CN110380495A - Water pipe robot double cell group self-charging system - Google Patents
Water pipe robot double cell group self-charging system Download PDFInfo
- Publication number
- CN110380495A CN110380495A CN201910661949.9A CN201910661949A CN110380495A CN 110380495 A CN110380495 A CN 110380495A CN 201910661949 A CN201910661949 A CN 201910661949A CN 110380495 A CN110380495 A CN 110380495A
- Authority
- CN
- China
- Prior art keywords
- battery
- battery pack
- generator
- water pipe
- cell group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 32
- 238000007600 charging Methods 0.000 title claims abstract description 18
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 21
- 229910001416 lithium ion Inorganic materials 0.000 claims description 21
- 238000007599 discharging Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Classifications
-
- H02J7/0022—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/1423—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle with multiple batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/143—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle with multiple generators
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of water pipe robot double cell group self-charging systems, including multiple turbines, more telescopic shafts, multiple generators, robot body and battery pack, each turbine is mounted on one end of each telescopic shaft, the other end of each telescopic shaft and the periphery of robot body connect, the generator and battery pack are respectively positioned on the inside of robot body, the input terminal of each generator and the output end of turbine connect, the output end of each generator is connect with the charge circuit of every piece of battery in battery pack, breaker of the setting for battery in battery pack switching on the charge circuit；The discharge loop of every piece of battery is connect with the input terminal of driving motor in battery pack, and the breaker for battery in battery pack switching is also provided on the discharge loop.The configuration of the present invention is simple, it is easy to use, using the invention can ensure that another group of battery charges when one group of battery discharge, substantially increase the service life of battery.Two groups of batteries toggle so that battery can obtain enough charging time after discharge, improve machine task efficiency.
Description
Technical field
The present invention relates to robot energy supply fields, more particularly to are applied to sewer drainage pipe and reservoir culvert operation
Water pipe robot double cell group self-charging system.
Background technique
For urban discharging pipeline for a long time under buried earth's surface, pipeline distribution is intricate, to tie up to urban discharging pipeline
It is pretty troublesome for protecting and managing, furthermore small-sized dilapidated reservoir enormous amount in the whole country, leads to piping because burying to contain to leak under dam
Or bury culvert fracture and can cause dam break, tradition in a manner of manually sounding out the people in a given scope one by one in order to break a criminal case to pipe detection, it is fairly time consuming to the maintenance of pipeline laborious,
The work safety hidden danger for existing simultaneously staff, by water pipe robot can be convenient in the duct quickly or at a slow speed
It is mobile, while coherent detection work is carried out, therefore necessary using water pipe robot.
At present in terms of the energy supply of the robotically-driven motor of water pipe, storage battery power supply is generally used, is monitored
When battery capacity is lower, outlet or charging jack are found nearby, and such mode efficiency is lower, and detection need of work often interrupts.
In addition, also have by flowing water carry out that power generation charges a battery in the way of, but generally only with one group of battery, pipe robot work
When having the small situation of water during work, battery is not at charged state substantially, is constantly in discharge condition, efficiency also compares at this time
It is low, and battery carries out charge discharge life simultaneously and reduces comparatively fast.
Summary of the invention
The applicant is directed to above-mentioned existing issue, has carried out Improvement, provides a kind of water pipe robot double cell
Group self-charging system, can guarantee that another group of battery is in charged state when one group of battery discharge, substantially increase battery use
Service life
The technical solution adopted in the present invention is as follows:
A kind of water pipe robot double cell group self-charging system, including multiple turbines, more telescopic shafts, Duo Gefa
Motor, robot body and battery pack, each turbine are mounted on one end of each telescopic shaft, the other end and robot of each telescopic shaft
The periphery connection of ontology, the generator and battery pack are respectively positioned on the inside of robot body, the input terminal and leaf of each generator
The output end of turbine connects, and the output end of each generator connect with the charge circuit of every piece of battery in battery pack, fills described
Breaker of the setting for battery in battery pack switching on electrical circuit；The discharge loop of every piece of battery is electric with driving in battery pack
The input terminal of machine connects, and the breaker for battery in battery pack switching is also provided on the discharge loop.
Its further technical solution is:
More flexible support shafts are arranged in upper and lower in the robot body periphery, connect in the end of each flexible support shaft
Connect the support wheel for being close to inner wall of the pipe；
It is also set up on circuit between each generator output end and battery pack charge circuit for alternating current to be changed into directly
The rectifier of galvanic electricity and prevent diode of the battery pack to generator discharge；
The battery pack is made of two groups of lithium ion batteries in parallel each other；
First breaker, the second breaker carry out control opening and closing by battery in battery pack management system；
The rotation central siphon for driving telescopic shaft, turbine rotation, the rotary shaft are also installed in the periphery of each telescopic shaft
Pipe, telescopic shaft are by driving motor supplies power.
Beneficial effects of the present invention are as follows:
The configuration of the present invention is simple, it is easy to use, using the invention can ensure that another group of battery charges when one group of battery discharge,
Substantially increase the service life of battery.When two groups of batteries toggle so that battery can obtain enough chargings after discharge
Between, improve machine task efficiency.
Telescopic shaft improves robot in the work of low water level and different water (flow) directions from the use of rotation central siphon in the present invention
Make ability, can timely avoiding obstacles, improve the overall security of water pipe robot.
The use of support shaft of stretching in the present invention and support wheel enhances safety of the robot in the faster pipeline of water flow
Property, it ensure that robot in the stability of great slope pipeline operations.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is flow diagram of the invention.
Wherein: 1, inner wall of the pipe；2, turbine；3, telescopic shaft；4, central siphon is rotated；5, generator；6, rectifier；7, two pole
Pipe；8, lithium ion battery；9, battery management system；10, robot body；11, breaker；12, driving motor；13, flexible branch
Support axis；14, support wheel.
Specific embodiment
Illustrate a specific embodiment of the invention below.
As shown in Figure 1 and Figure 2, water pipe robot double cell group self-charging system includes multiple turbines 2, Duo Genshen
Contracting axis 3, multiple generators 5, robot body 10 and battery pack, in the present embodiment battery pack by by two groups of lithiums in parallel each other from
Sub- battery 8 forms, and all has battery management system 9 in every piece of lithium ion battery 8.As shown in Figure 1, each turbine 2 is mounted on respectively
One end of telescopic shaft 3 drives each rotation of generator 5 to generate electricity, the other end and robot of each telescopic shaft 3 by turbine 2
The periphery of ontology 10 connects, and each telescopic shaft 3, turbine 2 are respectively positioned on the four corners of robot body periphery in the present embodiment,
The rotation central siphon 4 for driving telescopic shaft 3, turbine 2 to rotate also is installed in the periphery of each telescopic shaft 3, and the rotation central siphon 4 is stretched
Contracting axis 3 provides power by driving motor 12.
Telescopic shaft 3 be arranged such that robot before detection square barrier when, can stretch and carry out avoiding barrier.It is transporting
When defeated and storage, it can be rotated to perpendicular to water flow downwardly direction by rotation central siphon 4, make turbine 2 preferably in flowing water
In environment, rotation central siphon 4 itself can overturn 180 ° in water (flow) direction, to adapt to the water flow of different directions.
Generator 5 and battery pack are respectively positioned on the inside of robot body 10, wherein above-mentioned generator 5 is located at robot body
The input terminal of four corners inside 10, each generator 5 is connect with the output end of turbine 2, the output end of each generator 5 with
The charge circuit connection of every piece of battery in battery pack.In the present embodiment two adjacent groups generator 5 (G1/G3) respectively with No. 1 lithium from
The charge circuit of sub- battery 8 connects, and two adjacent groups generator 5 (G2/G4) connects with the charge circuit of No. 2 lithium ion batteries 8 respectively
It connects, first breaker (Q1) of the setting for battery in battery pack switching on the charge circuit of No. 1 lithium ion battery 8, at No. 2
Second breaker (Q2) of the setting for battery in battery pack switching on the charge circuit of lithium ion battery 8.On as shown in Figure 1,
The discharge loop for stating every piece of battery in battery pack is connect with the input terminal of driving motor 12, in No. 1 lithium ion in the present embodiment
Third breaker (Q3) is set on the discharge loop of battery 8, the 4th open circuit is set on the discharge loop of No. 2 lithium ion batteries 8
Device (Q4).
As shown in Figure 1, more flexible support shafts 13 are arranged in the upper and lower in 10 periphery of robot body, in each flexible bearing
The end of axis 13 connects the support wheel 14 for being close to inner wall of the pipe 1.Above-mentioned support wheel is close to inner wall of the pipe 1, keeps robot whole
Body will not be washed away by water flow.It is also set up on circuit between each 5 output end of generator and battery pack charge circuit for that will exchange
The diode 7 that electricity is changed into the rectifier 6 of direct current and prevents battery pack from discharging to generator 5.First breaker, second
Breaker carries out control opening and closing by battery in battery pack management system 9 (BMS, Battery Management System),
When controlling one group of battery discharge by battery management system 9 in the present embodiment, another group of battery is in charged state, i.e. generator 5
At any one time only to wherein one group of battery (No. 1 or No. 2 batteries) charging, battery management system 9 is simultaneously also by robot body
10 control system control, enables robot to make the movement such as advance, retreat, brake in pipeline by driving motor 12.
Specific work process of the invention is as follows:
As shown in Fig. 2, 8, No. 2 lithium ion batteries 8 of No. 1 lithium ion battery both be charged to 100% appearance in the initial stage
Amount, pipe robot enter water pipe, close the first circuit breaker Q 1, third circuit breaker Q 3, disconnect the second circuit breaker Q the 2, the 4th
Circuit breaker Q 4, as shown in Figure 1, No. 1 lithium ion battery 8 starts to discharge at this time, and No. 2 lithium ion batteries 8 do not work.Pipeline machine
People is in running order, battery management system 9 start detect 8, No. 2 lithium ion batteries 8 of No. 1 lithium ion battery capacity (SOC,
State of Charge), when the capacity of No. 1 lithium ion battery 8 is less than 70%, as shown in Figure 1, close the second circuit breaker Q 2,
4th circuit breaker Q 4, disconnect the first circuit breaker Q 1, third circuit breaker Q 3, No. 2 lithium ion batteries 8 discharge at this time, No. 1 lithium from
Sub- battery charges, so that pipe robot enters cycle operation state, is individually discharged by No. 2 batteries at this time.Then into
Enter to switch the battery stage, the capacity of 8, No. 2 lithium ion batteries 8 of No. 1 lithium ion battery is detected again by battery management system 9, when 2
When number 8 capacity of lithium ion battery is lower than 70%, the first circuit breaker Q 1, third circuit breaker Q 3 are closed, disconnects the second circuit breaker Q 2, the
Four circuit breaker Qs 4 are made No. 1 lithium ion battery 8 individually discharge, are recycled with this.
The configuration of the present invention is simple, it is easy to use, using the invention can ensure that another group of battery charges when one group of battery discharge,
Substantially increase the service life of battery.When two groups of batteries toggle so that battery can obtain enough chargings after discharge
Between, improve machine task efficiency.
Telescopic shaft improves robot in the work of low water level and different water (flow) directions from the use of rotation central siphon in the present invention
Make ability, can timely avoiding obstacles, improve the overall security of water pipe robot.
The use of support shaft of stretching in the present invention and support wheel enhances safety of the robot in the faster pipeline of water flow
Property, it ensure that robot in the stability of great slope pipeline operations.
Above description is explanation of the invention, is not intended to limit the invention, and limited range of the present invention is referring to right
It is required that the present invention can make any type of modification without prejudice to basic structure of the invention.
Claims (6)
1. water pipe robot double cell group self-charging system, it is characterised in that: stretch including multiple turbines (2), more
Axis (3), multiple generators (5), robot body (10) and battery pack, each turbine (2) are mounted on the one of each telescopic shaft (3)
End, the other end of each telescopic shaft (3) are connect with the periphery of robot body (10), and the generator (5) and battery pack are respectively positioned on
The input terminal of the inside of robot body (10), each generator (5) is connect with the output end of turbine (2), each generator (5)
Output end is connect with the charge circuit of every piece of battery in battery pack, and setting is used for battery in battery pack on the charge circuit
The breaker (11) of switching；The discharge loop of every piece of battery is connect with the input terminal of driving motor (12) in battery pack, in institute
State the breaker (11) being also provided on discharge loop for battery in battery pack switching.
2. water pipe robot double cell group self-charging system as described in claim 1, it is characterised in that: Yu Suoshu machine
More flexible support shafts (13) are arranged in the upper and lower of human body (10) periphery, and in the end of each flexible support shaft (13), connection is used for
It is close to the support wheel (14) of inner wall of the pipe (1).
3. water pipe robot double cell group self-charging system as described in claim 1, it is characterised in that: each generator
(5) rectifier for alternating current to be changed into direct current is also set up on the circuit between output end and battery pack charge circuit
(6) and the diode (7) that prevents battery pack from discharging to generator (5).
4. water pipe robot double cell group self-charging system as described in claim 1, it is characterised in that: the battery pack
It is made of two groups of lithium ion batteries (8) in parallel each other.
5. water pipe robot double cell group self-charging system as described in claim 1, it is characterised in that: described first is disconnected
Road device, the second breaker carry out control opening and closing by battery in battery pack management system.
6. water pipe robot double cell group self-charging system as described in claim 1, it is characterised in that: in each telescopic shaft
(3) rotation central siphon (4) of the periphery also installation for driving telescopic shaft (3), turbine (2) to rotate, the rotation central siphon (4),
Telescopic shaft (3) provides power by driving motor (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910661949.9A CN110380495A (en) | 2019-07-22 | 2019-07-22 | Water pipe robot double cell group self-charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910661949.9A CN110380495A (en) | 2019-07-22 | 2019-07-22 | Water pipe robot double cell group self-charging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110380495A true CN110380495A (en) | 2019-10-25 |
Family
ID=68254754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910661949.9A Pending CN110380495A (en) | 2019-07-22 | 2019-07-22 | Water pipe robot double cell group self-charging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110380495A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205051424U (en) * | 2015-05-27 | 2016-02-24 | 南京阿凡达机器人科技有限公司 | Robot of double cell group |
| CN208127934U (en) * | 2018-04-24 | 2018-11-20 | 上海立名智能科技有限公司 | A kind of robot electric energy supply equipment |
-
2019
- 2019-07-22 CN CN201910661949.9A patent/CN110380495A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205051424U (en) * | 2015-05-27 | 2016-02-24 | 南京阿凡达机器人科技有限公司 | Robot of double cell group |
| CN208127934U (en) * | 2018-04-24 | 2018-11-20 | 上海立名智能科技有限公司 | A kind of robot electric energy supply equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102195334B (en) | Method and system for improving reliability of emergency power supplies of nuclear power plant | |
| CN105207341A (en) | Grid-connected and off-grid type photovoltaic energy-storage charging pile control device and method | |
| CN218482698U (en) | Light stores up integrative industry and commerce energy storage cabinet and energy storage system | |
| CN107154755A (en) | High power permanent magnet synchronous motor brake power recovering device and control method | |
| CN103485979B (en) | The energy utilization system of comprehensive utilization natural energy resources | |
| CN206041613U (en) | Solar battery charging and discharging controller | |
| CN206023335U (en) | Intelligent integral energy storage quick charging system | |
| CN110380495A (en) | Water pipe robot double cell group self-charging system | |
| CN203456935U (en) | Integrated solar energy micro-power rainwater pumping station | |
| CN205355920U (en) | Solar energy is from full direct current energy storage charging station of net | |
| CN205882791U (en) | Detachable portable power source of group battery | |
| JP2012191701A (en) | Structure for charging/discharging storage battery of battery-mounted equipment | |
| JPH11332125A (en) | Residential home power supply system | |
| CN206673612U (en) | A kind of rechargeable portable power source of subregion | |
| TWM637193U (en) | Electricity control system applied to engine-driven pump | |
| CN204131209U (en) | A kind of multiloop load center with intelligent controlling device | |
| CN107416389A (en) | Dustbin | |
| CN203192914U (en) | Oxidation-reduction flow battery | |
| CN105429278A (en) | Multi-loop load center with intelligent control apparatus | |
| CN106549372B (en) | A kind of DC micro power grid system and its isolated operation control method | |
| CN205930309U (en) | Automatic discharge device that fills of new energy automobile | |
| CN207409627U (en) | Charging unit | |
| CN202333948U (en) | Power supply system for jib wet spraying machine control system | |
| CN216435945U (en) | Small-size redox flow battery energy storage circulation system based on zero carbon building | |
| CN102401478B (en) | A kind of solar water heater residual water pipe concurrent heating system based on solar energy and wind energy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191025 |
|
| RJ01 | Rejection of invention patent application after publication |