CN103117529B - 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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- CN103117529B CN103117529B CN201310079529.2A CN201310079529A CN103117529B CN 103117529 B CN103117529 B CN 103117529B CN 201310079529 A CN201310079529 A CN 201310079529A CN 103117529 B CN103117529 B CN 103117529B
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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 inert gas filling to reach explosion-proof object, 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 for disaster area I class environment detection, once explosion suppresion surface is impaired or 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 without heavy flameproof cabinet, both reach disaster area environment exploring robot intrinsic safe explosion-proof requirement, and can meet again 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 electricity force-summing device of sniffing robot load requires simultaneously.
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 connecting 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, second output of current limliting overvoltage crowbar and the input of motor are connected, 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 output of the first current-limiting resistance and the first overvoltage crowbar is all connected with the input of the first low-voltage and low-power dissipation comparison circuit, first output of low-voltage and low-power dissipation comparison circuit and the input of second switch are connected, 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 current-limiting resistance is connected with the input of the 3rd switch, the output of the 3rd switch connects the input of the second current-limiting resistance, the output of the output of the second current-limiting resistance and the second overvoltage crowbar all with the input of the second low-voltage and low-power dissipation comparison circuit is 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 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 battery.
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 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 to load in the situation of large current work guard grating power consumption also lower, thereby improves power work efficiency.
2, the startup stage that motor match circuit can making motor load, there is enough power, and the energy of circuit can discharge gently on the loop of safety when power remove, adopt jumbo intrinsic safety electric source, meet 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 will be apparent to those skilled in the art to investigating below, or can be instructed from the practice of the present invention.Target of the present invention and other advantages can be realized and be obtained by specification and claims below.
Accompanying drawing explanation
In order to make object 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 connecting 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 output of the first current-limiting resistance 32 and the first overvoltage crowbar 34 is all 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 current-limiting resistance 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 output of the second current-limiting resistance 42 and the second overvoltage crowbar 44 is all 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 super low-power consumption device, even if load in the large current work situation that can reach 31, guard grating power consumption also significantly reduces, thereby improves power work efficiency.
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 is had to strict requirement, the capacitance of the electric capacity in Fig. 2 is the smaller the better, also will guarantee starter motor simultaneously and normally work with protective circuit when capacitor charging.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 work of safety barrier circuit above; 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, can make motor start under intrinsically safe circuit, can make again the capacitance of storage capacitor reduce, meet 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 GB3836.4-2010 requirement.
As the improvement to the present embodiment, described intrinsic safety electric source is pouring type intrinsic safety electric source, compares with 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, meets the demand of robot lightweight and portability.
Introduce the operation principle of the portable sniffing robot ontology-driven of mine intrinsic safety type device below; 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 low-voltage and low-power dissipation comparison circuit; the normal voltage inner with it compares, and brings in to realize the break-make of whole circuit is controlled according to result relatively and then the control inputs of controlling very fast switch.
Finally explanation is, 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 to it, make various changes in the form and details, and not depart from the claims in the present invention book limited range.
Claims (6)
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 connecting 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 the output of guard grating with the input of guard grating and the input of dual voltage stabilizing circuit is connected, 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, second output of current limliting overvoltage crowbar and the input of motor are connected, 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 output of the first current-limiting resistance and the first overvoltage crowbar is all connected with the input of the first low-voltage and low-power dissipation comparison circuit, first output of low-voltage and low-power dissipation comparison circuit and the input of second switch are connected, 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 current-limiting resistance is connected with the input of the 3rd switch, the output of the 3rd switch connects the input of the second current-limiting resistance, the output of the output of the second current-limiting resistance and the second overvoltage crowbar all with the input of the second low-voltage and low-power dissipation comparison circuit is 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, also comprise 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.
2. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1, is characterized in that: 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 battery.
3. 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.
4. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1, is characterized in that: described intrinsic safety electric source is pouring type intrinsic safety electric source.
5. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1, is characterized in that: described the first switch is soft switch.
6. the portable sniffing robot ontology-driven of mine intrinsic safety type device according to claim 1, 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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| CN103117529A CN103117529A (en) | 2013-05-22 |
| CN103117529B true 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103465787B (en) * | 2013-09-25 | 2016-05-18 | 西南大学 | Essential safe type robot movement 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 |
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Address after: 400039 Chongqing Jiulongpo Erlang Branch City Road No. 6 Applicant after: China Coal Technology Engineering Group Chongqing Research Institute Address before: 400039 Chongqing Jiulongpo Erlang Branch City Road No. 6 Applicant before: China Coal Science and Industry Group Chongqing Research Institute |
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