CN103117529A - Mine intrinsic safety type portable detection robot body driving device - Google Patents
Mine intrinsic safety type portable detection robot body driving device Download PDFInfo
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- CN103117529A CN103117529A CN2013100795292A CN201310079529A CN103117529A CN 103117529 A CN103117529 A CN 103117529A CN 2013100795292 A CN2013100795292 A CN 2013100795292A CN 201310079529 A CN201310079529 A CN 201310079529A CN 103117529 A CN103117529 A CN 103117529A
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- 238000001514 detection method Methods 0.000 title abstract description 9
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 18
- QHGJSLXSVXVKHZ-UHFFFAOYSA-N dilithium;dioxido(dioxo)manganese Chemical compound [Li+].[Li+].[O-][Mn]([O-])(=O)=O QHGJSLXSVXVKHZ-UHFFFAOYSA-N 0.000 claims abstract description 7
- 230000009977 dual effect Effects 0.000 claims description 17
- 239000003990 capacitor Substances 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 5
- 230000008676 import Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000004880 explosion Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000011261 inert gas Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
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Abstract
The invention discloses a mine intrinsic safety type portable detection robot body driving device. The mine intrinsic safety type portable detection robot body driving device comprises an intrinsic safety electric source, a load matching circuit and a mine intrinsic safety type portable detection robot body motor which are connected in sequence, wherein the intrinsic safety electric source comprises a battery set protection circuit, a series battery set, a soft switch, a guard grating and a double voltage stabilizing circuit which are connected in series sequentially. The mine intrinsic safety type portable detection robot body driving device adopts low power consumption top speed reaction guard grating technology, adopts advanced motor load matching technology, and uses a high capacity lithium manganate battery set, and accordingly a low power consumption mine intrinsic safety type portable detection robot body driving device which needs no heavy explosive-proof box, and not only meets requirements for detection robot intrinsic safety explosion protection under protection environment, but also can meet requirements for portability of driving electric power and equipment loaded on a detection robot is provided.
Description
Technical field
The present invention relates to a kind of drive unit, particularly the portable sniffing robot ontology-driven of a kind of mine intrinsic safety type device.
Background technology
Domestic and international mining rescue at present or sniffing robot bulk volume are large, the power adapter of its travel driving motor adopts 220V to exchange (dragging line) or 24V and 48V direct current ni-mh power supply mostly, its intrinsic safety drive current is easily limited, therefore generally adopt flame proof/explosion-suppression and intrinsic safety device or utilize the inert gas filling to reach explosion-proof purpose, its flameproof cabinet volume is large and heavy.On the one hand, due to flame-proof type supply unit non-intrinsically safe safety design normally, its class of safety protection is not high, if be used for disaster area I class environment detection, in case explosion suppresion surface is impaired or the inert gas volatilization is lost, easily lose quick-fried, cause secondary accident, disaster to occur, on the other hand, power safety grid power consumption is large, the operating efficiency of power supply is not high, thereby has limited the range of application of its adaptive sniffing robot.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of heavy flameproof cabinet that need not, both reach disaster area environment exploring robot intrinsic safe explosion-proof requirement, and can satisfy again simultaneously the portable sniffing robot ontology-driven of the mine intrinsic safety type device of a kind of low-power consumption that the portability of the driving electric power of sniffing robot load and equipment requires.
for achieving the above object, the invention provides following technical scheme: the portable sniffing robot ontology-driven of mine intrinsic safety type device, comprise the intrinsic safety electric source and the motor that connect successively, described intrinsic safety electric source comprises the battery that connects successively, the first switch, guard grating and dual voltage stabilizing circuit, battery is connected with the input of the first switch, the output of the first switch is connected with the input of guard grating, the output of guard grating is connected with the input of dual voltage stabilizing circuit, the output of dual voltage stabilizing circuit is connected with motor, described guard grating comprises the first current limliting overvoltage crowbar and the second current limliting overvoltage crowbar, the output of the first current limliting overvoltage crowbar is connected with the import and export of the second current limliting overvoltage crowbar, the input of the first current limliting overvoltage crowbar is connected with the output of the first switch, the output of the second current limliting overvoltage crowbar is connected with the output of motor, described the first current limliting overvoltage crowbar comprises second switch, the first current-limiting resistance, the first low-voltage and low-power dissipation comparison circuit and the first overvoltage crowbar, the input of second switch connects the output of the first switch, the output of second switch connects the input of the first current-limiting resistance, the output of the first current-limiting resistance be connected the output of overvoltage crowbar and all be connected with the input of the first low-voltage and low-power dissipation comparison circuit, the output of the first low-voltage and low-power dissipation comparison circuit is connected with the input of second switch, described the second current limliting overvoltage crowbar comprises the 3rd switch, the second current-limiting resistance, the second low-voltage and low-power dissipation comparison circuit and the second overvoltage crowbar, the first sampling resistor is connected with the input of the 3rd switch, the output of the input connecting valve of the 3rd switch, the output of the 3rd switch connects the input of the second current-limiting resistance, the output of the second current-limiting resistance be connected overvoltage crowbar output all with are connected the input of low-voltage and low-power dissipation comparison circuit and are connected, the output of the second low-voltage and low-power dissipation comparison circuit is connected with the input of the 3rd switch, the second current-limiting resistance is connected with the input of dual voltage stabilizing circuit.
Further, also comprise the motor match circuit, the output of described motor match circuit is connected with the input of motor, the input of motor match circuit is connected with the output of dual voltage stabilizing circuit, described motor match circuit comprises resistance, electrochemical capacitor and diode, and the negative electrode of described diode is connected with the output of dual voltage stabilizing circuit, resistance and diodes in parallel, the anodic bonding of diode electrochemical capacitor over the ground, the anode of diode is connected with the positive pole of electrochemical capacitor.
Further, described intrinsic safety electric source also comprises battery pack protective circuit, and the output of described battery pack protective circuit is connected with the input of lithium manganate battery group.
Further, described second switch and the 3rd switch for can be within the time of tens nanoseconds open circuit reach the very fast switch of the spark energy that restriction short circuit place produces.
Further, described intrinsic safety electric source is the pouring type intrinsic safety electric source.
Further, described the first switch is soft switch.
Further, described battery is the battery pack that lithium manganate battery is in series.
Beneficial effect of the present invention is:
1, intrinsic safety electric source adopts low-voltage and low consumption guard grating technology, makes in the situation that loads on large current work the guard grating power consumption also lower, thereby improves power work efficient.
Enough power is arranged the startup stage that 2, the motor match circuit can making motor load, and the energy of circuit can discharge on the loop of safety gently when power remove, adopt jumbo intrinsic safety electric source, satisfy driving electric power and the portable devices requirement of sniffing robot load.
Other advantages of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on being apparent to those skilled in the art to investigating hereinafter, perhaps can be instructed from the practice of the present invention.Target of the present invention and other advantages can realize and obtain by following specification and claims.
Description of drawings
In order to make purpose of the present invention, technical scheme and beneficial effect clearer, the invention provides following accompanying drawing and describe:
Fig. 1 is embodiment of the present invention driving device structure schematic diagram;
Fig. 2 is the physical circuit figure of motor match circuit of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
as shown in Figure 1, the portable sniffing robot ontology-driven of mine intrinsic safety type device, comprise the intrinsic safety electric source 9 and the motor 7 that connect successively, described intrinsic safety electric source 9 comprises the battery 1 that connects successively, the first switch 2, guard grating 10 and dual voltage stabilizing circuit 5, the output of described the first switch 2 is connected with the input of guard grating 10, the output of guard grating 10 is connected with the input of dual voltage stabilizing circuit 5, the output of dual voltage stabilizing circuit 5 is connected with motor 7, described guard grating 10 comprises the first current limliting overvoltage crowbar 3 and the second current limliting overvoltage crowbar 4, the output of the first current limliting overvoltage crowbar 3 is connected with the output of the second current limliting overvoltage crowbar 4, the input of the first current limliting overvoltage crowbar 3 is connected with the output of the first switch 2, the output of the second current limliting overvoltage crowbar 4 is connected with the input of motor 7, the first current limliting overvoltage crowbar 2 comprises second switch 31, the first current-limiting resistance 32, the first low-voltage and low-power dissipation comparison circuit 33 and the first overvoltage crowbar 34, the input of second switch 31 connects the output of the first switch 2, the output of second switch 31 connects the input of the first current-limiting resistance 32, the output of the first current-limiting resistance 32 be connected the output of overvoltage crowbar 34 and all be connected with the input of the first low-voltage and low-power dissipation comparison circuit 33, the output of the first low-voltage and low-power dissipation comparison circuit 33 is connected with the input of second switch 31, described the second current limliting overvoltage crowbar 4 comprises the second very fast switch 41, the second current-limiting resistance 42, the second low-voltage and low-power dissipation comparison circuit 43 and the second overvoltage crowbar 44, the first sampling resistor 32 is connected with the input of the 3rd switch 41, the output of the 3rd switch 41 connects the input of the second current-limiting resistance 42, the output of the second current-limiting resistance 42 be connected the output of overvoltage crowbar 44 and all be connected with the input of the second low-voltage and low-power dissipation comparison circuit 43, the output of the second low-voltage and low-power dissipation comparison circuit 43 is connected with the input of the 3rd switch 41, the second current-limiting resistance 42 is connected with motor 7.Guard grating adopts the following ultralow standard of 1V to carry out voltage sample relatively and the super low-power consumption device, can reach in 31 large current work situation even load on, and the guard grating power consumption also significantly reduces, thus raising power work efficient.
As the improvement to the present embodiment, also comprise motor match circuit 6, the output of described motor match circuit 6 is connected with the input of motor 7, the input of motor match circuit 6 is connected with the output of dual voltage stabilizing circuit 5, described motor match circuit 6 comprises resistance, electrochemical capacitor and diode, the negative electrode of described diode is connected with the output of dual voltage stabilizing circuit 5, resistance and diodes in parallel, the anodic bonding of diode electrochemical capacitor over the ground, the anode of diode is connected with the positive pole of electrochemical capacitor.
Fig. 2 is the physical circuit figure of motor match circuit.In the circuit of intrinsic safety equipment, energy-storage travelling wave tube there is strict requirement, the appearance value of the electric capacity in Fig. 2 is the smaller the better, also will guarantee starter motor and the normal operation of protective circuit when capacitor charging simultaneously.Circuit rigidly connects that electric capacity is in charged state when logical, and due to the existence of resistance (suitable resistance), the time of charging is delayed, and has guaranteed the normal operation of front safety barrier circuit; During electric motor starting, electric capacity is in discharge condition, and electric current can directly discharge so that motor has enough starting currents by diode rapidly.By match circuit, motor is started under intrinsically safe circuit, the appearance value of storage capacitor is reduced, satisfy the intrinsic safety requirement of GB3836.4-2010.
As the improvement to the present embodiment, described intrinsic safety electric source 9 also comprises battery pack protective circuit 8, and the output of described battery pack protective circuit 8 is connected with the input of lithium manganate battery group.The functions such as the overvoltage of battery pack protective circuit tool, Cross prevention and under-voltage protection have reduced the fault of equipment.
As the improvement to the present embodiment, described the first switch 31 and second switch 41 are very fast switch.This switch when circuit is short-circuited, can be within the time of tens nanoseconds open circuit, thereby limited the spark energy that short circuit place produces, make it meet the GB3836.4-2010 requirement.
As the improvement to the present embodiment, described intrinsic safety electric source is the pouring type intrinsic safety electric source, compares with the flame-proof type intrinsic safety electric source, and pouring type intrinsic safety electric source volume is little, lightweight.
As the improvement to the present embodiment, described the first switch 2 is soft switch, and soft switch has improved switching frequency, has reduced switching loss.
As the improvement to the present embodiment, described battery 1 is in series for some jumbo lithium manganate batteries, satisfies the demand of robot lightweight and portability.
The below introduces the operation principle of the portable sniffing robot ontology-driven of mine intrinsic safety type device; after soft switch 2 is opened; whole power supply energising; sampling voltage and the sampling voltage on overvoltage crowbar on current-limiting resistance in circuit are all read by the low-voltage and low-power dissipation comparison circuit; the normal voltage inner with it compares, and brings according to relatively result and then the control inputs of controlling very fast switch the break-make that realizes whole circuit and controls.
Explanation is at last, above preferred embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is described in detail by above preferred embodiment, but those skilled in the art are to be understood that, can make various changes to it in the form and details, and not depart from claims limited range of the present invention.
Claims (7)
1. the portable sniffing robot ontology-driven of mine intrinsic safety type device, comprise the intrinsic safety electric source and the motor that connect successively, described intrinsic safety electric source comprises the battery that connects successively, the first switch, guard grating and dual voltage stabilizing circuit, battery is connected with the input of the first switch, the output of the first switch is connected guard grating with the input of guard grating output is connected with the input of dual voltage stabilizing circuit, the output of dual voltage stabilizing circuit is connected with motor, it is characterized in that: described guard grating comprises the first current limliting overvoltage crowbar and the second current limliting overvoltage crowbar, the output of the first current limliting overvoltage crowbar is connected with the import and export of the second current limliting overvoltage crowbar, the input of the first current limliting overvoltage crowbar is connected with the output of the first switch, the output of the second current limliting overvoltage crowbar is connected with the output of motor, described the first current limliting overvoltage crowbar comprises second switch, the first current-limiting resistance, the first low-voltage and low-power dissipation comparison circuit and the first overvoltage crowbar, the input of second switch connects the output of the first switch, the output of second switch connects the input of the first current-limiting resistance, the output of the first current-limiting resistance be connected the output of overvoltage crowbar and all be connected with the input of the first low-voltage and low-power dissipation comparison circuit, the output of the first low-voltage and low-power dissipation comparison circuit is connected with the input of second switch, described the second current limliting overvoltage crowbar comprises the 3rd switch, the second current-limiting resistance, the second low-voltage and low-power dissipation comparison circuit and the second overvoltage crowbar, the first sampling resistor is connected with the input of the 3rd switch, the output of the input connecting valve of the 3rd switch, the output of the 3rd switch connects the input of the second current-limiting resistance, the output of the second current-limiting resistance be connected overvoltage crowbar output all with are connected the input of low-voltage and low-power dissipation comparison circuit and are connected, the output of the second low-voltage and low-power dissipation comparison circuit is connected with the input of the 3rd switch, the second current-limiting resistance is connected with the input of dual voltage stabilizing circuit.
2. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1, it is characterized in that: also comprise the motor match circuit, the output of described motor match circuit is connected with the input of motor, the input of motor match circuit is connected with the output of dual voltage stabilizing circuit, described motor match circuit comprises resistance, electrochemical capacitor and diode, the negative electrode of described diode is connected with the output of dual voltage stabilizing circuit, resistance and diodes in parallel, the anodic bonding of diode electrochemical capacitor over the ground, the anode of diode is connected with the positive pole of electrochemical capacitor.
3. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1, it is characterized in that: described intrinsic safety electric source also comprises battery pack protective circuit, the output of described battery pack protective circuit is connected with the input of lithium manganate battery group.
4. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1 is characterized in that: described second switch and the 3rd switch for can be within the time of tens nanoseconds open circuit reach the very fast switch of the spark energy that restriction short circuit place produces.
5. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1, it is characterized in that: described intrinsic safety electric source is the pouring type intrinsic safety electric source.
6. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1, it is characterized in that: described the first switch is soft switch.
7. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1, it is characterized in that: described battery is the battery pack that lithium manganate battery is in series.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310079529.2A CN103117529B (en) | 2013-03-13 | 2013-03-13 | Mine intrinsic safety type portable detection robot body driving device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310079529.2A CN103117529B (en) | 2013-03-13 | 2013-03-13 | Mine intrinsic safety type portable detection robot body driving device |
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| Publication Number | Publication Date |
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| CN103117529A true CN103117529A (en) | 2013-05-22 |
| CN103117529B CN103117529B (en) | 2014-12-03 |
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| CN201310079529.2A Active CN103117529B (en) | 2013-03-13 | 2013-03-13 | Mine intrinsic safety type portable detection robot body driving device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465787A (en) * | 2013-09-25 | 2013-12-25 | 西南大学 | Intrinsically safe robot motion platform |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0082105B1 (en) * | 1981-12-16 | 1986-03-05 | Siemens Aktiengesellschaft | Intrinsic safety power supply with a controlled semiconductor disposed in the primary circuit of a transformer |
| CN101567549A (en) * | 2009-03-03 | 2009-10-28 | 四川神坤装备股份有限公司 | Direct-current safety gate |
| CN102025264A (en) * | 2011-01-11 | 2011-04-20 | 郑州煤矿机械集团股份有限公司 | Safety grating |
| CN203103906U (en) * | 2013-03-13 | 2013-07-31 | 中煤科工集团重庆研究院 | Intrinsic safety type portable driving power supply device for mine exploration robot bodies |
-
2013
- 2013-03-13 CN CN201310079529.2A patent/CN103117529B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0082105B1 (en) * | 1981-12-16 | 1986-03-05 | Siemens Aktiengesellschaft | Intrinsic safety power supply with a controlled semiconductor disposed in the primary circuit of a transformer |
| CN101567549A (en) * | 2009-03-03 | 2009-10-28 | 四川神坤装备股份有限公司 | Direct-current safety gate |
| CN102025264A (en) * | 2011-01-11 | 2011-04-20 | 郑州煤矿机械集团股份有限公司 | Safety grating |
| CN203103906U (en) * | 2013-03-13 | 2013-07-31 | 中煤科工集团重庆研究院 | Intrinsic safety type portable driving power supply device for mine exploration robot bodies |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465787A (en) * | 2013-09-25 | 2013-12-25 | 西南大学 | Intrinsically safe robot motion platform |
| CN103465787B (en) * | 2013-09-25 | 2016-05-18 | 西南大学 | Essential safe type robot movement platform |
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| CN103117529B (en) | 2014-12-03 |
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