CN110949425B - Inspection device based on voltage division detection type charging circuit - Google Patents
Inspection device based on voltage division detection type charging circuit Download PDFInfo
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- CN110949425B CN110949425B CN201911205284.7A CN201911205284A CN110949425B CN 110949425 B CN110949425 B CN 110949425B CN 201911205284 A CN201911205284 A CN 201911205284A CN 110949425 B CN110949425 B CN 110949425B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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Abstract
The invention discloses a patrol inspection device based on a partial pressure detection type charging circuit, which comprises a vehicle body and a track, wherein the track comprises a transverse plate and a vertical plate, and also comprises two driving devices, each driving device comprises a turbine worm speed reducer, an installation block and a connecting block, the installation block is arranged on the top surface of the vehicle body, one end of the installation block is rotatably connected with the top surface of one end of the vehicle body, the other end of the installation block is rotatably provided with the connecting block, the turbine worm speed reducer is fixedly arranged on the installation block, an output shaft of the turbine worm speed reducer penetrates through the installation block and the vehicle body and is sleeved with a driving wheel, and a rubber sleeve is sleeved; two drive arrangement follow the riser symmetry and set up, are connected with the spring between two connecting blocks, and the spring is used for making two rubber sleeves all compress tightly on the side of riser. This inspection device, except walking on linear rail, it can also be applicable to the bend walking, and application scope is wide, can also realize accurate stopping location simultaneously, satisfies the requirement of patrolling and examining of piping lane.
Description
Technical Field
The invention belongs to the technical field of track inspection robots, and particularly relates to an inspection device based on a voltage division detection type charging circuit.
Background
In the production process of chemical industry and relevant factories, a plurality of pipelines are usually used, and in order to arrange the pipelines in order and facilitate inspection and maintenance, the pipelines are usually centralized to form a pipeline corridor. At present, the routing inspection of the pipe galleries is generally performed by appointed professionals along pipeline laying lines for timing routing inspection, the labor cost is high, the routing inspection accuracy depends on the experience and the working state of the personnel, and the personnel is often difficult to ensure. To solve these problems, in the prior art, a track robot for pipe gallery inspection has appeared. However, the walking device of such a robot is usually in the form of a conventional cart, which can only walk and detect on a linear track. In fact, the track is usually close to the pipe rack and arranged along the laying path of the pipe rack, the track often has the conditions of curve and up-down slope, if the track inspection robot walks on the curve, the vehicle body can deviate from the advancing direction, and especially the condition of left-right swinging can occur during continuous curve, so that the accuracy of inspection operation is influenced, and the smooth development of inspection work cannot be ensured; meanwhile, the conventional track inspection trolley is in a conventional trolley form, accurate stop and positioning cannot be realized, particularly, the trolley cannot be kept in a static state on a track with a slope, in some specific inspection operation processes, the inspection robot is often required to stop at a specific position on the track for detecting for a long time, and the conventional track inspection robot cannot meet the use requirements.
Therefore, it is necessary to provide an inspection device based on a voltage-dividing detection type charging circuit.
Disclosure of Invention
The invention aims to provide a routing inspection device based on a partial pressure detection type charging circuit, which is suitable for curve traveling besides traveling on a linear rail, has a wide application range, can realize accurate stop and positioning, and meets the routing inspection requirements of a pipe gallery.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a routing inspection device based on a voltage division detection type charging circuit comprises a vehicle body, a track and the voltage division detection type charging circuit, wherein the voltage division detection type charging circuit comprises a control board, a DC voltage stabilizing module, a relay, a battery pack and a charging port;
the input control end of the relay is connected with one output end of the control board;
the input end of the DC voltage stabilizing module is connected with the output end of the charging port, one output end of the DC voltage stabilizing module is connected with the input end of the control board, and one output end of the DC voltage stabilizing module is connected with the input end of the relay;
the output end of the relay is connected with the output end of the battery pack;
the DC voltage stabilizing module comprises a voltage regulating module and a voltage regulating control module; the voltage regulation module comprises a voltage input end, a voltage output end and a controlled end; the voltage regulation control module comprises an output voltage acquisition end, a reference voltage input end and a control signal output end; the voltage input end of the voltage regulating module is connected with the output end of the charging port, and the voltage output end of the voltage regulating module is used as the voltage output end of the DC voltage stabilizing module; the output voltage acquisition end of the voltage regulation control module is connected with the voltage output end of the voltage regulation module, the control signal output end of the voltage regulation control module is connected with the controlled end of the voltage regulation module, and the reference voltage input end of the voltage regulation control module is connected with a standard voltage-stabilized power supply;
the rail comprises a transverse plate and a vertical plate, and the vertical plate is fixedly arranged in the middle of the top surface of the transverse plate to enable the cross section of the rail to be in a T shape;
the device also comprises two driving devices, each driving device comprises a motor, a worm and gear speed reducer, a mounting block, a driving wheel, a connecting block and a rubber sleeve, the mounting block is arranged on the top surface of the vehicle body, one end of the mounting block is rotatably connected with the top surface of one end of the vehicle body, the other end of the mounting block is rotatably provided with the connecting block,
the worm and gear speed reducer is fixedly installed on the installation block, the motor is fixedly connected with the worm and gear speed reducer, an output shaft of the motor is fixedly connected with an input shaft of the worm and gear speed reducer, an output shaft of the worm and gear speed reducer penetrates through the installation block and the vehicle body, the driving wheel is fixedly sleeved on the output shaft of the worm and gear speed reducer, and the rubber sleeve is fixedly sleeved on the driving wheel;
the two driving devices are symmetrically arranged along the vertical plate, the two rubber sleeves are respectively arranged in contact with two sides of the vertical plate, the rubber sleeve pressing device further comprises a spring, two ends of the spring are respectively fixedly connected with the two connecting blocks, and the spring is used for enabling the two rubber sleeves to be tightly pressed on the side face of the vertical plate;
the battery pack is used for supplying power to the whole inspection device.
Preferably, the bottom of the vehicle body is rotatably provided with two supporting wheels a, the two supporting wheels a are symmetrically arranged along the vertical plate, and the supporting wheels a are used for supporting the vehicle body to walk on the horizontal plate.
Preferably, the vehicle body further comprises two floating guide devices, each floating guide device comprises a U-shaped support, one side of the middle part of each U-shaped support is rotatably connected with the vehicle body, the other side of the middle part of each U-shaped support is rotatably provided with a supporting wheel b, and two ends of each U-shaped support are rotatably provided with guide wheels;
the two floating guide devices are symmetrically arranged along the vertical plate, the guide wheels are arranged in contact with the vertical plate, and the supporting wheels b are used for supporting the vehicle body to walk on the transverse plate.
Preferably, the floating guide device further comprises a reset elastic piece, and the reset elastic piece is used for enabling the U-shaped support and the vehicle body to reset after relative rotation occurs.
Preferably, the voltage regulation module includes a first resistor and a first switching element for controlling a magnitude of a current flowing from a voltage input terminal of the voltage regulation module to a voltage output terminal thereof, a first end of the first resistor is connected to a first end of the first switching element and serves as the voltage input terminal of the voltage regulation module, a second end of the first resistor is connected to a second end of the first switching element and serves as a controlled terminal of the voltage regulation module, and a third end of the first switching element serves as the voltage output terminal of the voltage regulation module;
the first switch element is a field effect transistor, a source electrode of the field effect transistor serves as a first end of the first switch element, a grid electrode of the field effect transistor serves as a second end of the first switch element, and a drain electrode of the field effect transistor serves as a third end of the first switch element.
Preferably, the voltage regulation control module includes a second switch element, a third switch element, a second resistor and a third resistor, a first end of the second switch element is used as the reference voltage input end, a second end of the second switch element is connected to a second end of the third switch element and grounded via the second resistor, a third end of the second switch element is used as the control signal output end, a first end of the third switch element is connected to a first end of the third resistor, a second end of the third resistor is used as the output voltage obtaining end, and a third end of the third switch element is connected to the voltage output end of the voltage regulation module.
Preferably, the DC voltage stabilizing module further includes a reference voltage adjusting module for adjusting the magnitude of the reference voltage, an input end of the reference voltage adjusting module is connected to the standard regulated power supply, and an output end of the reference voltage adjusting module is connected to a reference voltage input end of the voltage regulation control module; the reference voltage regulation module comprises a fourth resistor and a fifth resistor, wherein the first end of the fourth resistor is connected with a standard voltage-stabilized power supply, the second end of the fourth resistor is grounded through the fifth resistor, and a node between the fourth resistor and the fifth resistor is connected with the reference voltage input end of the voltage regulation control module; the fourth resistor and/or the fifth resistor are/is an adjustable resistor.
Preferably, the DC voltage stabilizing module further includes a first filtering module for filtering a reference voltage input to the voltage regulation control module and a second filtering module for filtering a voltage output by the voltage regulation module.
The beneficial technical effects of the invention are as follows: (1) two drive means are provided. The driving device comprises a motor, a worm and gear speed reducer, an installation block, a driving wheel, a connecting block and a rubber sleeve. Set up two drive arrangement of spring tensioning for two action wheels and rubber sleeve compress tightly on the track riser, guarantee effectual drive. Meanwhile, the mounting block can swing on the vehicle body, when the walking device encounters a curve, the walking device can swing and adjust adaptively, so that the advancing direction of the walking device is adjusted, the walking device is applicable to application scenes under different curve conditions, and the application range is wider. The worm gear speed reducer can fully utilize the self-locking performance of the worm gear speed reducer to realize accurate stop positioning, and can keep a parking state even on a slope without additionally arranging a braking device. Set up the rubber sleeve, utilize the big characteristic of its surface friction to realize more stable and accurate drive on the one hand, on the other hand is flexible material because of the rubber sleeve, and it allows to take place certain deformation, has avoided rigidity extrusion and wearing and tearing when turning, increase of service life has also guaranteed the reliability of drive and the accuracy of parking location. The bottom of the vehicle body is provided with a supporting wheel structure, so that the weight of the inspection robot is mostly supported by a track transverse plate, the driving device only completes the power output of the trolley without the functions of bearing and supporting, the function is single, and the stability of the driving process and the accuracy of positioning are effectively guaranteed. The floating guide device is arranged, the advancing guide function of the walking device is realized, the floating guide device is matched with the driving device, the walking trolley is better suitable for the walking condition of a curve, and the trolley has the capability of walking in two directions and passing a curve. The floating guide device is provided with the reset elastic piece, so that the state that the guide wheel of the floating guide device is pressed on the vertical plate of the rail can be effectively kept, and the guide function of the floating guide device can be reliably exerted.
(2) Through the arrangement of the voltage regulation module and the voltage regulation control module, the DC voltage stabilizing module has the capability of outputting lower direct-current voltage. The voltage regulation control module receives the reference voltage output by the standard voltage-stabilized power supply and acquires the output voltage of the voltage regulation module. The voltage regulation control module outputs a corresponding control signal to the voltage regulation module according to the received reference voltage and the obtained output voltage, so that the voltage regulation module outputs a direct current voltage approximately equal to the reference voltage. The reference voltage can be set according to actual conditions, and when the value of the reference voltage is set to be low, the voltage regulating module also outputs direct-current voltage approximately equal to the reference voltage, so that the DC voltage stabilizing module can output the direct-current voltage with a lower voltage value.
(3) The charging port of the battery pack to be charged is connected with the charger of the external charging power supply after being contacted, so that the generation of instant sparks during charging is avoided.
Drawings
Fig. 1 is a schematic circuit diagram according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of an apparatus according to embodiment 1 of the present invention.
The charging system comprises a control board 111, a DC voltage stabilizing module 2, a relay 3, a battery pack 4, a charging port 5 and a substrate 6.
Fig. 3 is a schematic circuit diagram of a DC regulator module according to embodiment 1 of the present invention.
Fig. 4 is a schematic circuit diagram according to embodiment 2 of the present invention.
Fig. 5 is a schematic view showing the overall mechanical structure of embodiment 1 of the present invention.
Fig. 6 is a schematic structural diagram of a driving device according to embodiment 1 of the present invention.
Fig. 7 is a schematic view showing a vehicle underbody structure of embodiment 1 of the present invention.
Fig. 8 is a schematic structural view of a floating guide device according to embodiment 1 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 8 of the present invention, 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.
Example 1:
as shown in fig. 1, the inspection device based on the voltage division detection type charging circuit further comprises a voltage division detection type charging circuit, wherein the voltage division detection type charging circuit comprises a control board, a DC voltage stabilizing module, a relay, a battery pack and a charging port;
the input control end of the relay is connected with one output end of the control board;
the input end of the DC voltage stabilizing module is connected with the output end of the charging port, one output end of the DC voltage stabilizing module is connected with the input end of the control board, and one output end of the DC voltage stabilizing module is connected with the input end of the relay;
the output end of the relay is connected with the output end of the battery pack;
as shown in fig. 3, the DC voltage stabilizing module includes a voltage regulating module and a voltage regulation control module; the voltage regulation module comprises a voltage input end, a voltage output end and a controlled end; the voltage regulation control module comprises an output voltage acquisition end, a reference voltage input end and a control signal output end; the voltage input end of the voltage regulating module is connected with the output end of the charging port, and the voltage output end of the voltage regulating module is used as the voltage output end of the DC voltage stabilizing module; the output voltage acquisition end of the voltage regulation control module is connected with the voltage output end of the voltage regulation module, the control signal output end of the voltage regulation control module is connected with the controlled end of the voltage regulation module, and the reference voltage input end of the voltage regulation control module is connected with a standard voltage-stabilized power supply.
As shown in fig. 2, the voltage division detection type charging circuit is mounted on the substrate 6, and the control board 111, the DC regulator module 2, the relay 3, the battery pack 4, and the charging port 5 are all fixedly mounted on the substrate 6.
Through the scheme, the voltage input end of the voltage regulating module is connected with the output end of the charging port. The external charging power supply outputs voltage to the voltage regulating module. The voltage regulation module regulates the current flowing from the voltage input end to the voltage output end of the voltage regulation module so as to regulate the output voltage. Specifically, the voltage regulating module regulates the current flowing from the voltage input end to the voltage output end of the voltage regulating module according to the voltage signal received by the controlled end of the voltage regulating module, so that the output voltage of the DC voltage stabilizing module is regulated. The voltage regulation control module is used for controlling the voltage regulation module to carry out current regulation operation. Specifically, the voltage regulation control module receives a stable reference voltage output by the standard voltage-stabilized power supply and acquires an output voltage of the voltage regulation module. When the output voltage acquired by the voltage regulation control module is greater than or equal to the reference voltage, a corresponding control signal is output to control the voltage regulation module to reduce the current flowing from the voltage input end to the voltage output end of the voltage regulation module so as to reduce the value of the output voltage of the voltage output end of the voltage regulation module, and therefore the DC voltage stabilization module outputs the direct current voltage approximately equal to the reference voltage. When the output voltage acquired by the voltage regulation control module is smaller than the reference voltage, a corresponding control signal is output to control the voltage regulation module to increase the current flowing from the voltage input end to the voltage output end of the voltage regulation module so as to improve the value of the output voltage of the voltage output end of the voltage regulation module, and therefore the DC voltage stabilization module outputs the direct current voltage approximately equal to the reference voltage. The reference voltage can be set according to actual conditions, if stable direct-current voltage with lower voltage needs to be obtained, the reference voltage can be correspondingly reduced, the voltage regulation control module compares the output voltage of the voltage regulation module with the reference voltage and outputs direct-current voltage approximately equal to the reference voltage, and therefore the direct-current voltage with lower output voltage is achieved. For example, the reference voltage value is set to 5V through the standard voltage-stabilized power supply, the voltage regulating module transmits a 5V voltage signal to the control board, and when the control board receives the 5V voltage signal, the control board sends a control signal to the relay to turn on the relay, so that the external charging power supply charges the battery pack to be charged through the charger and the charging port. And then realize charging port and the charger contact earlier afterwards switches on, and then avoids the production of the spark in the twinkling of an eye when charging. And the DC voltage stabilizing module has the capability of outputting lower direct current voltage by arranging the voltage regulating module and the voltage regulating control module. The voltage regulation control module receives the reference voltage output by the standard voltage-stabilized power supply and acquires the output voltage of the voltage regulation module. The voltage regulation control module outputs a corresponding control signal to the voltage regulation module according to the received reference voltage and the obtained output voltage, so that the voltage regulation module outputs a direct current voltage approximately equal to the reference voltage. The reference voltage can be set according to actual conditions, and when the value of the reference voltage is set to be low, the voltage regulating module also outputs direct-current voltage approximately equal to the reference voltage, so that the DC voltage stabilizing module can output the direct-current voltage with a lower voltage value.
Preferably, the voltage regulation module includes a first resistor and a first switching element for controlling a magnitude of a current flowing from a voltage input terminal of the voltage regulation module to a voltage output terminal thereof, a first end of the first resistor is connected to a first end of the first switching element and serves as the voltage input terminal of the voltage regulation module, a second end of the first resistor is connected to a second end of the first switching element and serves as a controlled terminal of the voltage regulation module, and a third end of the first switching element serves as the voltage output terminal of the voltage regulation module;
the first switch element is a field effect transistor, a source electrode of the field effect transistor serves as a first end of the first switch element, a grid electrode of the field effect transistor serves as a second end of the first switch element, and a drain electrode of the field effect transistor serves as a third end of the first switch element.
With the above arrangement, the first resistor is used for providing the bias voltage for the first switching element, and the first resistor may be replaced by another arrangement capable of providing the bias voltage for the first switching element. The first switch element is mainly used for controlling the current flowing from the voltage input end to the voltage output end of the voltage regulating module. The first switching element may be a field effect transistor or a triode. In this embodiment, the first switching element is an N-channel fet. And the source electrode of the field effect transistor is used as the first end of the first switching element and is connected with an external power supply. And the grid of the field effect transistor is used as the second end of the first switching element and is connected with the control signal output end of the voltage regulation control module. And the drain electrode of the field effect transistor is used as the third end of the first switching element and is used as the voltage output end of the voltage regulating module. When the grid voltage of the field effect transistor is reduced, the current flowing from the source electrode of the field effect transistor to the drain electrode of the field effect transistor is increased, and the output voltage of the voltage regulating module is increased. When the grid voltage of the field effect transistor is increased, the current flowing from the source electrode of the field effect transistor to the drain electrode of the field effect transistor is reduced, and the output voltage of the voltage regulating module is reduced. Therefore, the voltage regulation control module can regulate the output voltage of the voltage regulation module by controlling the grid voltage of the field effect transistor.
Preferably, the voltage regulation control module includes a second switch element, a third switch element, a second resistor and a third resistor, a first end of the second switch element is used as the reference voltage input end, a second end of the second switch element is connected to a second end of the third switch element and grounded via the second resistor, a third end of the second switch element is used as the control signal output end, a first end of the third switch element is connected to a first end of the third resistor, a second end of the third resistor is used as the output voltage obtaining end, and a third end of the third switch element is connected to the voltage output end of the voltage regulation module.
With the above arrangement, the second switching element and the third switching element mainly function as switches. In this embodiment, the second switching element and the third switching element are NPN transistors (hereinafter referred to as transistors). Specifically, the second switching element is a first triode, the third switching element is a second triode, the base of the first triode is the first end of the second switching element, the emitter of the first triode is the second end of the second switching element, and the collector of the first triode is the third end of the second switching element. The base of the second triode is the first end of the third switching element, the emitter of the second triode is the second end of the third switching element, and the collector of the second triode is the third end of the third switching element. The base electrode of the first triode is connected with the battery pack. It should be noted that the battery pack may be set according to actual needs, as long as the battery pack can enable the first triode to be in the amplifying state all the time. And the base electrode of the second triode is connected with the voltage output end of the voltage regulating module through a third resistor. The voltage of the voltage output end enables the second triode to be in an amplification state, so that the emitting electrode of the first triode is connected with the voltage output end of the voltage adjusting module, and strong negative feedback is formed. When the output voltage of the voltage regulating module is increased, the voltage of the emitter of the first triode is also increased. When the voltage of the emitter of the first triode is smaller than the voltage (reference voltage) of the base of the first triode, the voltage of the collector of the first triode is increased along with the increase of the output voltage, so that the voltage output to the controlled end of the voltage regulating module is also increased. The voltage of the controlled end of the voltage regulating module is increased, so that the current flowing from the voltage input end to the voltage output end is reduced, and the effect of reducing the output voltage of the voltage regulating module is achieved. When the output voltage of the voltage regulating module is reduced, the voltage of the emitter of the first triode is reduced. When the voltage of the emitter of the first triode is smaller than the voltage (reference voltage) of the base of the first triode, the voltage of the collector of the first triode is reduced along with the reduction of the output voltage, so that the voltage output to the controlled end of the voltage regulating module is also reduced. The voltage of the controlled end of the voltage regulating module is reduced, so that the current flowing from the voltage input end to the voltage output end is increased, and the effect of increasing the output voltage of the voltage regulating module is achieved. The voltage regulation control module enables the voltage regulation module to output stable direct current voltage, and the output voltage is about the size of the reference voltage. When low voltage needs to be output, the purpose of outputting the low voltage can be realized by reducing the voltage value of the standard voltage-stabilized power supply.
Preferably, the DC voltage stabilizing module further includes a reference voltage adjusting module for adjusting the magnitude of the reference voltage, an input end of the reference voltage adjusting module is connected to the standard regulated power supply, and an output end of the reference voltage adjusting module is connected to a reference voltage input end of the voltage regulation control module; the reference voltage regulation module comprises a fourth resistor and a fifth resistor, wherein the first end of the fourth resistor is connected with a standard voltage-stabilized power supply, the second end of the fourth resistor is grounded through the fifth resistor, and a node between the fourth resistor and the fifth resistor is connected with the reference voltage input end of the voltage regulation control module; the fourth resistor and/or the fifth resistor are/is an adjustable resistor.
Through the scheme, the standard voltage-stabilized source outputs the direct-current stable reference voltage to the voltage regulation control module through the reference voltage regulation module. As can be seen from the above, the output voltage of the DC voltage stabilization module is approximately equal to the reference voltage. If the output voltage of the DC voltage stabilizing module needs to be increased or decreased, the reference voltage can be adjusted. When the output voltage of the DC voltage stabilizing module needs to be increased, the reference voltage regulating module is adjusted to increase the reference voltage. When the output voltage of the DC voltage stabilizing module needs to be reduced, the reference voltage regulating module is adjusted to reduce the reference voltage, so that the controllability of the DC voltage stabilizing module is realized.
Preferably, the DC voltage stabilizing module further includes a first filtering module for filtering a reference voltage input to the voltage regulation control module and a second filtering module for filtering a voltage output by the voltage regulation module.
Through the scheme, in order to ensure the stable direct current voltage when the reference voltage is input to the voltage regulation control module, the DC voltage stabilization module further comprises a first filtering module. Specifically, the first filtering module comprises a first filtering capacitor. The first end of the first filter capacitor is connected with the reference voltage input end of the voltage regulation control module, and the second end of the first filter capacitor is grounded. The clutter signal of standard constant voltage power supply output flows to ground through first filter capacitor to avoid the clutter signal to flow into voltage regulation control module, guaranteed the stability of DC voltage stabilizing module work. In order to ensure that the output power supply of the DC voltage stabilizing module is more stable, the DC voltage stabilizing module further comprises a second filtering module. Specifically, the second filtering module comprises a second filtering capacitor. The first end of the second filter capacitor is connected with the voltage output end of the voltage regulating module, and the second end of the second filter capacitor is grounded. The noise signal at the voltage output end of the voltage regulating module flows to the ground through the second filter capacitor C2, so that the DC voltage stabilizing module is ensured to output stable direct current voltage.
As shown in fig. 5 to 8, the inspection device based on the voltage division detection type charging circuit of the present embodiment further includes a vehicle body 1 and a rail. The rail is composed of a horizontal plate 21 and a vertical plate 22, and the vertical plate 22 is fixedly arranged in the middle of the top surface of the horizontal plate 21 to enable the cross section of the rail to be T-shaped. This robot is patrolled and examined to track is arranged in near piping lane to the chemical enterprise piping lane and patrols and examines, and the condition of bend and uphill and downhill path can appear usually along with the setting of laying route of piping lane. Traditional track inspection robot's structure is conventional dolly structure, be provided with a pair of action wheel and a pair of follow driving wheel in the bottom of its automobile body, thereby drive the dolly through motor reducer and advance on the track, the dolly of this kind of form generally only is applicable to linear rail, the automobile body can take place the skew when meetting the bend, influence on-vehicle check out test set's accuracy of patrolling and examining, especially when meetting continuous bend, the dolly can be followed the bend and swayd about the in-process of marcing, the production is rocked, the influence is patrolled and examined going on smoothly of process, can cause the condition that the dolly derailed even, there is great potential safety hazard. Meanwhile, when the inspection robot inspects the pipe gallery, the inspection robot is often required to stop at a certain position of the track to detect the pipe gallery, the traditional walking trolley is provided with a motor reducer to directly drive the driving wheel, the accurate positioning is difficult to achieve when the inspection robot stops, especially when the track is in an up-slope or down-slope condition, the traditional walking trolley cannot stop on the slope, in order to solve the problems, parts such as an electromagnetic brake are generally required to be added to brake, the track near the pipe gallery is generally laid in an overhead mode, the total weight of the inspection robot is generally limited in order to ensure that the inspection robot safely runs on the track, the traditional walking trolley is provided with the motor and the reducer to drive the driving wheel, a large weight quota is occupied, the electromagnetic brake is added, the necessary weight is further increased, and the carrying of detection equipment is influenced.
A patrol inspection device based on a voltage division detection type charging circuit comprises two driving devices. The driving device comprises a motor 31, a worm gear speed reducer 32, a mounting block 33, a driving wheel 34, a connecting block 35 and a rubber sleeve 37. The mounting block 33 is arranged on the top surface of the vehicle body 1, one end of the mounting block 33 is rotatably connected with the top surface of one end of the vehicle body 1, and the other end of the mounting block 33 is rotatably provided with a connecting block 35. The two mounting blocks 33 are symmetrically arranged, and the two connecting blocks 35 are connected through a spring 36. The worm gear reducer 32 is fixedly mounted on the mounting block 33, the motor 31 is fixedly connected with the worm gear reducer 32, and an output shaft of the motor 31 is fixedly connected with an input shaft of the worm gear reducer 32. An output shaft of the worm gear speed reducer 32 passes through the mounting block 33 and the vehicle body 1, a driving wheel 34 is fixedly sleeved on the output shaft, and a rubber sleeve 37 is fixedly sleeved on the driving wheel 34. The two driving devices are symmetrically arranged along the vertical plate 22, and the two rubber sleeves 37 are respectively arranged in contact with two sides of the vertical plate 22.
The output shaft of the worm gear reducer 32 is provided with a large hole through which the output shaft passes through the vehicle body 1, and the output shaft is allowed to swing in the hole. After the driving device is installed, under the action of the spring 36, the two connecting blocks 35 are tensioned towards each other, so that one ends of the two connecting blocks 33 are tensioned with each other, and the two driving wheels 34 and the rubber sleeve 37 are pressed on two sides of the vertical plate 22. At this time, the motor 31 is started, and the worm gear reducer 32 decelerates to drive the driving wheel 34 to rotate, so that friction force is generated between the driving wheel and the vertical plate 22 under the action of the rubber sleeve 37, and the driving of the walking device can be realized. When the walking device encounters a curve, the two mounting blocks 33 can swing and adjust adaptively according to the difference of the curvature radius of the inner side and the outer side of the curve, so that the advancing direction of the walking device is adjusted, and at the moment, the spring 36 still keeps tensioning the two driving wheels 34 and the rubber sleeve 37 on the two sides of the vertical plate 22, and normal driving is ensured. Through the arrangement, the walking device has the capability of self-adaptively adjusting the direction, can run on a linear track, can be suitable for application scenes under different curve conditions, and has a wider application range. The worm gear speed reducer 32 can fully utilize the self-locking performance thereof to realize accurate stop positioning, and can keep a parking state even on a slope without additionally arranging a braking device. Set up rubber sleeve 37, utilize the big characteristic of its surface friction to realize more stable and accurate drive on the one hand, on the other hand is flexible material because of rubber sleeve 37, and it allows to take place certain deformation, appears rigid extrusion and wearing and tearing between action wheel and the riser 22 of avoiding when turning, increase of service life has also guaranteed the reliability of drive and the accuracy of parking location.
In practice, two supporting wheels a11 are rotatably disposed at the bottom of the vehicle body 1, the two supporting wheels a11 are symmetrically disposed along the vertical plate 22, and the supporting wheels a11 are used for supporting the vehicle body 1 to travel on the horizontal plate 21. Under the arrangement mode, most of the weight of the trolley is supported by the transverse plate 21, the driving device only completes the power output of the trolley, and has no functions of bearing and supporting, the function is single, and the stability of the driving process and the accuracy of positioning are effectively ensured.
Further, this kind of running gear for robot is patrolled and examined to track still includes two guider 4 that float, and guider 4 that float includes U type support 41, and one side and the rotatable connection of automobile body 1 in U type support 41 middle part, the both ends of U type support 41 are all rotatable to be provided with leading wheel 42. The two floating guide devices 4 are symmetrically arranged along the vertical plate 22, and the guide wheels 42 are both arranged in contact with the vertical plate 22. When the walking device passes through a curve, the two U-shaped supports 41 swing in a self-adaptive manner, so that the guide wheels 42 are abutted against two sides of the vertical plate 22, the relative position of the vehicle body 1 and the rail is controlled, the advancing guide function of the walking device is realized, and the walking device is better suitable for the condition of curve walking. The other side in the middle of the U-shaped support 41 is rotatably provided with a supporting wheel b43, the supporting wheel b43 and the supporting wheel a11 support the car body 1 to walk on the transverse plate 21 together, so that the supporting stability is ensured, and meanwhile, the supporting wheel b43 also swings along with the U-shaped support to adjust the advancing direction of the car, so that better guiding is realized.
Furthermore, the floating guide device 4 further includes a return elastic member 44, and the return elastic member 44 can select an elastic component such as a torsion spring, etc., and is used for returning the U-shaped bracket 41 and the vehicle body 1 after relative rotation, that is, after the traveling device passes through a track curve and enters a linear track, the return elastic member 44 can be used for returning and adjusting, so as to maintain the state that the guide wheel 42 is pressed against the vertical plate 22, and reliably exert the guiding function.
The battery pack is used for supplying power to the whole inspection device.
Example 2:
on the basis of embodiment 1, as shown in fig. 4, the voltage division detection type charging circuit can be replaced by a photoelectric detection type charging circuit, and the photoelectric detection type charging circuit comprises a control board, a photoelectric detection module, a relay, a battery pack and a charging port;
the input control end of the relay is connected with the driving output end of the control board;
the photoelectric detection module is used for detecting whether a charger of an external charging power supply is connected to the charging port, and the output end of the photoelectric detection module is connected with the input end of the control panel;
the input end of the relay is connected with the output end of the charging port, and the output end of the relay is connected with the input end of the battery pack;
the photoelectric detection module comprises a control unit, a signal amplification module, a signal output module and a signal input module, wherein the signal input module is used for receiving input signals, the output end of the signal input module is connected with the input end of the signal amplification module, the output end of the signal amplification module is connected with one input end of the control unit, the input end of the signal output module is connected with one output end of the control unit, the output end of the signal output module is connected with the driving input end of the control panel, and the control unit, the signal amplification module, the signal output module and the signal input module are all integrated in an ASIC chip.
With the above scheme, an ASIC chip is considered to be an integrated circuit designed for a specific purpose. Refers to integrated circuits designed and manufactured to meet the needs of a particular user and the needs of a particular electronic system. The ASIC is characterized by facing the requirements of specific users, and compared with a general integrated circuit, the ASIC has the advantages of smaller volume, lower power consumption, improved reliability, improved performance, enhanced confidentiality, reduced cost and the like during batch production. Therefore, the whole photoelectric detection module can be smaller in size and better in performance in a mode of integrating the control unit, the signal amplification module, the signal output module and the like in the ASIC chip. Meanwhile, the method is convenient for batch production, and the cost is reduced. The signal input module is used for receiving an input signal, and the signal input module can be an optical coupler or an illumination intensity sensor and other devices. Wherein, taking the signal input module as an illumination intensity sensor as an example, when a charging head of a device to be charged is inserted into a charging port, the signal input module will shield an optical signal, so that the illumination intensity sensor arranged at the charging port obtains an input signal, the illumination intensity sensor sends the input signal to the control unit through the signal amplification module, wherein, in order to ensure that the voltage of the input signal received by the control unit is enough, the photoelectric detection module further comprises a signal amplification module, which can be an analog operational amplifier circuit mainly comprising an amplifier, the amplifier amplifies the input voltage signal, and the control unit controls the signal output module to operate after receiving the input signal, wherein, the control unit provided by the embodiment is an MCU (microcontroller unit, also known as a single chip microcomputer) or a single chip microcomputer, the frequency and specification of a Central Processing Unit (CPU) are appropriately reduced, and peripheral interfaces such as a memory (memory), a counter (Timer), a USB, an a/D conversion, a UART, a PLC, and a DMA are integrated on a single chip, for example, an STM 32-series MCU is used. The signal output module is used for being connected with the control panel and sending a control signal to the control panel, and the control panel sends a conduction control signal to the relay when receiving the control signal, so that the relay is conducted, and then the charging process of the charger of the external charging power supply to the battery pack to be charged through the charging port is completed. And then the charger of the external charging power supply is contacted with the charging port first and then conducted, thereby avoiding the generation of instantaneous sparks during charging.
Preferably, the light detection module further comprises a separate power module, the power module is electrically connected with the control unit, the power module is also integrated in the ASIC chip, and the model of the power module includes 78L 05.
Through the scheme, in order to enable the control unit to normally operate, the photoelectric detection module further comprises an independent power supply module, the power supply module is electrically connected with the control unit, and the power supply module is also integrated in the ASIC chip. The model of the power module provided by the present embodiment includes 78L05, etc. Among them, 78L05 is a fixed voltage (5V) three-terminal integrated regulator, and is suitable for many applications. Its excellent internal current limiting and thermal shutdown characteristics make it particularly suitable for overload conditions, where the output impedance is effectively improved, but the bias current is greatly reduced when used in place of a conventional zener diode-resistor bank.
Preferably, the photoelectric detection module further comprises an overcurrent protection module, the overcurrent protection module is integrated in the ASIC chip, and the overcurrent protection module is electrically connected to the control unit.
Through the scheme, in order to protect the control unit, the photoelectric detection module further comprises an overcurrent protection module, the overcurrent protection module is integrated in the ASIC chip, and the overcurrent protection module is electrically connected with the control unit. The overcurrent inclusion module may be a device or a circuit with a current limiting function, such as a resistor, and the like, which is not limited in this application. The control unit is respectively electrically connected with the signal amplification module and the signal output module, the signal amplification module is electrically connected with the signal input module, the control unit, the signal amplification module and the signal output module are all integrated in an ASIC chip, the signal input module is used for transmitting input signals and transmitting the input signals to the control unit after passing through the signal amplification module, the control unit is used for controlling the signal output module to act according to the input signals, and the signal output module is used for being connected with a control signal end of the control panel and sending control signals to the control panel. Because this application has avoided separating different modules each other with a plurality of module integration in ASIC chip, consequently whole photoelectric detection module's occupation space is less, and the reliability is higher.
In the description of the present invention, it is to be understood that the terms "counterclockwise", "clockwise", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used for convenience of description only, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting.
Claims (8)
1. A patrol inspection device based on a voltage division detection type charging circuit comprises a vehicle body (1) and a track, and is characterized by further comprising a voltage division detection type charging circuit, wherein the voltage division detection type charging circuit comprises a control board, a DC voltage stabilizing module, a relay, a battery pack and a charging port;
the input control end of the relay is connected with one output end of the control board;
the input end of the DC voltage stabilizing module is connected with the output end of the charging port, one output end of the DC voltage stabilizing module is connected with the input end of the control board, and one output end of the DC voltage stabilizing module is connected with the input end of the relay;
the output end of the relay is connected with the output end of the battery pack;
the DC voltage stabilizing module comprises a voltage regulating module and a voltage regulating control module; the voltage regulation module comprises a voltage input end, a voltage output end and a controlled end; the voltage regulation control module comprises an output voltage acquisition end, a reference voltage input end and a control signal output end; the voltage input end of the voltage regulating module is connected with the output end of the charging port, and the voltage output end of the voltage regulating module is used as the voltage output end of the DC voltage stabilizing module; the output voltage acquisition end of the voltage regulation control module is connected with the voltage output end of the voltage regulation module, the control signal output end of the voltage regulation control module is connected with the controlled end of the voltage regulation module, and the reference voltage input end of the voltage regulation control module is connected with a standard voltage-stabilized power supply;
the track comprises a transverse plate (21) and a vertical plate (22), and the vertical plate (22) is fixedly arranged in the middle of the top surface of the transverse plate (21) to enable the section of the track to be in a T shape;
the automobile body mounting device is characterized by further comprising two driving devices, each driving device comprises a motor (31), a worm and gear speed reducer (32), a mounting block (33), a driving wheel (34), a connecting block (35) and a rubber sleeve (37), the mounting block (33) is arranged on the top surface of the automobile body (1), one end of the mounting block (33) is rotatably connected with the top surface of one end of the automobile body (1), the connecting block (35) is rotatably arranged at the other end of the mounting block (33),
the worm and gear speed reducer (32) is fixedly mounted on the mounting block (33), the motor (31) is fixedly connected with the worm and gear speed reducer (32), an output shaft of the motor (31) is fixedly connected with an input shaft of the worm and gear speed reducer (32), an output shaft of the worm and gear speed reducer (32) penetrates through the mounting block (33) and the vehicle body (1), the driving wheel (34) is fixedly sleeved on the output shaft of the worm and gear speed reducer (32), and the rubber sleeve (37) is fixedly sleeved on the driving wheel (34);
the two driving devices are symmetrically arranged along the vertical plate (22), the two rubber sleeves (37) are respectively arranged in contact with two sides of the vertical plate (22), the rubber sleeve fixing device further comprises a spring (36), two ends of the spring (36) are respectively fixedly connected with the two connecting blocks (35), and the spring (36) is used for enabling the two rubber sleeves (37) to be tightly pressed on the side face of the vertical plate (22);
the battery pack is used for supplying power to the whole inspection device.
2. The inspection device based on the voltage division detection type charging circuit is characterized in that two supporting wheels a (11) are rotatably arranged at the bottom of the vehicle body (1), the two supporting wheels a (11) are symmetrically arranged along the vertical plate (22), and the supporting wheels a (11) are used for supporting the vehicle body (1) to move on the horizontal plate (21).
3. The inspection device based on the voltage division detection type charging circuit is characterized by further comprising two floating guide devices (4), wherein each floating guide device (4) comprises a U-shaped support (41), one side of the middle of each U-shaped support (41) is rotatably connected with the vehicle body (1), the other side of the middle of each U-shaped support (41) is rotatably provided with a supporting wheel b (43), and two ends of each U-shaped support (41) are rotatably provided with guide wheels (42);
the two floating guide devices (4) are symmetrically arranged along the vertical plate (22), the guide wheels (42) are arranged in contact with the vertical plate (22), and the supporting wheels b (43) are used for supporting the vehicle body (1) to walk on the transverse plate (21).
4. The inspection device based on the partial voltage detection type charging circuit is characterized in that the floating guide device (4) further comprises a reset elastic piece (44), and the reset elastic piece (44) is used for resetting the U-shaped bracket (41) after the U-shaped bracket and the vehicle body (1) rotate relatively.
5. The inspection device according to claim 1, wherein the voltage regulation module comprises a first resistor and a first switching element for controlling the magnitude of the current flowing from the voltage input terminal to the voltage output terminal of the voltage regulation module, a first end of the first resistor is connected to a first end of the first switching element and serves as the voltage input terminal of the voltage regulation module, a second end of the first resistor is connected to a second end of the first switching element and serves as the controlled terminal of the voltage regulation module, and a third end of the first switching element serves as the voltage output terminal of the voltage regulation module;
the first switch element is a field effect transistor, a source electrode of the field effect transistor serves as a first end of the first switch element, a grid electrode of the field effect transistor serves as a second end of the first switch element, and a drain electrode of the field effect transistor serves as a third end of the first switch element.
6. The inspection device according to claim 1, wherein the voltage regulation control module includes a second switching element, a third switching element, a second resistor and a third resistor, a first end of the second switching element is used as the reference voltage input end, a second end of the second switching element is connected with a second end of the third switching element and grounded through the second resistor, a third end of the second switching element is used as the control signal output end, a first end of the third switching element is connected with a first end of the third resistor, a second end of the third resistor is used as the output voltage acquisition end, and a third end of the third switching element is connected with the voltage output end of the voltage regulation module.
7. The inspection device according to claim 1, wherein the DC voltage regulation module further comprises a reference voltage regulation module for regulating the magnitude of the reference voltage, an input terminal of the reference voltage regulation module is connected to the standard regulated power supply, and an output terminal of the reference voltage regulation module is connected to a reference voltage input terminal of the voltage regulation control module; the reference voltage regulation module comprises a fourth resistor and a fifth resistor, wherein the first end of the fourth resistor is connected with a standard voltage-stabilized power supply, the second end of the fourth resistor is grounded through the fifth resistor, and a node between the fourth resistor and the fifth resistor is connected with the reference voltage input end of the voltage regulation control module; the fourth resistor and/or the fifth resistor are/is an adjustable resistor.
8. The inspection device according to claim 1, wherein the DC voltage stabilization module further comprises a first filtering module for filtering a reference voltage input to the voltage regulation control module and a second filtering module for filtering a voltage output by the voltage regulation module.
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| US4934278A (en) * | 1987-07-27 | 1990-06-19 | Canon Kabushiki Kaisha | Moving apparatus with track recessed portion to dissipate drive roller contact pressure |
| JP5249508B2 (en) * | 2006-11-06 | 2013-07-31 | 三菱重工業株式会社 | Track system |
| CN107021110B (en) * | 2016-01-29 | 2019-12-20 | 北京控股磁悬浮技术发展有限公司 | Medium-low speed magnetic levitation engineering operation vehicle |
| CN106080657A (en) * | 2016-06-02 | 2016-11-09 | 中冶集团武汉勘察研究院有限公司 | A kind of track deformation automatic data acquisition system |
| CN106545187B (en) * | 2016-12-07 | 2022-07-26 | 华强方特（芜湖）文化科技有限公司 | Use method of movable frame capable of quickly converting performance position |
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