting structure is vertically installed at the other end of the top of the upper plate. The transverse part of the battery limiting structure is parallel to the upper plate; the driving structure Used to drive the upper plate and the middle plate to slide.

Optionally, each of the battery charging compartment components includes a battery placement platform, two limit hooks, charging spring pins, two return springs, two limit hook bases and a plurality of screws. The front of the battery placement platform Openings are provided on the sides and top, and the two limit hooks are respectively installed on the left and right inner walls of the battery placement platform. The two limit hook bases are connected to the two limit hooks through a plurality of screws. One end of the limit hook without a hook is connected to the dorsal side, one end of the two return springs is connected to the left inner wall and the right inner wall of the battery placement platform, and the other end of the two return springs is connected to the two One end of the hook is connected to the back side of the limit hook, and the charging spring pin is installed on the rear inner wall of the battery placement platform; the bottom of the battery placement platform is installed on the charging and swapping device workbench. .

Optionally, a U-shaped guide rail is connected to the inside of the battery placement platform. The outer walls on both sides of the U-shaped guide rail fit inside the two sides of the battery placement platform. The top of the U-shaped guide rail is lower than the two sides. The installation position of the limit hook is used to provide guidance for the battery and assist in fixing the battery.

Optionally, the lifting assembly includes a lifting bracket, eight flange-type guide shaft supports, a lifting support bottom plate, an electric cylinder, four lifting shafts and four axial sliding sleeves. The electric cylinder is installed on At the bottom of the lifting bracket, the lifting piston rod of the electric cylinder is connected to the lifting support bottom plate, and the four lifting shafts are installed in pairs on the inner walls of both sides of the lifting bracket. The axial sliding sleeves are respectively slidingly connected to the outer peripheries of the four lifting shafts, the four corners of the lifting support bottom plate are respectively connected to the four axial sliding sleeves, and the eight flange-type guide shaft supports are respectively Installed at both ends of the four lifting shafts, the eight flange-type guide shaft supports are fixed on the top and bottom of the inner walls on both sides of the lifting bracket; the lifting bracket is connected to the charging and replacing On the electrical device workbench, the rotary switching assembly is connected to the lifting support base plate.

Optionally, the rotary switching assembly includes a rotary chassis, a rotary chassis flange cover, a rotary chassis worm gear box, a worm gear box base, an electrical box and a motor. The rotary chassis is located above the rotary chassis flange cover. The chassis flange cover is installed on the top of the rotating chassis worm gear box, and the bottom of the rotating chassis worm gear box is connected to the top of the worm gear box base. The electrical box and the motor are both installed on the rotating chassis worm gear box. On the outer side; the rotating chassis passes through the top of the charging and swapping device workbench, and the worm gear box base is installed on the lifting support bottom plate.

Optionally, the rotary switching assembly further includes a worm gear, a worm, a worm gear shaft, a worm gear shaft upper flange oil seal, a worm gear shaft upper flange cover, a first bearing, a second bearing, a worm gear shaft lower flange and a third bearing, The worm gear, worm, worm gear shaft, worm gear shaft upper flange oil seal, worm gear shaft upper flange cover, first bearing, second bearing, worm gear shaft lower flange and third bearing are all located inside the rotating chassis worm gear box. The outer circumference of the worm gear meshes with the outer circumference of the worm, one end of the worm is connected to the output shaft of the motor, the worm gear is sleeved on the outer circumference of the lower part of the worm gear shaft, and the upper flange cover of the worm gear shaft The upper flange cover of the worm gear shaft is sleeved on the outer circumference of the upper part of the worm gear shaft. The rotating chassis flange cover is sleeved on the outer circumference of the upper flange cover of the worm gear shaft. The upper flange oil seal of the worm gear shaft is sleeved on the outer circumference of the top of the worm gear shaft. and is located on the top of the upper flange cover of the worm gear shaft. The first bearing is sleeved on the outer periphery of the upper part of the worm gear shaft and is located inside the upper flange cover of the worm gear shaft. The second bearing is sleeved on the upper flange cover of the worm gear shaft. The outer circumference of the lower part of the worm gear shaft is located below the worm gear. The lower flange of the worm gear shaft is sleeved on the outer circumference of the lower part of the worm gear shaft and is located below the second bearing. The third bearing is sleeved on the outer circumference of the lower part of the worm gear shaft. The outer circumference of the lower part of the worm gear shaft is located inside the lower flange of the worm gear shaft; the top of the worm gear shaft is connected to the bottom of the rotating chassis, and the lower flange of the worm gear shaft is connected to the bottom of the worm gear box of the rotating chassis. connect.

Optionally, the charging and swapping device workbench includes a support frame, a bottom plate and a table top. The bottom plate is installed at the bottom of the support frame, and the table top is installed on the top of the support frame; the lifting bracket is connected On the bottom plate, a first through hole is opened in the center of the table, and the rotating chassis penetrates the first through hole.

Optionally, the sensor assembly includes a first sensor, a second sensor, a third sensor and a fourth sensor. The first sensor and the second sensor are respectively connected to opposite outer walls on both sides of the top of the lifting bracket. On the top, the first sensor and the second sensor are distributed diagonally, the third sensor is connected to the battery limiting structure, and the fourth sensor is connected to the other end of the lower plate; The first sensor and the second sensor are both used to detect the distance from the lifting support bottom plate to the top of the lifting bracket, and the third sensor is used to detect the distance from the other end of the upper plate to the battery. , the fourth sensor is used to detect the distance from the other end of the middle layer board to the other end of the lower layer board.

All the above-mentioned optional technical solutions can be combined arbitrarily, and the present invention does not describe the structures after combination one by one in detail.

Through the above solution, the beneficial effects of the present invention are as follows:

The telescopic fork assembly is installed on the rotary switching assembly, the rotary switching assembly is installed on the jacking assembly, and the battery limiting structure is connected above the upper plate of the telescopic fork assembly. The jacking assembly drives the rotary switching assembly and the telescopic cargo assembly. The fork assembly moves in the vertical direction, and the rotating switching assembly drives the telescopic fork assembly to rotate in the horizontal direction, thereby adjusting the position of the battery limiting structure on the telescopic fork assembly to ensure that the battery limiting structure is removed when picking up and putting down The accuracy of the position when the battery of the robot is mounted on a rail is inspected. Through the cooperation of the jacking component and the rotating switching component, the telescopic fork component is realized to fully automate the battery pick-up and placement process of the rail-mounted inspection robot, which reduces the labor intensity of manual battery replacement, shortens the battery replacement time, and reduces It reduces the number of employees, reduces safety risks, saves production costs, and improves the work efficiency and utilization rate of rail-mounted inspection robots.

The above description is only an overview of the technical solutions of the present invention. In order to have a clearer understanding of the technical means of the present invention and implement them according to the contents of the description, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention;

Figure 2 is a schematic structural diagram of the jacking assembly in the present invention from a first perspective;

Figure 3 is a schematic structural diagram of the jacking assembly in the present invention from a second perspective;

Figure 4 is a schematic structural diagram of the rotation switching assembly in the present invention from a first perspective;

Figure 5 is a schematic structural diagram of the rotation switching assembly in the second perspective of the present invention;

Figure 6 is a cross-sectional view at A-A in Figure 5;

Figure 7 is a first perspective structural schematic diagram of the interior of the rotating chassis worm gear box in the present invention;

Figure 8 is a schematic structural diagram of the interior of the rotating chassis worm gear box from a second perspective in the present invention;

Figure 9 is a cross-sectional view at B-B in Figure 8;

Figure 10 is a first perspective structural diagram of the battery charging compartment assembly of the present invention;

Figure 11 is a schematic structural diagram of the battery charging compartment assembly in the second perspective of the present invention;

Figure 12 is a cross-sectional view at C-C in Figure 11;

Figure 13 is a schematic structural diagram of the sensor assembly in the present invention;

Figure 14 is a schematic structural diagram of the telescopic fork assembly in the present invention from a first perspective;

Figure 15 is a schematic structural diagram of the telescopic fork assembly in the second perspective of the present invention;

Figure 16 is a cross-sectional view at D-D in Figure 15;

Figure 17 is a schematic structural diagram of the battery in the present invention.

Explanation of reference numbers:

100. Charging and swapping device workbench; 101. Support frame; 102. Base plate; 103. Table top; 200. Jacking component; 201. Jacking bracket; 202. Flange type guide shaft support; 203. Jacking support base plate ; 204. Electric cylinder; 205. Lifting shaft; 206. Axial sliding sleeve; 300. Rotary switching component; 301. Rotating chassis; 302. Rotating chassis flange cover; 303. Rotating chassis worm gear box; 304. Worm gear box base; 305. Electric box; 306. Motor; 307. Worm gear; 308. Worm; 309. Worm gear shaft; 310. Upper flange oil seal of worm gear shaft; 311. Upper flange cover of worm gear shaft; 312. First bearing; 313. Second Bearing; 314, worm gear shaft lower flange; 315, third bearing; 400, battery charging compartment assembly; 401, battery placement table; 402, limit hook; 403, charging spring pin; 404, return spring; 405, limit Hook base; 406, screw; 409, U-shaped guide rail; 500, sensor assembly; 501, first sensor; 502, second sensor; 503, third sensor; 504, fourth sensor; 600, telescopic fork assembly; 601 , upper plate; 602, middle plate; 603, lower plate; 604, battery limiting structure; 605, driving structure; 700, battery; 701, battery body; 702, battery charging contact point; 703, chute; 704, concave groove.

Detailed ways

Specific implementations of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the invention but are not intended to limit the scope of the invention.

As shown in Figures 1 to 17, the invention provides an automatic charging and replacing device for a rail-mounted inspection robot, which includes a charging and replacing device workbench 100, a jacking component 200, a rotating switching component 300, and three battery chargers. The bin assembly 400, the sensor assembly 500 and the telescopic fork assembly 600. The jacking assembly 200 is installed inside the charging and swapping device workbench 100. The rotation switching assembly 300 is connected to the jacking assembly 200. The three Each of the battery charging compartment assemblies 400 is installed on the top of the charging and swapping device workbench 100, and the sensor assembly 500 is installed on the jacking assembly 200 and the telescopic fork assembly 600. The fork assembly 600 is installed on the rotary switching assembly 300; the lifting assembly 200 is used to drive the rotary switching assembly 300 to move vertically up and down, and the rotary switching assembly 300 is used to drive the telescopic fork assembly 600 Perform horizontal rotation, the battery charging compartment assembly 400 is used to store and charge the battery 700 of the rail-mounted inspection robot, and the sensor assembly 500 is used to detect the lifting assembly 200 and detect the distance between the telescopic fork assembly 600 and the position of the battery 700 of the rail-mounted inspection robot; the telescopic fork assembly 600 is used to pick up and place the battery of the rail-mounted inspection robot. 700; The telescopic fork assembly 600 includes an upper plate 601, a middle plate 602, a lower plate 603, a battery limiting structure 604 and a driving structure 605. One end of the upper plate 601 is slidingly connected to one end of the middle plate 602, The other end of the middle plate 602 is slidingly connected to one end of the lower plate 603. The bottom of the lower plate 603 is connected to the rotation switching assembly 300. The driving structure 605 is installed inside the lower plate 603. The battery limiting structure 604 is an L-shaped structure. The vertical part of the battery limiting structure 604 is vertically installed at the other end of the top of the upper plate 601. The lateral part of the battery limiting structure 604 is parallel to the Upper plate 601; the driving structure 605 is used to drive the upper plate 601 and the middle plate 602 to slide.

In a specific embodiment, a rack is connected in the middle of the bottom of the middle plate 602, one end of the bottom of the upper plate 601 is connected to one end of two chains, and the other ends of the two chains are connected to the other end of the middle plate 602. The driving structure 605 includes The motor 306 drives the motor, the reducer, the large gear and the two small gears. The motor 306 drives the reducer to rotate through the key connection. The reducer drives the large gear to rotate through the key connection, and at the same time drives the two small gears meshed with both sides of the outer periphery of the large gear. Rotation, one of the pinions engages with the rack at the bottom of the middle plate 602 for transmission, driving the middle plate 602 to translate, and at the same time drives the upper plate 601 to translate.

The telescopic fork assembly 600 is installed on the rotary switching assembly 300, the rotary switching assembly 300 is installed on the jacking assembly 200, and the battery limiting structure 604 is connected above the upper plate 601 of the telescopic fork assembly 600. Through the jacking assembly 200 drives the rotary switching assembly 300 and the telescopic fork assembly 600 to move in the vertical direction, and drives the telescopic fork assembly 600 to rotate in the horizontal direction through the rotary switching assembly 300, thereby adjusting the battery limiting structure on the telescopic fork assembly 600. The position of 604 ensures the accuracy of the position of the battery limiting structure 604 when picking up and putting down the battery 700 of the rail-mounted inspection robot. Through the cooperation of the jacking assembly 200 and the rotating switching assembly 300, the telescopic fork assembly 600 is realized to perform a fully automated operation of the battery 700 picking and placing process of the rail-mounted inspection robot, which reduces the labor intensity of manual replacement of the battery 700 and shortens the replacement time. The battery time of 700 reduces the number of employees, reduces safety risks, saves production costs, and improves the work efficiency and utilization rate of the rail-mounted inspection robot.

Optionally, each battery charging compartment assembly 400 includes a battery placement platform 401, two limit hooks 402, charging spring pins 403, two return springs 404, two limit hook bases 405 and a plurality of screws 406, The front side and top of the battery placement platform 401 are provided with openings, and the two limit hooks 402 are respectively installed on the left and right inner walls of the battery placement platform 401. The two limit hooks The base 405 is connected to the dorsal side of the hook-free ends of the two limiting hooks 402 through a plurality of screws 406, and one end of the two return springs 404 is connected to the left and right inner walls of the battery placement platform 401 respectively. On the inner wall, the other ends of the two return springs 404 are respectively connected to the back side of the hooked ends of the two limit hooks 402, and the charging spring pin 403 is installed on the rear inner wall of the battery placement platform 401. ; The bottom of the battery placement platform 401 is installed on the charging and swapping device workbench 100.

Optionally, the battery placement platform 401 is also connected to a U-shaped guide rail 409. The outer walls on both sides of the U-shaped guide rail 409 are in contact with the interior of both sides of the battery placement platform 401. The top of the U-shaped guide rail 409 is The installation position below the two limiting hooks 402 is used to provide guidance for the battery 700 and assist in fixing the battery 700 .

Specifically, the two limit hooks 402 and the two limit hook bases 405 are hingedly connected.

In a specific embodiment, the battery 700 includes a battery body 701, a battery charging contact point 702, two slide grooves 703 and two grooves 704. The battery charging contact point 702 is located on the back side of the battery body 701. The two bottom sides of the battery body 701 Two chutes 703 are provided on the side. The bottom of the battery body 701 is slidingly connected to the U-shaped guide rail 409 through the chutes 703. The battery body 701 contacts the charging spring pin 403 of the battery placement platform 401 through the battery charging contact point 702 for charging. Two grooves 704 are provided on both sides of the battery placement platform 401 for engaging with the two limit hooks 402 connected to the left and right inner walls of the battery placement platform 401 .

There are two batteries 700 in the present invention, and they are placed on two of the battery placement platforms 401 for charging. The battery placement platform 401 where the battery 700 is not placed is used to place the batteries to be charged that have been removed from the rail-mounted inspection robot. Battery 700 to charge it.

When the upper plate 601 and the battery limiting structure 604 hold the battery body 701 and slide it on the battery placement platform 401, under the action of the return spring 404, the two limiting hooks 402 snap into the grooves 704 on both sides of the battery body 701. , the battery charging contact point 702 on the back side of the battery body 701 contacts the charging spring pin 403, and the battery body 701 is charged; when the battery body 701 is charged, the upper plate 601 and the battery limiting structure 604 clamp the battery body 701 and take out the battery. Place the table 401, and the two limit hooks 402 will break away from the grooves 704 on both sides of the battery body 701 and return to their original positions under the action of the return spring 404.

Installing the limit hook 402 and the return spring 404 on the battery placement platform 401 can ensure that the battery charging contact point 702 of the battery 700 is in accurate contact with the charging spring pin 403 to ensure charging stability.

Optionally, the lifting assembly 200 includes a lifting bracket 201, eight flange-type guide shaft supports 202, a lifting support bottom plate 203, an electric cylinder 204, four lifting shafts 205 and four axial sliding sleeves 206 , the electric cylinder 204 is installed at the bottom of the lifting bracket 201, the lifting piston rod of the electric cylinder 204 is connected to the lifting support bottom plate 203, and the four lifting shafts 205 are installed in pairs. On the inner walls on both sides of the lifting bracket 201, the four axial sliding sleeves 206 are respectively slidingly connected to the outer circumferences of the four lifting shafts 205, and the four corners of the lifting support bottom plate 203 are respectively connected with the four axial sliding sleeves 206. The sliding sleeve 206 is connected, and the eight flange-type guide shaft supports 202 are respectively installed at both ends of the four lifting shafts 205. The eight flange-type guide shaft supports 202 are all fixed on the lifting shaft. The top and bottom of the inner walls on both sides of the bracket 201; the lifting bracket 201 is connected to the charging and swapping device workbench 100, and the rotation switching assembly 300 is connected to the lifting support bottom plate 203.

Specifically, in the present invention, the base of the electric cylinder 204 is bolted to the bottom of the lifting bracket 201; the four axial sliding sleeves 206 are interference-connected to the four corners of the lifting support bottom plate 203; the four axial sliding sleeves 206 are connected with The four lifting shafts 205 are all clearance-fitted.

In a specific embodiment, when the jacking piston rod of the electric cylinder 204 extends, the jacking support bottom plate 203 and the axial sliding sleeves 206 connected to the four corners of the jacking support bottom plate 203 are driven to rise along the four lifting shafts 205; The jacking piston rod of the cylinder 204 retracts, driving the jacking support bottom plate 203 and the axial sliding sleeves 206 connected to the four corners of the jacking support bottom plate 203 to descend along the four lifting shafts 205.

In an underground environment, it is extremely inconvenient to use a hydraulic cylinder or a pneumatic cylinder as a power source to provide power. Therefore, in the present invention, an electric cylinder 204 is used to provide power for the jacking assembly 200. Not only is the power source convenient to obtain, but the electric cylinder 204 It also has the advantages of easy installation, simple control and high precision.

Optionally, the rotary switching assembly 300 includes a rotary chassis 301, a rotary chassis flange cover 302, a rotary chassis worm gear box 303, a worm gear box base 304, an electrical box 305 and a motor 306. The rotary chassis 301 is located on the rotary chassis. Above the flange cover 302, the rotating chassis flange cover 302 is installed on the top of the rotating chassis worm gear box 303. The bottom of the rotating chassis worm gear box 303 is connected to the top of the worm gear box base 304. The electrical box 305 and the motor 306 are installed on the outer side of the rotating chassis worm gear box 303; the rotating chassis 301 passes through the top of the charging and swapping device workbench 100, and the worm gear box base 304 is installed on the lifting support. On the base plate 203.

Optionally, the rotation switching assembly 300 also includes a worm gear 307, a worm 308, a worm gear shaft 309, a worm gear shaft upper flange oil seal 310, a worm gear shaft upper flange cover 311, a first bearing 312, a second bearing 313, a worm gear shaft Lower flange 314 and third bearing 315, the worm gear 307, worm 308, worm gear shaft 309, worm gear shaft upper flange oil seal 310, worm gear shaft upper flange cover 311, first bearing 312, second bearing 313, worm gear shaft The lower flange 314 and the third bearing 315 are both located inside the rotating chassis worm gear box 303. The outer circumference of the worm gear 307 meshes with the outer circumference of the worm 308. One end of the worm 308 is connected to the output shaft of the motor 306. connection, the worm gear 307 is sleeved on the outer periphery of the lower part of the worm gear shaft 309, the worm gear shaft upper flange cover 311 is sleeved on the outer periphery of the upper part of the worm gear shaft 309, and the rotating chassis flange cover 302 is sleeved on The outer circumference of the upper flange cover 311 of the worm gear shaft. The upper flange oil seal 310 of the worm gear shaft is sleeved on the outer circumference of the top of the worm gear shaft 309 and is located on the top of the upper flange cover 311 of the worm gear shaft. The first The bearing 312 is sleeved on the outer periphery of the upper part of the worm gear shaft 309 and is located inside the upper flange cover 311 of the worm gear shaft. The second bearing 313 is sleeved on the outer periphery of the lower part of the worm gear shaft 309 and is located on the worm gear 307 below, the worm gear shaft lower flange 314 is sleeved on the outer periphery of the lower part of the worm gear shaft 309 and is located below the second bearing 313, and the third bearing 315 is sleeved on the outer periphery of the lower part of the worm gear shaft 309 and is located inside the worm gear shaft lower flange 314; the top of the worm gear shaft 309 is connected to the bottom of the rotating chassis 301, and the worm gear shaft lower flange 314 is connected to the bottom of the rotating chassis worm gear box 303 .

Specifically, in the present invention, the electric box 305 and the motor 306 are connected to the outer side of the rotating chassis worm gear box 303 through bolts, the bottom of the rotating chassis 301 is bolted to the worm gear shaft 309, and the rotating chassis flange cover 302 is connected to the rotating chassis worm gear box. 303 bolt connection, the upper flange cover 311 of the worm gear shaft is connected to the rotating chassis flange cover 302 by bolts, the upper flange oil seal 310 of the worm gear shaft has a clearance fit with the top of the worm gear shaft 309; the worm gear 307 and the worm gear shaft 309 are connected by a key, and the worm gear 308 It is connected with the motor 306 through a key; the lower flange 314 of the worm gear shaft is bolted to the bottom of the rotating chassis worm gear box 303; the first bearing 312 is a deep groove ball bearing, and the second bearing 313 is a thrust ball bearing. The type of three-bearing 315 is a deep groove ball bearing.

In a specific embodiment, the electric box 305 provides power for the motor 306, starts the motor 306, drives the worm 308 to rotate, and the worm gear 307 engaged with the worm 308 rotates at the same time. The worm gear 307 drives the worm gear shaft 309 to rotate, and then drives the worm gear shaft 309 to rotate. The rotating chassis 301 connected to the top of 309 rotates.

The flange oil seal 310 on the worm gear shaft can prevent sediment, dust, water vapor and other external factors from intruding into the first bearing 312, and at the same time prevent the lubricating oil in the first bearing 312 from leaking.

Optionally, the charging and swapping device workbench 100 includes a support frame 101, a bottom plate 102 and a table top 103. The bottom plate 102 is installed at the bottom of the support frame 101, and the table top 103 is installed on the top of the support frame 101. Top; the lifting bracket 201 is connected to the bottom plate 102, a first through hole is opened in the center of the table 103, and the rotating chassis 301 penetrates the first through hole.

In a specific embodiment, the bottoms of the three battery placement platforms 401 in the three battery charging compartment assemblies 400 are bolted to the table 103 and distributed at three edges of the table 103 .

Optionally, the sensor assembly 500 includes a first sensor 501, a second sensor 502, a third sensor 503 and a fourth sensor 504. The first sensor 501 and the second sensor 502 are respectively connected to the lifting On the opposite outer walls on both sides of the top of the bracket 201, the first sensor 501 and the second sensor 502 are distributed diagonally. The third sensor 503 is connected to the battery limiting structure 604. The fourth sensor 504 is connected to the other end of the lower plate 603; the first sensor 501 and the second sensor 502 are both used to detect the distance from the lifting support bottom plate 203 to the top of the lifting bracket 201. The third sensor 503 is used to detect the distance from the other end of the upper layer board 601 to the battery 700 , and the fourth sensor 504 is used to detect the distance from the other end of the middle layer board 602 to the other end of the lower layer board 603 .

In a specific implementation, the first sensor 501 is composed of a sensor bracket and a first sensor body, the second sensor 502 is composed of a sensor bracket and a second sensor body, the third sensor 503 is composed of a sensor bracket and a third sensor body, and the fourth sensor is composed of a sensor bracket and a third sensor body. The sensor 504 is composed of a sensor bracket and a fourth sensor body.

The specific implementation mode of the present invention is: when the present invention is not working, the telescopic fork assembly 600 is aligned with the battery placement platform 401 where the battery 700 is not placed; when the present invention is working, the rail-mounted inspection robot is parked at the parking position of the battery replacement 700 Finally, the battery 700 to be charged in the rail-mounted inspection robot pops up automatically. The third sensor 503 located on the battery limit structure 604 detects the battery 700 to be charged ejected from the rail-mounted inspection robot. The drive motor, motor 306, The electric cylinders 204 are all started. Under the action of the driving motor, the upper plate 601 and the middle plate 602 of the telescopic fork assembly 600 translate, and the positions of the upper plate 601 and the battery limiting structure 604 are adjusted; under the action of the electric cylinder 204, The movement of the jacking piston rod drives the jacking support bottom plate 203 to rise and fall, thereby adjusting the height of the rotary switching assembly 300; under the action of the motor 306, the worm gear shaft 309 is driven to rotate, causing the rotary chassis 301 to rotate, driving the telescopic fork assembly. The lower plate 603 of 600 rotates, and at the same time, the upper plate 601 and the battery limiting structure 604 rotate together, so that the positions of the upper plate 601 and the battery limiting structure 604 are aligned with the battery 700 to be charged, and the battery 700 to be charged is smoothly lifted from the hanger. Take it out from the track inspection robot; the motor 306 rotates again, the rotating chassis 301 rotates 90°, and drives the upper plate 601 and the battery limiting structure 604 to rotate 90°. Cooperating with the electric cylinder 204 and the drive motor, the battery 700 to be charged is paired Locate the battery placement platform 401 where the battery 700 is not placed, and place the battery 700 to be charged in the battery placement platform 401 where the battery 700 is not placed. The battery charging contact point 702 on the battery 700 is in contact with the battery placement platform 401 where the battery 700 is not placed. The charging spring pin 403 contacts for charging; the motor 306 rotates again, and the rotating chassis 301 rotates 90°, driving the upper plate 601 and the battery limiting structure 604 to continue to rotate 90°, and cooperates with the electric cylinder 204 and the driving motor, so that the upper plate 601 Align the battery placement platform 401 with the battery 700 with the battery limiting structure 604, and take out the charged battery 700; the battery 700 rotates again, and the rotating chassis 301 performs a 180° rotation, driving the upper plate 601 and the battery limiting structure 604 and The taken out charged battery 700 rotates 180°, cooperates with the electric cylinder 204 and the driving motor, aligns the rail-mounted inspection robot with the position where the battery 700 is placed, and puts the charged battery 700 in; finally, the rail-mounted inspection robot automatically recovers The fully charged battery 700 completes the automated operation of charging and replacing batteries.

The invention realizes the automated operation of charging and replacing the battery 700 of the rail-mounted inspection robot, reduces the labor intensity of manual replacement of the battery 700, shortens the time for replacing the battery 700, improves production efficiency, and improves the use of the rail-mounted inspection robot. Rate.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements can be made without departing from the technical principles of the present invention. and modifications, these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims (6)

1. Automatic charging and battery replacing device of rail-hanging inspection robot is characterized by comprising:

the battery charging and replacing device comprises a charging and replacing device workbench (100), a jacking component (200), a rotary switching component (300), three battery charging bin components (400), a sensor component (500) and a telescopic fork component (600), wherein the jacking component (200) is installed inside the charging and replacing device workbench (100), the rotary switching component (300) is connected to the jacking component (200), the three battery charging bin components (400) are all installed at the top of the charging and replacing device workbench (100), the sensor component (500) is installed on the jacking component (200) and the telescopic fork component (600), and the telescopic fork component (600) is installed on the rotary switching component (300);

the lifting assembly (200) is used for driving the rotary switching assembly (300) to vertically move up and down, the rotary switching assembly (300) is used for driving the telescopic fork assembly (600) to horizontally rotate, the battery charging bin assembly (400) is used for storing a battery (700) of the rail hanging inspection robot and charging the battery (700) of the rail hanging inspection robot, and the sensor assembly (500) is used for detecting the lifting condition of the lifting assembly (200) and detecting the distance between the telescopic fork assembly (600) and the battery (700) of the rail hanging inspection robot; the telescopic fork assembly (600) is used for taking and placing a battery (700) of the rail-mounted inspection robot;

the telescopic fork assembly (600) comprises an upper layer plate (601), a middle layer plate (602), a lower layer plate (603), a battery limiting structure (604) and a driving structure (605), one end of the upper layer plate (601) is in sliding connection with one end of the middle layer plate (602), the other end of the middle layer plate (602) is in sliding connection with one end of the lower layer plate (603), the bottom of the lower layer plate (603) is connected with the rotary switching assembly (300), the driving structure (605) is installed inside the lower layer plate (603), the battery limiting structure (604) is of an L-shaped structure, the vertical part of the battery limiting structure (604) is vertically installed at the other end of the top of the upper layer plate (601), and the transverse part of the battery limiting structure (604) is parallel to the upper layer plate (601);

the driving structure (605) is used for driving the upper layer plate (601) and the middle layer plate (602) to slide;

each of the battery charging cartridge assemblies (400) includes: the battery placing table (401), two limit hooks (402), a charging spring needle (403), two reset springs (404), two limit hook bases (405) and a plurality of screws (406), wherein the front side surface and the top of the battery placing table (401) are provided with open openings, the two limit hooks (402) are respectively arranged on the left inner side wall and the right inner side wall of the battery placing table (401), the two limit hook bases (405) are respectively connected with one end back side without hooks on the two limit hooks (402) through the plurality of screws (406), one ends of the two reset springs (404) are respectively connected on the left inner side wall and the right inner side wall of the battery placing table (401), the other ends of the two reset springs (404) are respectively connected with one end back side with hooks on the two limit hooks (402), and the charging spring needle (403) is arranged on the inner wall of the rear side surface of the battery placing table (401);

the bottom of the battery placing table (401) is arranged on the charging and changing device workbench (100);

the battery placing table (401) is internally further connected with a U-shaped guide rail (409), the outer walls of the two sides of the U-shaped guide rail (409) are attached to the inner sides of the two sides of the battery placing table (401), and the top of the U-shaped guide rail (409) is lower than the mounting position of the two limiting hooks (402) and is used for guiding the battery (700) and assisting in fixing the battery (700).

2. The automatic charging and changing device of a rail-mounted inspection robot according to claim 1, wherein the jacking assembly (200) comprises: the lifting support comprises a lifting support (201), eight flange-type guide shaft supports (202), a lifting support bottom plate (203), an electric cylinder (204), four lifting shafts (205) and four axial sliding sleeves (206), wherein the electric cylinder (204) is installed at the bottom of the lifting support (201), lifting piston rods of the electric cylinder (204) are connected with the lifting support bottom plate (203), the four lifting shafts (205) are respectively installed on the inner walls of the two sides of the lifting support (201) in a pairwise manner, the four axial sliding sleeves (206) are respectively connected with the peripheries of the four lifting shafts (205) in a sliding manner, four corners of the lifting support bottom plate (203) are respectively connected with the four axial sliding sleeves (206), the eight flange-type guide shaft supports (202) are respectively installed at the two ends of the four lifting shafts (205), and the eight flange-type guide shaft supports (202) are respectively fixed at the top and the bottom of the inner walls of the two sides of the lifting support (201);

the jacking bracket (201) is connected to the workbench (100) of the charging and changing device, and the rotary switching assembly (300) is connected to the jacking supporting bottom plate (203).

3. The automatic charging and switching device of a rail-mounted inspection robot according to claim 2, wherein the rotary switching assembly (300) comprises: the novel electric power transmission device comprises a rotary chassis (301), a rotary chassis flange cover (302), a rotary chassis worm gear case (303), a worm gear case base (304), an electric case (305) and a motor (306), wherein the rotary chassis (301) is positioned above the rotary chassis flange cover (302), the rotary chassis flange cover (302) is installed at the top of the rotary chassis worm gear case (303), the bottom of the rotary chassis worm gear case (303) is connected to the top of the worm gear case base (304), and the electric case (305) and the motor (306) are both installed on the outer side face of the rotary chassis worm gear case (303);

the rotary chassis (301) passes through the top of the workbench (100) of the charging device, and the worm gear case base (304) is installed on the jacking supporting bottom plate (203).

4. An automatic charging and switching device for a rail-mounted inspection robot according to claim 3, wherein the rotary switching assembly (300) further comprises: the worm wheel (307), the worm (308), the worm screw shaft (309), the worm screw shaft upper flange oil seal (310), the worm screw shaft upper flange cover (311), the first bearing (312), the second bearing (313), the worm screw shaft lower flange (314) and the third bearing (315), the worm screw (307), the worm screw (308), the worm screw shaft (309), the worm screw shaft upper flange oil seal (310), the worm screw shaft upper flange cover (311), the first bearing (312), the second bearing (313), the worm screw shaft lower flange (314) and the third bearing (315) are all positioned inside the rotating chassis worm box (303), the periphery of the worm screw (307) is meshed with the periphery of the worm screw shaft (308), one end of the worm screw (308) is connected with the output shaft of the motor (306), the worm screw shaft (307) is sleeved on the periphery of the lower part of the worm screw shaft (309), the worm screw shaft upper flange cover (311) is sleeved on the periphery of the upper part of the worm screw shaft (309), the rotating chassis cover (302) is sleeved on the periphery of the upper flange cover (311) and the periphery of the worm screw shaft (311) is sleeved on the periphery of the upper flange (311), the first bearing (312) is sleeved on the periphery of the upper part of the worm wheel shaft (309) and is positioned in the upper flange cover (311) of the worm wheel shaft, the second bearing (313) is sleeved on the periphery of the lower part of the worm wheel shaft (309) and is positioned below the worm wheel (307), the lower flange (314) of the worm wheel shaft is sleeved on the periphery of the lower part of the worm wheel shaft (309) and is positioned below the second bearing (313), and the third bearing (315) is sleeved on the periphery of the lower part of the worm wheel shaft (309) and is positioned in the lower flange (314) of the worm wheel shaft;

the top of the worm wheel shaft (309) is connected with the bottom of the rotating chassis (301), and the worm wheel shaft lower flange (314) is connected with the bottom of the inside of the rotating chassis worm wheel box (303).

5. An automatic charging and changing device of a rail-mounted inspection robot according to claim 3, wherein the charging and changing device table (100) comprises: the device comprises a support frame (101), a bottom plate (102) and a table top (103), wherein the bottom plate (102) is arranged at the bottom of the support frame (101), and the table top (103) is arranged at the top of the support frame (101);

the jacking bracket (201) is connected to the bottom plate (102), a first through hole is formed in the center of the table top (103), and the rotary chassis (301) penetrates through the first through hole.

6. An automatic charging and switching device for a rail-mounted inspection robot according to claim 2, wherein the sensor assembly (500) comprises: the device comprises a first sensor (501), a second sensor (502), a third sensor (503) and a fourth sensor (504), wherein the first sensor (501) and the second sensor (502) are respectively connected to the outer walls of the two opposite sides of the top of the jacking bracket (201), the first sensor (501) and the second sensor (502) are distributed diagonally, the third sensor (503) is connected to the battery limiting structure (604), and the fourth sensor (504) is connected to the other end of the lower layer plate (603);

the first sensor (501) and the second sensor (502) are both used for detecting the distance from the jacking supporting bottom plate (203) to the top of the jacking bracket (201), the third sensor (503) is used for detecting the distance from the other end of the upper plate (601) to the battery (700), and the fourth sensor (504) is used for detecting the distance from the other end of the middle plate (602) to the other end of the lower plate (603).