CN113696777A - Battery replacing device and battery replacing method of power inspection robot - Google Patents

Abstract

The invention discloses a battery replacement device and a battery replacement method for an electric power inspection robot. The battery replacement device includes a push-pull mechanism, a charging room, a turntable, a charging base, and a conveyor belt. The push-pull mechanism is arranged inside the vehicle body, and the push-pull mechanism is used to push the battery to be charged from the battery placement position inside the vehicle body to the conveyor belt. And pull the charged battery on the conveyor belt to the battery placement position. The conveyor belt is used to transport the battery between the charging room and the car body. The turntable and the charging base are both set inside the charging room. The battery to be charged on the belt is adsorbed on the turntable and can be placed on the charging stand for charging, and another battery suction mechanism can adsorb the charged battery on the charging stand on the turntable and can place the battery on the conveyor belt . It can reduce the time for the vehicle body to wait for charging, which is beneficial to improve the utilization rate of the power inspection robot.

Description

Battery replacing device and battery replacing method of power inspection robot

Technical Field

The invention relates to the technical field of battery replacing devices, in particular to a battery replacing device of an electric power inspection robot and a battery replacing method of the electric power inspection robot.

Background

The electric power inspection robot gradually replaces the manual work to inspect the power equipment in the transformer substation, so that the labor intensity of the worker can be reduced, and the inspection efficiency can be improved. Most of ground robots are powered by a storage battery, and the charging time of the storage battery is 3-4 hours generally. Among the electric power inspection robot among the prior art, charge the battery in the automobile body of robot usually, this kind of charge mode is after the electric quantity of battery is consumed and finishes, and the automobile body need wait for the battery to be full of the electric quantity after just can drop into service again, because the charge time of battery is longer, the rate of utilization of robot has been wasted to very big degree.

Disclosure of Invention

The invention aims to: provided are a battery replacing device and a battery replacing method for a power inspection robot, which can reduce the waiting time of a vehicle body for charging and is beneficial to improving the utilization rate of the power inspection robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

on one hand, the battery replacing device of the electric power inspection robot comprises a push-pull mechanism, a charging room, a rotary table, a charging seat and a conveying belt arranged between a vehicle body and the charging room, wherein the push-pull mechanism is arranged inside the vehicle body and is used for pushing a battery to be charged out of a battery placing position inside the vehicle body onto the conveying belt and pulling the battery which is charged on the conveying belt into the battery placing position, the conveying belt is used for conveying the battery between the charging room and the vehicle body, the charging seat is connected with a power supply, the rotary table and the charging seat are both arranged in the charging room, the charging seat is positioned on one side of the rotary table, which is far away from the conveying belt, is used for charging the battery to be charged, and two battery absorbing mechanisms are arranged on the rotary table, two battery suction means is 180 and distributes on the side of carousel, one of them battery suction means can with wait on the conveyer belt to charge the battery adsorbs on the carousel and can with the battery is placed charge on the charging seat, another battery suction means can with charge on the charging seat is accomplished the battery adsorbs on the carousel and can with the battery is placed on the conveyer belt.

As a preferred technical solution of the battery replacing device of the power inspection robot, a cavity is provided inside the vehicle body, the push-pull mechanism and the battery placing position are both disposed in the cavity, the advancing end of the vehicle body is provided with a battery inlet and outlet communicated with the cavity, one end of the conveyor belt is disposed near the battery inlet and outlet, and the push-pull mechanism is located on one side of the battery placing position far away from the battery inlet and outlet.

As an optimal technical scheme of the battery replacing device of the electric power inspection robot, the battery placing position is arranged at intervals with the battery inlet and outlet, a limiting groove is concavely arranged at the bottom of the battery placing position and is used for limiting the battery.

Conduct electric power patrol and examine battery of robot and change an optimal technical scheme of device, the top that the position was placed to the battery is provided with the spacing subassembly of battery, the spacing subassembly of battery includes limiting plate and the extensible member that can stretch out and draw back in vertical direction, the limiting plate sets up the bottom of extensible member, the flexible of extensible member can drive the limiting plate goes up and down, so that limiting plate selectivity butt is in the position is placed to the battery the top of battery.

As an optimal technical scheme of the battery replacing device of the power inspection robot, an elastic buffer part is connected between the limiting plate and the telescopic part.

Conduct electric power patrol and examine battery of robot and change a preferred technical scheme of device, the top of cavity has the fixed plate, the spacing subassembly of battery includes the flexible cylinder of second, the telescopic link of the flexible cylinder of second does the extensible member, the mounting fixed mounting of the flexible cylinder of second is in the upper surface of fixed plate, the fixed plate runs through and has seted up and dodge the hole, the telescopic link is kept away from the one end of mounting is passed dodge the hole with limiting plate connection.

As a preferable technical scheme of the battery replacing device of the power inspection robot, one side of the charging room is provided with an opening, one end of the conveyer belt, which is far away from the vehicle body, penetrates through the opening and extends into the charging room, and a first conveying roller capable of rotating around the axis of the conveyer belt and the turntable is arranged between the conveyer belt and the turntable;

and/or a second conveying roller capable of rotating around the axis of the second conveying roller is arranged between the turntable and the charging seat.

Conduct electric power patrol and examine a preferred technical scheme of battery replacement device of robot, battery suction means includes the flexible cylinder of third and second sucking disc, the flexible cylinder of third telescopic cylinder's telescopic link with the second sucking disc is connected, the second sucking disc can the selective absorption be in the surface of battery, the concave mounting groove that is used for the installation in side of carousel the flexible cylinder of third, the mounting fixed mounting of the flexible cylinder of third is in the mounting groove, the flexible of telescopic link can drive the second sucking disc is in the radial direction of carousel is flexible.

As a preferable technical solution of the battery replacing device of the power inspection robot, a third suction cup for selectively adsorbing the battery is provided on the charging seat.

On the other hand, the battery replacing method of the power inspection robot is also provided, the battery to be charged, the battery after charging and the battery replacing device are provided, and the method comprises the following steps:

step S10, the battery replacing device pushes the battery to be charged in the vehicle body out to a conveying belt by using a push-pull mechanism, and the battery to be charged is conveyed towards a charging room by the conveying belt;

step S20, the battery replacing device uses one of the battery suction mechanisms to suck the battery to be charged on the conveyor belt onto the turntable, and the battery replacing device uses the other battery suction mechanism to suck the battery charged on the charging stand onto the turntable;

step S30, the rotating disc rotates 180 degrees around the axis of the rotating disc to drive the battery to be charged to rotate to the position right opposite to the charging seat and drive the battery after charging to rotate to the position right opposite to the conveying belt;

step S40, the battery replacing device uses two battery absorbing mechanisms to respectively place the battery that has been charged on the conveyor belt and the battery to be charged on the charging seat, so that the conveyor belt conveys the battery that has been charged toward the vehicle body and the charging seat charges the battery to be charged;

and step S50, the battery replacing device uses the push-pull mechanism to pull the charged battery on the conveyor belt to a battery placing position inside the vehicle body.

The invention has the beneficial effects that: the battery of this kind of structure changes the device, at push-and-pull mechanism, the charging seat, conveyer belt and carousel mutually support down, can be with waiting that the battery that charges releases the back from the automobile body is inside, utilize the carousel to drive the battery that waits to change and rotate to the one end that is close to the conveyer belt, the battery of waiting to change is placed on the conveyer belt through the suction mechanism on the carousel, the battery of waiting to change is carried to the one end of keeping away from the carousel through the conveyer belt, recycle push-and-pull mechanism and pull the inside of automobile body with this battery, the charging seat is treated the battery of changing in advance and is charged, effectively reduce the automobile body and wait the time of charging, furthermore, the in-process of changing the battery does not need the manual work to carry the battery that charges to the room of charging in, the intensity of manual work has been reduced, be convenient for change the battery, be favorable to electric power and patrol and examine the rate of use of robot.

Drawings

The invention is explained in more detail below with reference to the figures and examples.

Fig. 1 is a schematic structural diagram of a battery replacement device according to an embodiment.

Fig. 2 is an enlarged view of a point a in fig. 1.

In the figure:

100. a vehicle body; 200. a battery;

1. a first telescopic cylinder; 2. a first suction cup; 3. a battery inlet and outlet; 4. a fixing plate; 5. a conveyor belt; 6. a turntable; 7. a second telescopic cylinder; 8. avoiding holes; 9. an elastic buffer member; 10. a limiting plate; 11. a limiting groove; 12. an inclined surface; 13. a third telescopic cylinder; 14. a second suction cup; 15. mounting grooves; 16. a charging room; 17. a third suction cup; 18. a charging seat; 19. a first conveying roller; 20. a second conveying roller; 21. a cavity; 22. and (4) opening.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1, the present invention provides a battery exchange device (hereinafter, simply referred to as a battery exchange device) of a power inspection robot. This kind of battery replacement device is mainly applied to ground type electric power and patrols and examines robot, and this electric power patrols and examines robot includes automobile body 100, and automobile body 100 is inside to be provided with the battery and to place the position, and battery 200 installs in the battery places the position, provides power for automobile body 100. The battery replacing device comprises a push-pull mechanism, a charging room 16, a turntable 6, a charging seat 18 and a conveyer belt 5 arranged between a vehicle body 100 and the charging room 16. A push-pull mechanism for pushing out the battery 200 to be charged from a battery placing position inside the vehicle body 100 onto the conveyor belt 5 and pulling the battery 200 on the conveyor belt 5, which has been charged, into the battery placing position is provided inside the vehicle body 100. The conveyor belt 5 is used to convey the battery 200 between the charging house 16 and the vehicle body 100, and specifically, the conveyor belt 5 has two operating states, one of which is to convey the battery 200 from the direction close to the vehicle body 100 toward the charging house 16, and the other of which is to convey the battery 200 from the direction close to the charging house 16 toward the vehicle body 100. The charging seat 18 is connected with the power supply, the charging seat 18 and the turntable 6 are both arranged inside the charging room 16, the charging seat 18 is positioned on one side of the turntable 6 far away from the conveyer belt 5, and the charging seat 18 is used for charging the battery 200 to be charged. The turntable 6 is provided with two battery suction mechanisms which are distributed on the side surface of the turntable 6 by 180 degrees, one of the battery suction mechanisms can suck the battery 200 to be charged on the conveyer belt 5 on the turntable 6 and can place the battery 200 on the charging seat 18 for charging, and the other battery suction mechanism can suck the battery 200 which is charged on the charging seat 18 on the turntable 6 and can place the battery 200 on the conveyer belt 5.

When the battery 200 in the vehicle body 100 runs out of charge and needs to be charged, the push-pull mechanism is provided in the vehicle body 100, and the battery 200 to be charged in the vehicle body 100 can be pushed out onto the conveyor 5 by the push-pull mechanism, and the battery 200 to be charged is conveyed toward the charging room 16 by the conveyor 5. After the two battery suction mechanisms on the rotary table 6 respectively suck the battery 200 to be charged and the battery 200 which is completely charged, the rotary table 6 is rotated by 180 degrees to drive the battery 200 to be charged, the battery 200 which is completely charged and the two battery suction mechanisms synchronously rotate, after the positions of the battery 200 to be charged and the battery 200 which is completely charged are exchanged, the corresponding battery 200 is placed on the conveyer belt 5 or the charging seat 18 by using the battery suction mechanisms, so that the conveyer belt 5 can convey the battery 200 which is completely charged towards the direction of the vehicle body 100 and the battery 200 which is completely charged is charged by the charging seat 18, when the conveyer belt 5 conveys the battery 200 which is completely charged to one end close to the vehicle body 100, the push-pull mechanism pulls the battery 200 on the conveyer belt 5 to the battery placing position inside the vehicle body 100, and the battery 200 is replaced. The battery replacing device with the structure can push the battery 200 to be charged out of the vehicle body 100 under the mutual cooperation of the push-pull mechanism, the charging seat 18, the conveyer belt 5 and the turntable 6, the turntable 6 is used to drive the battery 200 to be replaced to rotate to one end close to the conveyer belt 5, on the conveyer belt 5 will be placed to the battery 200 of treating the change through suction mechanism on the carousel 6, will treat the battery 200 of changing through conveyer belt 5 and carry to the one end of keeping away from carousel 6, recycle push-pull mechanism and pull this battery 200 to the inside of automobile body 100, the battery 200 of changing is treated in advance to charging seat 18 charges, effectively reduce the time that automobile body 100 waited to charge, furthermore, the in-process of changing battery 200 does not need the manual work to carry the battery 200 of taking the charge to charging room 16 in and charges, the intensity of manual work has been reduced, be convenient for change the battery, be favorable to electric power to patrol and examine the rate of utilization of robot.

In one embodiment, the vehicle body 100 has a cavity 21 therein, the push-pull mechanism and the battery placement position are both disposed in the cavity 21, the advancing end of the vehicle body 100 has a battery inlet/outlet 3 communicated with the cavity 21, one end of the conveyor belt 5 is disposed near the battery inlet/outlet 3, and the push-pull mechanism is disposed on a side of the battery placement position away from the battery inlet/outlet 3. Specifically, the push-pull mechanism includes a first telescopic cylinder 1 and a first suction disc 2 arranged on a telescopic rod of the first telescopic cylinder 1, and a fixing member of the first telescopic cylinder 1 is fixedly arranged on a side wall of the cavity 21. The first suction tray 2 can be selectively adsorbed on the surface of the battery 200, and the battery 200 inside the vehicle body 100 can be pushed out from the battery port 3 onto the conveyor belt 5 outside the vehicle body 100 or the battery 200 on the conveyor belt 5 can be pulled into a battery placement position inside the vehicle body 100 from the battery port 3 by the extension and contraction of the extension rod in the horizontal direction.

Further, the battery placing position and the battery inlet and outlet 3 are arranged at intervals, the bottom of the battery placing position is concavely provided with a limiting groove 11, and the limiting groove 11 is used for limiting the battery 200. It can be understood that, during the movement of the vehicle body 100, the battery 200 may be displaced inside the vehicle body 100 due to the unevenness of the driving surface or the change of the vehicle speed, and the limiting groove 11 may limit the bottom of the battery 200, so as to limit the displacement of the battery 200 to a certain extent. In addition, the arrangement of the limiting groove 11 also provides reference for the installation of the battery 200, and the replacement of the battery 200 can be quickly completed.

Referring to fig. 2, in order to facilitate the push-pull mechanism to push the battery 200 out of the stopper groove 11, the groove wall of the stopper groove 11 near the battery inlet/outlet 3 forms an inclined surface 12, and the inclined surface 12 guides the battery 200 to enter and exit the stopper groove 11. Specifically, the inclined surface 12 is inclined from bottom to top toward the direction of the charging chamber 16.

As a more preferred technical scheme, the top that the position was placed to the battery is provided with the spacing subassembly of battery, and the spacing subassembly of battery includes limiting plate 10 and the extensible member that can stretch out and draw back in vertical direction, and limiting plate 10 sets up in the bottom of extensible member, and the flexible limiting plate 10 that can drive of extensible member goes up and down to make limiting plate 10 selectivity butt place the top of the battery 200 in the position at the battery. After the battery 200 targets in place at automobile body 100 internally mounted, extend the extensible member, drive limiting plate 10 and descend and make limiting plate 10 support the top of tightly arriving battery 200, no matter how bumpy battery 200 of automobile body 100 can not take place to remove yet, the reliability that the electric power inspection robot used has been guaranteed, when battery 200 needs to charge, the extensible member shrink, it removes to drive limiting plate 10 and rises to make limiting plate 10 follow the top of battery 200, remove the support tight to battery 200, push-and-pull mechanism can push away battery 200 from the battery and place the position this moment.

In order to prevent the battery 200 from being crushed due to the excessive pressing force of the limiting plate 10 against the battery 200, an elastic buffer 9 is connected between the limiting plate 10 and the telescopic member. Specifically, the elastic buffer 9 is a pressure spring, and two opposite ends of the pressure spring are respectively and fixedly connected with the limiting plate 10 and the telescopic member. In the process that the limiting plate 10 abuts against the battery 200, the extrusion force of the limiting plate 10 on the battery 200 can be effectively reduced due to the elastic buffer 9, so that the battery 200 is prevented from being crushed.

In this embodiment, the top of cavity 21 has fixed plate 4, and the spacing subassembly of battery includes second telescopic cylinder 7, and the telescopic link of second telescopic cylinder 7 is the extensible member, and the mounting fixed mounting of second telescopic cylinder 7 has been run through at the upper surface of fixed plate 4 and has been seted up and has been dodged hole 8 at the fixed plate 4, and the telescopic link is kept away from the one end of mounting and is passed and dodge hole 8 and be connected with limiting plate 10. The fixed plate 4 provides support and fixation for the second telescopic cylinder 7, so that the fixing part of the second telescopic cylinder 7 is fixedly arranged outside the cavity 21, and the occupation of the inner space of the cavity 21 is reduced.

In the battery changer of another embodiment, one side of the charging room 16 has an opening 22, one end of the conveyor belt 5 away from the vehicle body 100 extends into the opening 22, and a first conveying roller 19 capable of rotating around its axis is arranged between the conveyor belt 5 and the turntable 6.

Between the turntable 6 and the charging stand 18, there is a second conveyor roller 20 which can rotate around its axis.

It can be understood that, because the weight of the battery 200 is large, the battery suction mechanism may risk dropping from the battery suction mechanism in the process of sucking the battery 200, by arranging the first conveying roller 19 between the conveying belt 5 and the turntable 6 and the second conveying roller 20 between the turntable 6 and the charging seat 18, the battery suction mechanism may utilize the first conveying roller and the second conveying roller 20 to provide a supporting function for the battery 200 when sucking the battery 200, and in addition, the battery 200 can be assisted to move in the horizontal direction by the rotation of the first conveying roller 19 and the second conveying roller 20, and the bearing capacity of the battery suction mechanism is reduced.

In this embodiment, battery suction means includes third telescopic cylinder 13 and second sucking disc 14, and the telescopic link of third telescopic cylinder 13 is connected with second sucking disc 14, and second sucking disc 14 can selectively adsorb on battery 200's surface, and the side of carousel 6 is concave to be equipped with mounting groove 15 that is used for installing third telescopic cylinder 13, and the mounting fixed mounting of third telescopic cylinder 13 is in mounting groove 15, and the flexible radial direction that can drive second sucking disc 14 at carousel 6 of telescopic link is flexible. The battery suction mechanism with the structure can realize suction of the battery 200 to be charged and the battery 200 which is completely charged, and meets the requirement of a battery replacing device in the process of replacing the battery 200. Preferably, the second suction cup 14 is an electromagnetic suction cup.

In still another embodiment of the battery replacing apparatus, a third suction cup 17 for selectively sucking the battery 200 is provided on the charging base 18. Specifically, the bottom of the third suction cup 17 is fixedly connected to the upper surface of the charging seat 18, the side surface of the third suction cup 17 is fixedly connected to the inner side surface of the upper charging room 16, and when the battery 200 to be charged is placed on the charging seat 18, the third suction cup 17 sucks the side surface of the battery 200 to fix the position of the battery 200, so as to prevent the battery 200 from falling off from the charging seat 18 during the charging process. When the vehicle body 100 needs to replace the battery 200, the third suction cup 17 releases the suction of the battery 200 on the charging seat 18, so that the battery suction mechanism sucks the battery 200 on the charging seat 18 to the turntable 6. Preferably, the third suction cup 17 is an electromagnetic suction cup.

In this embodiment, a battery replacing method for the power inspection robot is further provided, in which the battery 200 to be charged, the battery 200 that has been charged, and the battery replacing apparatus with any one of the above structures are provided, and the method specifically includes the following steps:

step S10, the battery replacing device pushes the battery 200 to be charged inside the vehicle body 100 out onto the conveyor belt 5 of the battery replacing device by using the push-pull mechanism, and the battery 200 to be charged is conveyed toward the charging room 16 by the conveyor belt 5;

step S20, the battery replacing device uses one of the battery absorbing mechanisms to absorb the battery 200 to be charged on the conveyer belt 5 onto the turntable 6, and uses the other battery absorbing mechanism to absorb the battery 200 charged on the charging seat 18 onto the turntable 6;

step S30, the turntable 6 rotates 180 degrees around the axis to drive the battery 200 to be charged to rotate to the position opposite to the charging seat 18 and drive the battery 200 to be charged to rotate to the position opposite to the conveyer belt 5;

step S40, the battery replacing device uses two battery absorbing mechanisms to respectively place the charged battery 200 on the conveyor 5 and the battery 200 to be charged on the charging seat 18, so that the conveyor 5 conveys the charged battery 200 towards the vehicle body 100 and the charging seat 18 charges the battery 200 to be charged;

in step S50, the battery changer pulls the battery 200 charged on the conveyor belt 5 to the battery placement position inside the vehicle body 100 using the push-pull mechanism.

In the battery replacing method, the battery 200 in the vehicle body 100 is automatically replaced and charged through the mutual matching of the push-pull mechanism, the conveyer belt 5, the turntable 6, the battery 200 adsorption piece and the charging seat 18, the operation is simple and convenient, the replacing speed is high, the waiting time of the vehicle body 100 is reduced, and the utilization rate of the power patrol robot is improved.

In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are based on the orientation or positional relationship shown in the drawings for convenience in description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims (10)

1. A battery replacing device of an electric power inspection robot is characterized by comprising a push-pull mechanism, a charging room, a rotary table, a charging seat and a conveying belt arranged between a vehicle body and the charging room, wherein the push-pull mechanism is arranged inside the vehicle body and is used for pushing a battery to be charged out of a battery placing position inside the vehicle body onto the conveying belt and pulling the battery which is charged on the conveying belt into the battery placing position, the conveying belt is used for conveying the battery between the charging room and the vehicle body, the charging seat is connected with a power supply, the rotary table and the charging seat are both arranged in the charging room, the charging seat is positioned on one side of the rotary table, which is far away from the conveying belt, is used for charging the battery to be charged, and the rotary table is provided with two battery absorbing mechanisms, two battery suction means is 180 and distributes on the side of carousel, one of them battery suction means can with wait on the conveyer belt to charge the battery adsorbs on the carousel and can with the battery is placed charge on the charging seat, another battery suction means can with charge on the charging seat is accomplished the battery adsorbs on the carousel and can with the battery is placed on the conveyer belt.

2. The battery replacing device for the electric inspection robot according to claim 1, wherein a cavity is formed in the body, the push-pull mechanism and the battery placing position are both disposed in the cavity, the advancing end of the body has a battery inlet and outlet communicated with the cavity, one end of the conveyor belt is disposed near the battery inlet and outlet, and the push-pull mechanism is disposed on a side of the battery placing position away from the battery inlet and outlet.

3. The battery replacing device for the power inspection robot according to claim 2, wherein the battery placing position and the battery inlet and outlet are arranged at intervals, a limiting groove is concavely arranged at the bottom of the battery placing position, and the limiting groove is used for limiting the battery.

4. The battery replacing device for the power inspection robot according to claim 2, wherein a battery limiting assembly is arranged above the battery placing position, the battery limiting assembly comprises a limiting plate and a telescopic piece capable of stretching in the vertical direction, the limiting plate is arranged at the bottom of the telescopic piece, and the telescopic piece can drive the limiting plate to ascend and descend so that the limiting plate can selectively abut against the top of the battery in the battery placing position.

5. The battery exchange device for the power inspection robot according to claim 4, wherein an elastic buffer member is connected between the limiting plate and the telescopic member.

6. The device is patrolled and examined battery of robot to power of claim 4, characterized in that, the top of cavity has the fixed plate, the spacing subassembly of battery includes second telescopic cylinder, the telescopic link of second telescopic cylinder does the extensible member, the mounting fixed mounting of second telescopic cylinder in the upper surface of fixed plate, the fixed plate has run through and has seted up the hole of dodging, the telescopic link is kept away from the one end of mounting passes the hole of dodging with limiting plate connection.

7. The battery replacing device for the power inspection robot according to claim 1, wherein an opening is formed in one side of the charging room, one end, away from the vehicle body, of the conveyor belt penetrates through the opening to extend into the charging room, and a first conveying roller capable of rotating around the axis of the conveyor belt is arranged between the conveyor belt and the rotating disc;

and/or a second conveying roller capable of rotating around the axis of the second conveying roller is arranged between the turntable and the charging seat.

8. The electric power inspection robot battery replacement device according to claim 1, wherein the battery suction mechanism includes a third telescopic cylinder and a second suction cup, a telescopic rod of the third telescopic cylinder is connected with the second suction cup, the second suction cup can be selectively adsorbed on the surface of the battery, a mounting groove for mounting the third telescopic cylinder is concavely arranged on the side surface of the turntable, a fixing member of the third telescopic cylinder is fixedly mounted in the mounting groove, and the telescopic rod can drive the second suction cup to stretch in the radial direction of the turntable.

9. The battery replacing device for the power inspection robot according to any one of claims 1 to 8, wherein a third suction cup for selectively sucking the battery is provided on the charging seat.

10. A battery replacing method of a power inspection robot, characterized in that a battery to be charged, the battery that is charged, and the battery replacing apparatus of any one of claims 1 to 9 are provided, comprising the steps of:

step S10, the battery replacing device pushes the battery to be charged in the vehicle body out to a conveying belt by using a push-pull mechanism, and the battery to be charged is conveyed towards a charging room by the conveying belt;

step S20, the battery replacing device uses one of the battery suction mechanisms to suck the battery to be charged on the conveyor belt onto the turntable, and the battery replacing device uses the other battery suction mechanism to suck the battery charged on the charging stand onto the turntable;

step S30, the rotating disc rotates 180 degrees around the axis of the rotating disc to drive the battery to be charged to rotate to the position right opposite to the charging seat and drive the battery after charging to rotate to the position right opposite to the conveying belt;

step S40, the battery replacing device uses two battery absorbing mechanisms to respectively place the battery that has been charged on the conveyor belt and the battery to be charged on the charging seat, so that the conveyor belt conveys the battery that has been charged toward the vehicle body and the charging seat charges the battery to be charged;

and step S50, the battery replacing device uses the push-pull mechanism to pull the charged battery on the conveyor belt to a battery placing position inside the vehicle body.

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