CN112165134A - Charging driving device, system and method for inspection robot in explosion-proof place - Google Patents
Charging driving device, system and method for inspection robot in explosion-proof place Download PDFInfo
- Publication number
- CN112165134A CN112165134A CN202011051295.7A CN202011051295A CN112165134A CN 112165134 A CN112165134 A CN 112165134A CN 202011051295 A CN202011051295 A CN 202011051295A CN 112165134 A CN112165134 A CN 112165134A
- Authority
- CN
- China
- Prior art keywords
- explosion
- inspection robot
- charging
- proof
- connecting rod
- 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
Images
Classifications
-
- 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
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- 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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- 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
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/0071—Regulation of charging or discharging current or voltage with a programmable schedule
-
- 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
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of charging of inspection robots under coal mines, and particularly relates to a charging driving device, a system and a method of an inspection robot in an explosion-proof place. The charging device is composed of a charging pile shell, a power driving motor, a driving mechanism connecting rod, a first connecting mechanism and a detection control module; the power driving motor, the driving mechanism connecting rod and the control module are arranged in the charging pile shell; two ends of the driving mechanism connecting rod are respectively connected with the output end of the power driving motor and one end of the first connecting mechanism, and the other end of the first connecting mechanism is arranged outside the charging pile shell during charging; the power driving motor is in electric signal connection with the detection control module. In addition, the inspection robot and the walking track of the inspection robot form a charging system, so that the inspection robot can be charged simply and conveniently at lower cost, and the automation degree is higher.
Description
Technical Field
The invention belongs to the technical field of charging of inspection robots under coal mines, and particularly relates to a charging driving device, a system and a method of an inspection robot in an explosion-proof place.
Background
A power source of the mining mobile inspection robot in the prior art mainly adopts three modes of battery power supply, cable power supply and wireless charging.
The battery power supply mode is adopted, although the battery structure is light, the battery capacity is limited, and long-time endurance cannot be met, so that most of the existing methods are that miners replace dead batteries with charged batteries regularly, and the process is complicated.
The cable power supply mode is adopted, namely the cable is used for directly supplying power to the inspection equipment, and the structure is complex and the cost is high.
Due to the special requirements of coal mines, the wireless charging mode is adopted, and the wireless charging mode does not accord with relevant coal safety regulations, so that the wireless charging mode cannot be applied and popularized.
Disclosure of Invention
The invention aims to provide a charging driving device, a charging driving system and a charging driving method for an inspection robot in an explosion-proof place.
In order to achieve the purpose, the invention adopts the technical scheme that:
a charging driving device of an inspection robot in an explosion-proof place comprises a charging pile shell, a power driving motor, a driving mechanism connecting rod, a first connecting mechanism and a detection control module; the power driving motor, the driving mechanism connecting rod and the detection control module are arranged in the charging pile shell; two ends of the driving mechanism connecting rod are respectively connected with the output end of the power driving motor and one end of the first connecting mechanism, and the other end of the first connecting mechanism is arranged outside the charging pile shell during charging; and the power driving motor is in electric signal connection with the detection control module.
The first connecting mechanism is a friction conical shaft.
The driving mechanism connecting rod is a telescopic connecting rod and is horizontally arranged.
The detection control module comprises a first power panel, a control panel and a first position sensor; the control panel comprises a power supply processing unit, a signal logic processing unit and an input/output interface isolation unit, wherein the signal logic processing unit is respectively in electric signal connection with the power supply processing unit and the input/output interface isolation unit; the first position sensor is fixed on the outer wall of the charging pile shell and is positioned right below the connecting rod of the driving mechanism; the first power panel is connected with an external power supply, and the input and output interface isolation unit of the control panel is respectively in electric signal connection with the power driving motor, the first power panel and the first position sensor.
A charging system of an explosion-proof place inspection robot at least comprises a charging driving device of the explosion-proof place inspection robot, the explosion-proof inspection robot and an inspection robot walking track, wherein the explosion-proof inspection robot is movably hung on the inspection robot walking track; and a driving mechanism connecting rod on the charging device is perpendicular to the walking track of the explosion-proof inspection robot.
The explosion-proof inspection robot at least comprises a robot shell, wherein a generator connecting rod, a generator, a second connecting mechanism, a communication module, a second position sensor, an energy storage mechanism, a core control panel, an inspection drive, a camera sensor, a temperature and humidity sensor, a methane sensor and camera thermal imaging are arranged in the robot shell, an antenna feeder line is connected to the robot shell and is connected with the communication module, a moving part is fixed on the upper surface of the robot shell and is connected to an inspection robot walking track in a rolling manner; one end of the generator connecting rod is connected with the input end of the generator, the other end of the generator connecting rod is connected with the second connecting mechanism, and the second connecting mechanism is connected with the first connecting mechanism of the charging device when the explosion-proof inspection robot is charged; the output end of the generator is connected with the energy storage mechanism; the energy storage mechanism is respectively and electrically connected with the inspection drive, the camera sensor, the temperature and humidity sensor, the methane sensor and the camera thermal imaging; the core control panel comprises a power supply processing unit, a signal logic processing unit and an input/output interface isolation unit, the signal logic processing unit is in electric signal connection with the power supply processing unit and the input/output interface isolation unit respectively, and the input/output interface isolation unit is in electric signal connection with a second position sensor, a communication module, a camera sensor, a temperature and humidity sensor, a methane sensor, a camera thermal imaging mechanism and an energy storage mechanism respectively.
The energy storage mechanism comprises a battery pack and a voltage stabilization processing circuit; the voltage stabilization processing circuit is respectively and electrically connected with the generator, the battery pack, the patrol inspection drive, the camera sensor, the temperature and humidity sensor, the methane sensor, the core control panel and the camera thermal imaging.
The voltage stabilizing processing circuit comprises a second power supply board and a management board; the management board comprises a voltage stabilization processing unit, a charging processing unit and a discharging processing unit; the charging processing unit is respectively connected with the voltage stabilizing processing unit and the battery pack through electric signals, and the discharging processing unit is respectively connected with the second power supply board and the battery pack through electric signals; the second power panel is respectively and electrically connected with the patrol inspection drive, the camera sensor, the temperature and humidity sensor, the methane sensor, the core control panel and the camera thermal imaging.
The second connecting mechanism is a friction taper sleeve.
A charging method of a charging system of an inspection robot in an explosion-proof place comprises the following steps,
the method comprises the following steps: when the electric quantity of the explosion-proof inspection robot is lower than a preset value, the core control panel sends an instruction to the second power panel to supply power for the inspection drive, and the inspection drive is started to drive the moving part to move on the walking track of the inspection robot;
step two: when a first position sensor on the charging device detects that the explosion-proof inspection robot is in place, the core control panel sends an instruction to the second power panel to stop supplying power for inspection drive, the explosion-proof inspection robot stops moving, and meanwhile, the control panel controls a connecting rod of the driving mechanism to extend out and is connected with the second connecting mechanism through the first connecting mechanism;
step three: after the second step is finished, the control panel controls the first power panel to start the power driving motor, the power driving motor drives a rotor of the generator to rotate sequentially through the driving mechanism connecting rod, the first connecting mechanism, the second connecting mechanism and the generator connecting rod, and the generator generates current through excitation;
step four: the current generated in the third step is used for charging the battery pack after passing through the voltage stabilizing processing circuit;
step five: after the battery pack is charged, the control panel controls the connecting rod of the driving mechanism to retract and separate from the connecting rod of the generator, and meanwhile, the power driving motor is powered off and stands by.
Has the advantages that:
the explosion-proof inspection robot capable of reciprocating on the inspection robot walking track is matched with the fixed charging device arranged beside the inspection robot track, so that the charging process of the inspection robot is conveniently completed, the process is simple, the cost is low, personnel participation is not needed, and the safety and the automation degree are high.
The foregoing is a summary of the present invention, and the following is a detailed description of the preferred embodiments of the present invention in order to provide a more clear understanding of the technical features of the present invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the charging device of the inspection robot according to the present invention;
FIG. 3 is a schematic diagram of the inspection robot of the present invention;
FIG. 4 is a configuration diagram of a core control board of the present invention;
FIG. 5 is a relational diagram of the management board of the present invention.
In the figure: 1-a power driven motor; 2-drive mechanism connecting rod; 3-generator connecting rod; 4-a generator; 5-a voltage stabilization processing circuit; 6-a battery pack; 7-routing inspection robot walking track; 8-a position sensor; 9-a first connection mechanism; 10-a second connection mechanism; 11-a charging device of the inspection robot; 12-explosion-proof inspection robot; 13-a first power panel; 14-a control panel; 15-charging pile housing; 16-a power drive mechanism; 17-a communication module; 18-a second position sensor; 19-an antenna feed; 20-a management board; 21-a robot housing; 22-core control board; 23-a second power panel; 24-routing inspection driving; 25-camera sensor; 26-a temperature and humidity sensor; 27-a methane sensor; 28-thermal imaging of the camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments 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 of the 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.
The first embodiment is as follows:
referring to fig. 1 and 2, the charging driving device of the inspection robot in the explosion-proof place comprises a charging pile shell 15, a power driving motor 1, a driving mechanism connecting rod 2, a first connecting mechanism 9 and a detection control module; the power driving motor 1, the driving mechanism connecting rod 2 and the detection control module are arranged in the charging pile shell 15; two ends of the driving mechanism connecting rod 2 are respectively connected with the output end of the power driving motor 1 and one end of a first connecting mechanism 9, and the other end of the first connecting mechanism 9 is arranged outside the charging pile shell 15 during charging; the power driving motor 1 is in electric signal connection with the detection control module.
The anti-explosion charging pile is used for carrying out anti-explosion treatment on the cable connected with the anti-explosion charging pile, the charging pile shell 15 and the driving mechanism connecting rod 2 so as to meet relevant anti-explosion requirements. And charging the explosion-proof inspection robot 12. When the explosion-proof inspection robot 12 is used specifically, when the electric quantity of the explosion-proof inspection robot 12 is lower than a preset value, the explosion-proof inspection robot 12 moves to the front of the charging device; when the detection control module detects that the explosion-proof inspection robot 12 is in place, the detection control module sends an instruction, and simultaneously the detection control module controls the connecting rod 2 of the driving mechanism to extend out and is connected with the explosion-proof inspection robot 12 through the first connecting mechanism 9; after connection, the detection control module controls to switch on an external power supply to start the power driving motor 1, and the power driving motor 1 drives the generator 4 on the explosion-proof inspection robot 12 to rotate to generate current through the driving mechanism connecting rod 2 and the first connecting mechanism 9 in sequence to charge the battery pack on the explosion-proof inspection robot 12; after the battery pack is charged, the detection control module controls the driving mechanism connecting rod 2 to retract, the explosion-proof inspection robot 12 is separated, and meanwhile, the power driving motor 1 is powered off and stands by. And after the robot is charged, starting normal inspection work.
According to the explosion-proof inspection robot, the driving mechanism connecting rod 2 and the first connecting mechanism 9 are connected with the explosion-proof inspection robot 12 in a matching mode and then charged, external sparks are not generated, and accidents caused by charging are avoided.
The invention can meet the special requirements of static electricity prevention and explosion prevention of the coal mine.
The invention has simple structure, lower cost, higher safety and automation degree, and does not need personnel to participate in the whole process.
Example two:
referring to fig. 1 and 2, a charging driving apparatus for an inspection robot in an explosion-proof place is different from the first embodiment in that: the first connecting mechanism 9 is a friction conical shaft.
In actual use, the first connecting mechanism 9 adopts a friction conical shaft in the prior art. The friction conical shaft can transmit torque when charging pile and robot are connected, and self-centering is achieved.
Example three:
referring to fig. 1 and 2, in a charging driving device of an inspection robot in an explosion-proof place, on the basis of a first embodiment: the driving mechanism connecting rod 2 is a telescopic connecting rod and is horizontally arranged.
When in actual use, the driving mechanism connecting rod 2 adopts a telescopic connecting rod, retracts when the explosion-proof inspection robot 12 is not required to be charged, extends out when being charged, and not only saves space, but also is safe. The horizontal setting of actuating mechanism connecting rod 2 is conveniently charged.
Example four:
referring to fig. 1, 2 and 4, a charging driving device of an inspection robot in an explosion-proof place is shown, in a first embodiment: the detection control module comprises a first power supply board 13, a control board 14 and a first position sensor 8; the control panel 14 comprises a power supply processing unit, a signal logic processing unit and an input/output interface isolation unit, wherein the signal logic processing unit is respectively in electric signal connection with the power supply processing unit and the input/output interface isolation unit; the first position sensor 8 is fixed on the outer wall of the charging pile shell 15 and is positioned right below the driving mechanism connecting rod 2; the first power panel 13 is connected with an external power supply, and the input/output interface isolation unit of the control panel 14 is respectively in electrical signal connection with the power driving motor 1, the first power panel 13 and the first position sensor 8.
In actual use, when the electric quantity of the explosion-proof inspection robot 12 is lower than a preset value, the explosion-proof inspection robot 12 moves to the front of the charging device; when the first position sensor 8 detects that the inspection robot 12 is in place, the explosion-proof inspection robot 12 stops moving, and meanwhile, the control panel 14 controls the connecting rod 2 of the driving mechanism to extend out and is connected with the explosion-proof inspection robot 12 through the first connecting mechanism 9; then the control panel 14 controls the first power panel 13 to start the power driving motor 1, the power driving motor 1 sequentially passes through the driving mechanism connecting rod 2 and the first connecting mechanism 9 to drive a rotor of a generator 4 on the explosion-proof inspection robot 12 to rotate, the generator 4 generates current through excitation, and the current is processed by the voltage stabilizing processing circuit and then charges a battery pack on the explosion-proof inspection robot 12; after the battery pack is charged, the control panel 14 controls the driving mechanism connecting rod 2 to retract, the driving mechanism connecting rod is separated from the explosion-proof inspection robot 12, and meanwhile the power driving motor 1 is powered off and stands by.
The control board 14 can manage the input electricity according to the signal transmitted by the first position sensor 8, and output the input electricity with proper voltage to control the extension of the connecting rod 2 of the driving mechanism and the start and stop of the power driving motor 1, thereby ensuring the stability of the invention.
By adopting the technical scheme, the charging process of the explosion-proof inspection robot 12 is fully automatic.
Example five:
referring to fig. 1 to 3, the explosion-proof place inspection robot charging system at least comprises a charging driving device of an explosion-proof place inspection robot, an explosion-proof inspection robot 12 and an inspection robot walking rail 7, wherein the explosion-proof inspection robot 12 is movably suspended on the inspection robot walking rail 7, the charging device is fixed on one side of the inspection robot walking rail 7, and the explosion-proof inspection robot 12 is connected with the explosion-proof inspection robot 12 in a matching manner through a first connecting mechanism 9 on the charging device when charging; and the driving mechanism connecting rod 2 on the charging device is perpendicular to the explosion-proof inspection robot walking track 7.
In actual use, when the electric quantity of the explosion-proof inspection robot 12 is lower than a preset value, the explosion-proof inspection robot 12 moves to the front of the charging device on the inspection robot walking track 7; when the first position sensor 8 on the charging device detects that the explosion-proof inspection robot 12 is in position, the explosion-proof inspection robot 12 stops moving; meanwhile, the control panel 14 controls the driving mechanism connecting rod 2 to extend out, and is connected with the explosion-proof inspection robot 12 through the first connecting mechanism 9 to charge the explosion-proof inspection robot. The whole charging process is simple and convenient, and the cost is lower.
Example six:
referring to fig. 1 to 5, an explosion-proof place inspection robot charging system is based on the fifth embodiment: the explosion-proof inspection robot 12 at least comprises a robot shell, wherein a generator connecting rod 3, a generator 4, a second connecting mechanism 10, a communication module 17, a second position sensor 18, an energy storage mechanism, a core control panel 22, an inspection drive 24, a camera sensor 25, a temperature and humidity sensor 26, a methane sensor 27 and a camera thermal imaging 28 are arranged in the robot shell, an antenna feeder line 19 is connected to the robot shell, the antenna feeder line 19 is connected with the communication module 17, a moving part is fixed on the upper surface of the robot shell and is in rolling connection with an inspection robot walking track 7; one end of the generator connecting rod 3 is connected with the input end of the generator 4, the other end of the generator connecting rod 3 is connected with the second connecting mechanism 10, and the second connecting mechanism 10 is connected with the first connecting mechanism 9 of the charging device when the explosion-proof inspection robot 12 is charged; the output end of the generator 4 is connected with the energy storage mechanism; the energy storage mechanism is respectively and electrically connected with the inspection drive 24, the camera sensor 25, the temperature and humidity sensor 26, the methane sensor 27 and the camera thermal imaging 28; the core control panel 22 comprises a power supply processing unit, a signal logic processing unit and an input/output interface isolation unit, the signal logic processing unit is in electric signal connection with the power supply processing unit and the input/output interface isolation unit respectively, and the input/output interface isolation unit is in electric signal connection with the second position sensor 18, the communication module 17, the camera sensor 25, the temperature and humidity sensor 26, the methane sensor 27, the camera thermal imaging 28 and the energy storage mechanism respectively.
Further, the energy storage mechanism comprises a battery pack 6 and a voltage stabilization processing circuit 5; the voltage stabilization processing circuit 5 is respectively and electrically connected with the generator 4, the battery pack 6, the inspection drive 24, the camera sensor 25, the temperature and humidity sensor 26, the methane sensor 27, the core control board 22 and the camera thermal imaging 28.
Further, the voltage stabilizing processing circuit 5 includes a second power supply board 23 and a management board 20; the management board 20 comprises a voltage stabilization processing unit, a charging processing unit and a discharging processing unit; the charging processing unit is respectively connected with the voltage stabilizing processing unit and the battery pack 6 through electric signals, and the discharging processing unit is respectively connected with the second power supply board 23 and the battery pack 6 through electric signals; the second power panel 23 is electrically connected with the patrol inspection drive 24, the camera sensor 25, the temperature and humidity sensor 26, the methane sensor 27, the core control panel 22 and the camera thermal imaging 28 respectively.
In actual use, when the electric quantity of the explosion-proof inspection robot 12 is lower than a preset value, the core control board 22 in the prior art is adopted to send an instruction to the second power board 23 to supply power to the inspection drive 24, and the inspection drive 24 is started to drive the moving part to move on the inspection robot walking track 7; when the second position sensor 18 detects the charging driving device, the core control board 22 controls the inspection driving device 24 to stop, and the explosion-proof inspection robot 12 stops on the inspection robot walking track 7. When the first position sensor 8 on the charging device detects that the explosion-proof inspection robot 12 is located, the core control board 22 sends an instruction to the second power board 23 to stop supplying power to the inspection drive 24, the explosion-proof inspection robot 12 stops moving, and meanwhile, the control board 14 controls the connecting rod 2 of the drive mechanism to extend out and is connected with the second connection mechanism through the first connection mechanism 9; then, the control board 14 controls the first power board 13 to start the power driving motor 1, the power driving motor 1 drives the rotor of the generator 4 to rotate sequentially through the driving mechanism connecting rod 2, the first connecting mechanism 9, the second connecting mechanism 10 and the generator connecting rod 3, and the generator 4 generates current through excitation; the current charges the battery pack 6 after passing through the voltage stabilization processing circuit 5; after the battery pack 6 is charged, the control panel 14 controls the driving mechanism connecting rod 2 to retract and separate from the generator connecting rod 3, and meanwhile, the power driving motor 1 is powered off and stands by.
The core control board 22 manages the input electricity of the energy storage mechanism, and outputs appropriate voltage to enable the second position sensor 18, the communication module 17, the camera sensor 25, the temperature and humidity sensor 26, the methane sensor 27 and the camera thermal imaging 28 to stably work.
The management board 20 performs voltage stabilization processing on the current output by the generator 4 to keep the voltage stable; then the battery pack enters a battery pack 6 after being subjected to constant current, voltage limiting, time limiting or overshoot and the like by a charging processing unit; the discharge processing unit carries out current limiting, voltage limiting and over-discharge processing on the electricity output by the battery pack 6 and then transmits the electricity into the second power panel 23; the second power supply board 23 delivers the converted electricity to a rear-end load, i.e., a patrol driving unit, a camera sensor, and the like.
According to the invention, the driving mechanism connecting rod 2 and the first connecting mechanism 9 are connected with the second connecting mechanism 10 and the generator connecting rod 3 of the explosion-proof inspection robot 12 to drive the generator 4 to generate current, so that accidents caused by sparks generated outside the explosion-proof inspection robot 12 and the charging driving device during charging are avoided, and the special requirements of static electricity prevention and explosion prevention of a coal mine can be better met.
Example seven:
referring to the charging system of the inspection robot in the explosion-proof place shown in fig. 3, on the basis of the sixth embodiment: the second connecting mechanism 10 is a friction taper sleeve.
In practical use, the second connecting mechanism 10 adopts a friction taper sleeve in the prior art, and can transmit torque and self-center when the charging pile is connected with the robot.
Example eight:
a charging method of a charging system of an inspection robot in an explosion-proof place comprises the following steps,
the method comprises the following steps: when the electric quantity of the explosion-proof inspection robot 12 is lower than a preset value, the core control panel 22 sends an instruction to the second power panel 23 to supply power to the inspection drive 24, and the inspection drive 24 starts to drive the moving part to move on the inspection robot walking track 7;
step two: when the first position sensor 8 on the charging device detects that the explosion-proof inspection robot 12 is located, the core control board 22 sends an instruction to the second power board 23 to stop supplying power to the inspection drive 24, the explosion-proof inspection robot 12 stops moving, and meanwhile, the control board 14 controls the connecting rod 2 of the drive mechanism to extend out and is connected with the second connection mechanism through the first connection mechanism 9;
step three: after the second step is finished, the control panel 14 controls the first power panel 13 to start the power driving motor 1, the power driving motor 1 drives the rotor of the generator 4 to rotate through the driving mechanism connecting rod 2, the first connecting mechanism 9, the second connecting mechanism 10 and the generator connecting rod 3 in sequence, and the generator 4 generates current through excitation;
step four: the current generated in the third step is used for charging the battery pack 6 after passing through the voltage stabilization processing circuit 5;
step five: after the battery pack 6 is charged, the control panel 14 controls the driving mechanism connecting rod 2 to retract and separate from the generator connecting rod 3, and meanwhile, the power driving motor 1 is powered off and stands by.
The method has the advantages of simple process, low cost, high automation degree and convenience in application and popularization.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
In the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
The foregoing is illustrative of the preferred embodiments of the present invention, and the present invention is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent change and modification of the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a robot's drive arrangement that charges is patrolled and examined in explosion-proof place which characterized in that: the charging pile comprises a charging pile shell (15), a power driving motor (1), a driving mechanism connecting rod (2), a first connecting mechanism (9) and a detection control module; the power driving motor (1), the driving mechanism connecting rod (2) and the detection control module are arranged in the charging pile shell (15); two ends of the driving mechanism connecting rod (2) are respectively connected with the output end of the power driving motor (1) and one end of the first connecting mechanism (9), and the other end of the first connecting mechanism (9) is arranged outside the charging pile shell (15) during charging; the power driving motor (1) is in electric signal connection with the detection control module.
2. The charging driving device of the inspection robot for the explosion-proof places according to claim 1, characterized in that: the first connecting mechanism (9) is a friction conical shaft.
3. The charging driving device of the inspection robot for the explosion-proof places according to claim 1, characterized in that: the driving mechanism connecting rod (2) is a telescopic connecting rod and is horizontally arranged.
4. The charging driving device of the inspection robot for the explosion-proof places according to claim 1, characterized in that: the detection control module comprises a first power supply board (13), a control board (14) and a first position sensor (8); the control panel (14) comprises a power supply processing unit, a signal logic processing unit and an input/output interface isolation unit, wherein the signal logic processing unit is respectively in electric signal connection with the power supply processing unit and the input/output interface isolation unit; the first position sensor (8) is fixed on the outer wall of the charging pile shell (15) and is positioned right below the driving mechanism connecting rod (2); the first power panel (13) is connected with an external power supply, and the input and output interface isolation unit of the control panel (14) is respectively in electric signal connection with the power driving motor (1), the first power panel (13) and the first position sensor (8).
5. The utility model provides an explosion-proof place patrols and examines robot charging system which characterized in that: the charging driving device at least comprises the explosion-proof place inspection robot according to any one of claims 1 to 5, and further comprises an explosion-proof inspection robot (12) and an inspection robot walking rail (7), wherein the explosion-proof inspection robot (12) is movably suspended on the inspection robot walking rail (7), the charging device is fixed on one side of the inspection robot walking rail (7), and the explosion-proof inspection robot (12) is in matched connection with the explosion-proof inspection robot (12) through a first connecting mechanism (9) on the charging device when charging; and a driving mechanism connecting rod (2) on the charging device is perpendicular to a walking track (7) of the inspection robot.
6. The explosion-proof place inspection robot charging system according to claim 5, characterized in that: the explosion-proof inspection robot (12) at least comprises a robot shell, wherein a generator connecting rod (3), a generator (4), a second connecting mechanism (10), a communication module (17), a second position sensor (18), an energy storage mechanism, a core control panel (22), an inspection drive (24), a camera sensor (25), a temperature and humidity sensor (26), a methane sensor (27) and a camera thermal imaging (28) are arranged in the robot shell, an antenna feeder (19) is connected to the robot shell, the antenna feeder (19) is connected with the communication module (17), a moving part is fixed on the upper surface of the robot shell and is connected to an inspection robot walking track (7) in a rolling mode; one end of the generator connecting rod (3) is connected with the input end of the generator (4), the other end of the generator connecting rod (3) is connected with the second connecting mechanism (10), and the second connecting mechanism (10) is connected with the first connecting mechanism (9) of the charging device when the explosion-proof inspection robot (12) is charged; the output end of the generator (4) is connected with the energy storage mechanism; the energy storage mechanism is respectively and electrically connected with the inspection drive (24), the camera sensor (25), the temperature and humidity sensor (26), the methane sensor (27) and the camera thermal imaging (28); the core control panel (22) comprises a power supply processing unit, a signal logic processing unit and an input/output interface isolation unit, the signal logic processing unit is in electric signal connection with the power supply processing unit and the input/output interface isolation unit respectively, and the input/output interface isolation unit is in electric signal connection with a second position sensor (18), a communication module (17), a camera sensor (25), a temperature and humidity sensor (26), a methane sensor (27), a camera thermal imaging (28) and an energy storage mechanism respectively.
7. The charging system of the explosion-proof place inspection robot as claimed in claim 6, wherein: the energy storage mechanism comprises a battery pack (6) and a voltage stabilizing processing circuit (5); the voltage stabilization processing circuit (5) is respectively electrically connected with the generator (4), the battery pack (6), the inspection drive (24), the camera sensor (25), the temperature and humidity sensor (26), the methane sensor (27), the core control panel (22) and the camera thermal imaging (28).
8. The charging system of the explosion-proof place inspection robot as claimed in claim 7, wherein: the voltage stabilization processing circuit (5) comprises a second power supply board (23) and a management board (20); the management board (20) comprises a voltage stabilization processing unit, a charging processing unit and a discharging processing unit; the charging processing unit is respectively connected with the voltage stabilizing processing unit and the battery pack (6) through electric signals, and the discharging processing unit is respectively connected with the second power panel (23) and the battery pack (6) through electric signals; the second power panel (23) is respectively electrically connected with the inspection drive (24), the camera sensor (25), the temperature and humidity sensor (26), the methane sensor (27), the core control panel (22) and the camera thermal imaging (28).
9. The charging system of the explosion-proof place inspection robot as claimed in claim 6, wherein: the second connecting mechanism (10) is a friction taper sleeve.
10. The charging method of the charging system of the inspection robot for the explosion-proof places according to any one of claims 5 to 9, comprising the steps of,
the method comprises the following steps: when the electric quantity of the explosion-proof inspection robot (12) is lower than a preset value, the core control panel (22) sends an instruction to the second power panel (23) to supply power to the inspection drive (24), and the inspection drive (24) is started to drive the moving part to move on the inspection robot walking track (7);
step two: when a first position sensor (8) on the charging device detects that the explosion-proof inspection robot (12) is in place, a core control panel (22) sends an instruction to a second power panel (23) to stop supplying power for an inspection drive (24), the explosion-proof inspection robot (12) stops moving, and meanwhile, a control panel (14) controls a drive mechanism connecting rod (2) to extend out and is connected with a second connecting mechanism (10) through a first connecting mechanism (9);
step three: after the second step is finished, the control panel (14) controls the first power panel (13) to start the power driving motor (1), the power driving motor (1) drives a rotor of the generator (4) to rotate through the driving mechanism connecting rod (2), the first connecting mechanism (9), the second connecting mechanism (10) and the generator connecting rod (3) in sequence, and the generator (4) generates current through excitation;
step four: the current generated in the third step is used for charging the battery pack (6) after passing through the voltage stabilizing processing circuit (5);
step five: after the battery pack (6) is charged, the control panel (14) controls the driving mechanism connecting rod (2) to retract and separate from the generator connecting rod (3), and meanwhile, the power driving motor (1) is powered off and stands by.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011051295.7A CN112165134A (en) | 2020-09-29 | 2020-09-29 | Charging driving device, system and method for inspection robot in explosion-proof place |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011051295.7A CN112165134A (en) | 2020-09-29 | 2020-09-29 | Charging driving device, system and method for inspection robot in explosion-proof place |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112165134A true CN112165134A (en) | 2021-01-01 |
Family
ID=73860777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011051295.7A Pending CN112165134A (en) | 2020-09-29 | 2020-09-29 | Charging driving device, system and method for inspection robot in explosion-proof place |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112165134A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113241831A (en) * | 2021-05-28 | 2021-08-10 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot autonomous charging method and system |
| CN114029925A (en) * | 2021-11-21 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Explosion-proof type track inspection robot |
| CN114142556A (en) * | 2021-10-29 | 2022-03-04 | 深圳市翌日科技有限公司 | Automatic charging device of inspection robot and control method thereof |
-
2020
- 2020-09-29 CN CN202011051295.7A patent/CN112165134A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113241831A (en) * | 2021-05-28 | 2021-08-10 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot autonomous charging method and system |
| CN114142556A (en) * | 2021-10-29 | 2022-03-04 | 深圳市翌日科技有限公司 | Automatic charging device of inspection robot and control method thereof |
| CN114142556B (en) * | 2021-10-29 | 2024-05-03 | 深圳市翌日科技有限公司 | Automatic charging device of inspection robot and control method thereof |
| CN114029925A (en) * | 2021-11-21 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Explosion-proof type track inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112165134A (en) | Charging driving device, system and method for inspection robot in explosion-proof place | |
| CN109808530A (en) | A kind of vehicle-mounted multi-rotor unmanned aerial vehicle charging unit | |
| CN206012962U (en) | One kind is portable to be tethered at unmanned plane | |
| CN103220890A (en) | Protective shell of electronic device with charge-discharge function | |
| CN213341697U (en) | Charging driving device and system of inspection robot in explosion-proof place | |
| CN207834920U (en) | A kind of novel power transformation operation inspection device | |
| CN214958734U (en) | Charging device for mining inspection robot | |
| CN109435749A (en) | Charging equipment and power supply system | |
| CN210258094U (en) | Lithium battery charging start control system | |
| CN207166136U (en) | A kind of aircraft energizer car | |
| CN105437997A (en) | Vehicle-mounted aluminum-electricity module power supply system | |
| CN205168225U (en) | On -vehicle aluminium electricity module power supply system | |
| CN219892561U (en) | New forms of energy charging connector with automatic outage function | |
| CN215524373U (en) | Vehicle-mounted electromagnetic pulse interference system | |
| CN215921951U (en) | Electric control system suitable for battery box | |
| CN215436314U (en) | Storage battery alternative power supply suitable for demonstration vehicle | |
| CN213026386U (en) | Battery cabin section capable of being repeatedly used on bullet | |
| CN218677785U (en) | Mobile power supply equipment and power supply system | |
| CN209224984U (en) | Charging equipment and power supply system | |
| CN202565008U (en) | Electric vehicle charger with intelligent protection | |
| CN106229433A (en) | A kind of rod-pulling type low speed Vehicular battery group device | |
| CN217903290U (en) | Convenient balanced portable power source | |
| CN221256614U (en) | Electric curtain with independent battery | |
| CN107707007B (en) | Wind energy storage type wireless charging system and method for overhead transmission line robot | |
| CN201994362U (en) | Battery case |
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 |