CN-122026574-A - Charging device for underground inspection robot

Abstract

The invention relates to the technical field of underground inspection, and discloses an underground inspection robot charging device which comprises a track body, wherein a mounting frame is arranged on the surface of the track body, a charging box is arranged on one side of the mounting frame, a positioning disc is arranged on one side, close to the track body, of the charging box, a magnetic chuck is arranged on the surface of the positioning disc, a coil for wireless charging is coiled on the surface of the magnetic chuck, a connecting plate is arranged on one side, far away from the magnetic chuck, of the positioning disc, a sliding groove is formed in the surface of the connecting plate, the connecting plate is provided with a connecting block in a sliding mode through the sliding groove, the connecting block is connected with the charging box, a displacement receiving sensor and a displacement sending sensor are respectively arranged on the opposite sides of the connecting block and the connecting plate, and the magnetic chuck is connected with the charging box through a power transmission line. The invention can ensure the stable operation of the charging process and avoid the problems of abnormal charging, disconnection and the like caused by dislocation.

Inventors

• WANG TAO
• ZHOU XUEBIN
• XU CHUANTIAN
• YANG XUELIANG
• Xu Leisi
• WANG YIXIANG
• Cheng Yinlou
• ZHOU DAIYONG

Assignees

• 淮北矿业股份有限公司
• 中煤科工集团重庆研究院有限公司

Dates

Publication Date

20260512

Application Date

20251225

Claims (9)

1. 1. The utility model provides a robot charging device patrols and examines in pit, includes track body (1), its characterized in that, track body (1) surface is provided with mounting bracket (11), mounting bracket (11) one side is provided with charging box (2), charging box (2) are close to one side of track body (1) and are provided with positioning disk (21), positioning disk (21) surface is provided with magnetic chuck (22), magnetic chuck (22) surface coils has coil (221) that are used for wireless charging, positioning disk (21) are kept away from one side of magnetic chuck (22) and are provided with connecting plate (211), spout (212) have been seted up on connecting plate (211) surface to slide through spout (212) have connecting block (213), connecting block (213) link to each other with charging box (2), connecting block (213) are provided with displacement receiving sensor (216) and displacement transmission sensor (215) respectively with the opposite side of connecting plate (211), magnetic chuck (22) link to each other with charging box (2) through power transmission line (23). The device further comprises an adjusting arm (322) arranged on one side, close to the track body (1), of the mounting frame (11), wherein the adjusting arm (322) is U-shaped, and a driving assembly used for driving the adjusting arm (322) to reciprocate along the track body (1).
2. 2. An underground inspection robot, which is applied to the charging device of the underground inspection robot as claimed in claim 1, is characterized in that a charging area of the underground inspection robot is covered with a magnet magnetically attracted with a magnetic chuck (22).
3. 3. The underground inspection robot charging device according to claim 1, wherein the driving assembly comprises a movable arm (3) sliding on one side of the mounting frame (11) close to the track body (1), the movable arm (3) is connected with the mounting frame (11) through a hydraulic rod B (31), a motor (32) is fixedly connected to one side of the movable arm (3), a rotating shaft (321) is fixedly connected to the output end of the motor (32), and the rotating shaft (321) penetrates through the movable arm (3) and is fixedly connected with the adjusting arm (322).
4. 4. A downhole inspection robot charging apparatus according to claim 3, wherein the motor (32) and the hydraulic rod B (31) are electrically connected to the displacement receiving sensor (216) and the displacement transmitting sensor (215).
5. 5. The charging device for the underground inspection robot according to claim 1, wherein a plurality of movable rods (222) are fixedly connected to one side, close to the positioning disc (21), of the magnetic chuck (22), and the movable rods (222) penetrate through the positioning disc (21).
6. 6. The charging device for the underground inspection robot according to claim 5, wherein the movable rod (222) is connected with the positioning disc (21) through a spring (223).
7. 7. The charging device for the underground inspection robot according to claim 1, wherein the connecting plate (211) is rotatably connected with the positioning disc (21), and the connecting block (213) is rotatably connected with the charging box (2).
8. 8. The charging device for the underground inspection robot according to claim 7, wherein tension springs (214) are fixedly connected to two sides of the connecting block (213), and one end of each tension spring (214) is fixedly connected with the connecting plate (211).
9. 9. The underground inspection robot charging device according to claim 1, wherein a sliding table (24) is fixedly connected to one side of the charging box (2), the sliding table (24) is slidably connected to the surface of the mounting frame (11), the sliding table (24) is connected with the mounting frame (11) through a hydraulic rod A (241), and the hydraulic rod A (241) is electrically connected with the displacement receiving sensor (216) and the displacement sending sensor (215) respectively.

Description

Charging device for underground inspection robot Technical Field The invention relates to the technical field of underground inspection, in particular to a charging device of an underground inspection robot. Background The underground monorail inspection robot is widely applied as key equipment for realizing unmanned intelligent inspection of underground roadways such as coal mines, metal mines and the like, is usually hung on a preset monorail to run, integrates various sensors, and replaces manual execution of tasks such as roadway environment monitoring, equipment state inspection, safety early warning and the like. The existing inspection robot runs through a battery, so that the robot needs to be charged when the electric quantity is low to a certain limit value, a non-contact wireless charging system deployed at fixed points is adopted in the current mainstream solution, namely a charging station is arranged at a key node of an inspection route, and the robot transmits energy through an electromagnetic induction principle. However, in an actual underground complex environment, when the robot stops to a charging station autonomously, the accuracy of a positioning sensor of the robot is reduced due to environmental factors such as dust influence, electromagnetic interference, deformation of a track limiter and the like in a roadway, and a stop position deviation is generated, and the factors not only influence charging, but also cause the robot to slide and shake due to inaccurate charging positions, so that the robot needs to be manually intervened to correct, and the continuous operation efficiency and the overall reliability of a patrol system are seriously restricted. Disclosure of Invention The invention aims to provide a charging device for an underground inspection robot, which aims to solve the problems of the background technology. The charging device for the underground inspection robot comprises a track body, wherein a mounting frame is arranged on the surface of the track body, a charging box is arranged on one side of the mounting frame, a positioning disc is arranged on one side, close to the track body, of the charging box, a magnetic chuck is arranged on the surface of the positioning disc, a coil for wireless charging is coiled on the surface of the magnetic chuck, a connecting plate is arranged on one side, far away from the magnetic chuck, of the positioning disc, a sliding groove is formed in the surface of the connecting plate, a connecting block is arranged on the surface of the connecting plate in a sliding manner through the sliding groove, the connecting block is connected with the charging box, a displacement receiving sensor and a displacement sending sensor are respectively arranged on the opposite sides of the connecting block and the connecting plate, and the magnetic chuck is connected with the charging box through a power transmission line; The adjusting arm is U-shaped and is used for driving the adjusting arm to reciprocate along the direction of the track body. The utility model provides a robot is patrolled and examined in pit, the robot charging area covers the magnet that attracts mutually with magnetic chuck magnetism is patrolled and examined in pit. Preferably, the drive assembly comprises a movable arm which slides on one side of the mounting frame, which is close to the track body, the movable arm is connected with the mounting frame through a hydraulic rod B, a motor is fixedly connected on one side of the movable arm, a rotating shaft is fixedly connected with the output end of the motor, and the rotating shaft penetrates through the movable arm and is fixedly connected with the adjusting arm. Preferably, the motor and the hydraulic rod B are electrically connected with the displacement receiving sensor and the displacement transmitting sensor. Preferably, one side of the magnetic chuck, which is close to the positioning disk, is fixedly connected with a plurality of movable rods, and the movable rods penetrate into the positioning disk. Preferably, the movable rod is connected with the positioning disc through a spring. Preferably, the connecting plate is rotationally connected with the positioning disc, and the connecting block is rotationally connected with the charging box. Preferably, tension springs are fixedly connected to two sides of the connecting block, and one ends of the tension springs are fixedly connected with the connecting plate. Preferably, the charging box one side fixedly connected with slip table, slip table sliding connection is in the mounting bracket surface, just the slip table passes through hydraulic stem A and links to each other with the mounting bracket, hydraulic stem A respectively with displacement receiving sensor and displacement sending sensor electricity are connected. Compared with the prior art, the invention has the beneficial effects that: According to the invention, the magnetic chuck is arranged, so that the magneti