CN112260362A - Cow dung robot charging case and charging system - Google Patents
Cow dung robot charging case and charging system Download PDFInfo
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- CN112260362A CN112260362A CN202011187398.6A CN202011187398A CN112260362A CN 112260362 A CN112260362 A CN 112260362A CN 202011187398 A CN202011187398 A CN 202011187398A CN 112260362 A CN112260362 A CN 112260362A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
- H02J7/70—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/751—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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Abstract
一种牛粪机器人充电箱，包括箱体、固定架、充电器、行走控制机构和控制器，固定架配装在箱体内，行走控制机构配装在固定架上，充电器配装在行走控制机构上，控制器分别与充电器、行走控制机构通信连接，箱体上开设充电口，行走控制机构控制充电器从充电口伸出，与牛粪机器人连接。本发明还提供一种牛粪机器人充电系统。采用本发明实现了对牛粪机器人的自动充电，确保了牛粪机器人作业完成后，实时充电，保证了牛粪机器人的电量充足，提高了牛粪机器人的作业效率。A cow dung robot charging box, comprising a box body, a fixing frame, a charger, a walking control mechanism and a controller, the fixing frame is equipped in the box body, the walking control mechanism is equipped on the fixing frame, and the charger is equipped with In terms of mechanism, the controller is respectively connected with the charger and the walking control mechanism, a charging port is provided on the box body, and the traveling control mechanism controls the charger to extend from the charging port and connect with the cow dung robot. The invention also provides a cow dung robot charging system. The invention realizes the automatic charging of the cow dung robot, ensures that the cow dung robot is charged in real time after the operation is completed, ensures that the power of the cow dung robot is sufficient, and improves the operation efficiency of the cow dung robot.
Description
The technical field is as follows:
the invention relates to the technical field of mechanical equipment for breeding, in particular to a cow dung robot charging box and a charging system.
Background art:
with the increase of the scale and the productivity of cattle breeding industry in China, the number of farmers for breeding beef cattle and dairy cows increases, and the cleaning of cattle dung in a breeding farm in the breeding work becomes the largest work load of breeding personnel. At present, the cow dung is cleared up and is mainly divided into modes such as clear excrement of manual work and clear excrement of machinery, wherein:
the manual excrement cleaning is that a spade, a push shovel, a shovel broom and other tools are manually used for cleaning excrement into piles, and then manual loading and transporting are carried out. The mode is a method for excreting excrement commonly adopted by small-scale cattle farms, and has the defects of high labor intensity, time and labor waste, poor environment and low working efficiency of workers.
In the prior art, adopt the cow dung robot to carry out cow dung clearance operation, but the cow dung machine need charge at any time to ensure that the robot keeps the electric state for a long time, ensured that the operation power of robot is sufficient.
The invention content is as follows:
in view of the above, there is a need for a cow dung robot charging box.
It is also necessary to provide a cow dung robot charging system.
The utility model provides a cow dung robot charging case, includes box, mount, charger, walking control mechanism and controller, and the mount is assembled in the box, and walking control mechanism assembles on the mount, and the charger is assembled on walking control mechanism, and the controller respectively with charger, walking control mechanism communication connection, offers the mouth that charges on the box, and walking control mechanism controls the charger and stretches out from the mouth that charges, is connected with cow dung robot.
Preferably, the charger includes the brush of charging board, the brush piece that charges, the charging panel, fixed plate and binding post, the brush of charging board is joined in marriage and is adorned in automobile body one side of cow dung robot, the brush of charging board is connected with the battery on the cow dung robot automobile body, the brush piece that charges is fixed to be adorned on the charging panel, fixed dress binding post is adorned to the fixed dress on the charging panel, two brush pieces that charge are connected with two binding post through the power transmission line respectively, the charging panel passes through the screw rod to be fixed on the fixed plate, the fixed plate is fixed to be adorned on walking control mechanism.
Preferably, the walking control mechanism comprises a left slider, a right slider, a left slide rail, a right slide rail, a lead screw, a nut, a lead screw supporting seat and a motor, the left slide rail, the right slide rail, the lead screw supporting seat and the motor are fixedly assembled on the fixing frame, the left slider and the right slider are respectively assembled on the left slide rail and the right slide rail, the lead screw is respectively assembled with the nut and the lead screw supporting seat, the output end of a rotating shaft of the motor is connected with one end of the lead screw, the nut, the left slider and the right slider are fixedly connected with the lower end of the fixing plate, and the motor is in communication.
Preferably, cow dung robot charging case still includes ac contactor and auxiliary relay, and ac contactor is connected with auxiliary relay, and ac contactor's wiring end is corresponding to be connected with live wire and zero line, and ac contactor is connected with the binding post on the charging panel.
Preferably, the fixing frame is provided with a first limit switch, a second limit switch and a third limit switch, the first limit switch and the second limit switch are arranged at the front ends of the left sliding rail and the right sliding rail and located on two sides, the third limit switch is arranged at the rear end of the left sliding rail or the right sliding rail, and the first limit switch, the second limit switch and the third limit switch are in communication connection with the controller.
The utility model provides a cow dung robot charging system for control cow dung robot charging case charges to cow dung robot, including power module, PLC control module, spacing module, infrared scanning module, video identification module and motor drive module, power module is connected with PLC control module, video identification module and motor drive module electricity respectively, and spacing module, infrared scanning module, video identification module and motor drive module respectively with PLC control module communication connection.
Preferably, the power supply module comprises a power supply circuit, the power supply circuit comprises a power indicator, a 36V AC-to-DC converter, a 36V DC power supply, a 24V AC-to-DC converter, a 24V DC power supply, a 5V DC power supply, a charging indicator, an AC contactor, an intermediate relay and a 48V charger, one end of the power indicator is connected with a live wire, the other end of the power indicator is connected with a zero wire, the 36V AC-to-DC converter is connected with the live wire and the zero wire, the 36V DC power supply is connected with the 36V AC-to-DC converter, the 36V DC power supply is connected with the motor driving module, the 24V AC-to-DC converter is connected with the live wire and the zero wire, the 24V DC power supply is connected with the 24V AC-to-DC converter, the 24V DC power supply is connected with the PLC control module, the 5V DC power supply is connected with the 24V DC power supply, and after the alternating current contactor is connected with the intermediate relay, the alternating current contactor is connected with a 48V charger, the 48V charger is assembled with the cow dung robot charging box, and a charging indicator lamp is connected with the alternating current contactor.
Preferably, the PLC control module comprises a PLC control chip, the PLC control chip is connected with the limiting module, the infrared scanning module intermediate relay and the 485-232 converter, and the 485-232 converter is connected with the machine vision module.
Preferably, the PLC control chip is a ZK3U industrial control chip and comprises a pin COM, a pin X0, a pin X1, a pin X2, a pin X3, a pin X4, a pin X5, a pin X6, a pin X7, a pin 485A-1, a pin 485B-1, a pin 485A-2, a pin 485B-2, a pin 24V, a pin 0V, a pin COM0, a pin Y0, a pin Y1, a pin Y2, a pin Y3, a pin Y4, a pin Y5, a pin Y6 and a pin Y7;
the limiting module comprises a first limiting switch, a second limiting switch and a third limiting switch, the first limiting switch is connected with a pin COM and a pin X0 of the PLC control chip, the second limiting switch is connected with the pin COM and the pin X1 of the PLC control chip, and the third limiting switch is connected with the pin COM and the pin X2 of the PLC control chip;
the infrared scanning module comprises a first infrared sensor and a second infrared sensor, the first infrared sensor is connected with a pin X6 of the PLC control chip, and the second infrared sensor is connected with a pin X7 of the PLC control chip;
the 485-232 converter chip comprises a pin A, a pin B, a pin 3V3, a pin TXD, a pin RXD and a pin GND, and the machine vision module comprises a camera and a camera chip;
the pin 485A-1 and the pin 485B-1 of the PLC control chip are connected with the chip pin A and the pin B end of the 485-plus-232 converter, and the pin 3V3, the pin TXD, the pin RXD and the pin GND of the 485-plus-232 converter are connected with the pin 3V3, the pin P5, the pin P4 and the pin GND of the camera chip of the machine vision module.
Preferably, the motor driving module comprises a motor driving chip, and the motor driving chip comprises a pin DC +, a pin DC-, a pin SV, a pin COM, a pin F/R, a pin EN, a pin BRK, a pin SPEED, a pin ALARM, a pin U, a pin V, a pin W, a pin REF +, a pin HU, a pin HV, a pin REF-, a pin U, a pin V, a pin W, a pin REF +, a pin HU, a pin HV, a pin HW, a pin REF-which are connected with the motor of the walking control mechanism of the cow dung robot charging box, the pin DC + is connected with 36V +, the pin DC-is connected with 36V-, the pin COM is connected with 36V-, the pin BRK is connected with 36V-, the pin F/R, and the pin EN are connected with a pin Y0 and a pin Y1 of the PLC control chip.
The cow dung robot charging system is used for charging a cow dung robot, the controller sends an execution instruction to the walking control mechanism, the walking control mechanism controls the charger to move forwards, the charger starts to charge after being in butt joint with the cow dung robot, the controller sends the execution instruction to the walking control mechanism after charging is finished, the walking control mechanism controls the charger to be retracted, and charging is finished. Cow dung robot charging system is used for controlling cow dung robot charging case to charge to the cow dung robot, power module is respectively to PLC control module, spacing module, infrared scanning module, video identification module and motor drive module power supply, when the charger antedisplacement or backward shift touched spacing module, spacing module sends the instruction to PLC control module, PLC control module sends control instruction to motor drive module, motor drive module control motor stall, infrared scanning module sensing when cow dung robot reachs the charging area, and the video identification module discerns that the charging panel is gone up in the cow dung cleaning robot in chargeable area. The distance between the central position of a charging plate on the cow dung cleaning robot and the central position of a charging port 10 of a charging box is given by a video identification template; the PLC control module sends a command, the PLC control module sends a control command to the motor driving module, the motor driving module controls the motor to rotate, the motor rotates to drive the walking control mechanism to move forwards, and the walking control mechanism drives the charger to move forwards, so that the charger is in contact with the charging position of the cow dung robot to start charging. Therefore, the automatic charging of the cow dung robot is realized, the real-time charging of the cow dung robot after the operation of the cow dung robot is finished is ensured, the electric quantity of the cow dung robot is ensured to be sufficient, and the operation efficiency of the cow dung robot is improved.
Description of the drawings:
in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a cow dung robot charging box.
Fig. 2 is a rear view structure schematic diagram of a cow dung robot charging box.
Fig. 3 is a side view structure diagram of a cow dung robot charging box.
Fig. 4 is a schematic structural diagram of the charger.
Fig. 5 is a circuit connection diagram of the power module.
FIG. 6 is a schematic diagram of a PLC control module chip pin connection.
Fig. 7 is a schematic connection diagram of a chip of the motor driving module and a motor.
In the figure: the device comprises a box body 1, a charging port 10, a fixing frame 2, a charger 3, a charging brush plate 30, a charging brush block 31, a charging plate 32, a fixing plate 33, a wiring terminal 34, a traveling control mechanism 4, a left slider 41, a right slider 42, a left slide rail 43, a right slide rail 44, a lead screw 45, a nut 46, a lead screw supporting seat 47 and a motor 48.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The present invention provides the following specific examples.
Referring to fig. 1, 2, 3 and 4, the cow dung robot charging box includes a box body 1, a fixing frame 2, a charger 3, a walking control mechanism 4 and a controller, wherein the fixing frame 2 is assembled in the box body 1, the walking control mechanism 4 is assembled on the fixing frame 2, the charger 3 is assembled on the walking control mechanism 4, the controller is respectively in communication connection with the charger 3 and the walking control mechanism 4, a charging port 10 is formed in the box body 1, and the walking control mechanism 4 controls the charger 3 to extend out of the charging port 10 and be connected with the cow dung robot.
The charger 3 comprises a charging brush plate 30, a charging brush block 31, a charging plate 32, a fixing plate 33 and a wiring terminal 34, the charging brush plate 30 is assembled on one side of the cow dung robot, the charging brush plate 30 is connected with a storage battery on the cow dung robot, the charging brush block 31 is fixedly assembled on the charging plate 32, the charging plate 32 is fixedly assembled with the wiring terminal 34, the two charging brush blocks 31 are respectively connected with the two wiring terminals 34 through power transmission lines, the charging plate 32 is fixed on the fixing plate 33 through screws, and the fixing plate 33 is fixedly assembled on the walking control mechanism 4.
The walking control mechanism 4 comprises a left slide block 41, a right slide block 42, a left slide rail 43, a right slide rail 44, a lead screw 45, a nut 46, a lead screw supporting seat 47 and a motor 48, wherein the left slide rail 43, the right slide rail 44, the lead screw supporting seat 47 and the motor 48 are fixedly assembled on the fixed frame 2, the left slide block 41 and the right slide block 42 are respectively assembled on the left slide rail 43 and the right slide rail 44, the lead screw 45 is respectively assembled with the nut 46 and the lead screw supporting seat 47, the rotating shaft output end of the motor 48 is connected with one end of the lead screw 45, the nut 46, the left slide block 41 and the right slide block 42 are fixedly connected with the lower end of the fixed plate 33.
The cow dung robot charging case still includes ac contactor and auxiliary relay, and ac contactor is connected with auxiliary relay, and ac contactor's wiring end is corresponding to be connected with live wire and zero line, and ac contactor is connected with the binding post on the charging panel.
The fixing frame 2 is provided with a first limit switch, a second limit switch and a third limit switch, the first limit switch and the second limit switch are arranged at the front ends of the left sliding rail 43 and the right sliding rail 44 and positioned at two sides, the third limit switch is arranged at the rear end of the left sliding rail 43 or the right sliding rail 44, and the first limit switch, the second limit switch and the third limit switch are in communication connection with the controller. The first limit switch and the second limit switch at the front end and the rear end of the left slide rail respectively limit the foremost and rearmost positions of the movement of the left slide block 41 and the right slide block 42, and the third limit switch is assembled between the fixed plate 33 and the charging plate 32, so that the charging brush plate 30 of the robot is fully contacted with the charging plate 32 on the charging box body and certain pressure is ensured. The fixed plate 33 and the charging plate 32 are movable with a spring therebetween.
The utility model provides a cow dung robot charging system for control cow dung robot charging case charges to cow dung robot, including power module, PLC control module, spacing module, infrared scanning module, video identification module and motor drive module, power module is connected with PLC control module, video identification module and motor drive module electricity respectively, and spacing module, infrared scanning module, video identification module and motor drive module respectively with PLC control module communication connection.
Referring to fig. 5, 6 and 7, the power supply module includes a power supply circuit, the power supply circuit includes a power indicator L1, a 36V ac-to-dc converter, a 36V dc power supply, a 24V ac-to-dc converter, a 24V dc power supply, a 5V dc power supply, a charging indicator L2, an ac contactor KM1, an intermediate relay KA and a 48V charger, one end of the power indicator L1 is connected to the live wire L, the other end of the power indicator L1 is connected to the neutral wire N, the 36V ac-to-dc converter is connected to the live wire L and the neutral wire N, the 36V dc power supply is connected to the 36V ac-to-dc converter, the 36V dc power supply is connected to the motor driving module, the 24V ac-to-dc converter is connected to the live wire L and the neutral wire N, the 24V dc power supply is connected to the 24V ac-to-dc converter, the 24V dc power supply is connected to the PLC control module, the 5V dc, the 5V direct current power supply is connected with the video identification module, the alternating current contactor KM1 is connected with the intermediate relay KA and then connected with the 48V charger, the 48V charger is assembled with the cow dung robot charging box, and the charging indicator lamp L2 is connected with the alternating current contactor.
PLC control module includes PLC control chip, and PLC control chip is connected with spacing module, infrared scanning module intermediate relay and 485 supplyes 232 converter, and 485 supplyes 232 converter is connected with machine vision module.
The PLC control chip is a ZK3U industrial control chip and comprises a pin COM, a pin X0, a pin X1, a pin X2, a pin X3, a pin X4, a pin X5, a pin X6, a pin X7, a pin 485A-1, a pin 485B-1, a pin 485A-2, a pin 485B-2, a pin 24V, a pin 0V, a pin COM0, a pin Y0, a pin Y1, a pin Y2, a pin Y3, a pin Y4, a pin Y5, a pin Y6 and a pin Y7;
the limiting module comprises a first limiting switch, a second limiting switch and a third limiting switch, the first limiting switch is connected with a pin COM and a pin X0 of the PLC control chip, the second limiting switch is connected with the pin COM and the pin X1 of the PLC control chip, and the third limiting switch is connected with the pin COM and the pin X2 of the PLC control chip;
the infrared scanning module comprises a first infrared sensor and a second infrared sensor, the first infrared sensor is connected with a pin X6 of the PLC control chip, and the second infrared sensor is connected with a pin X7 of the PLC control chip;
the 485-232 converter chip comprises a pin A, a pin B, a pin 3V3, a pin TXD, a pin RXD and a pin GND, and the machine vision module comprises a camera and a camera chip openMV;
the pin 485A-1 and the pin 485B-1 of the PLC control chip are connected with the chip pin A and the pin B end of the 485-plus-232 converter, and the pin 3V3, the pin TXD, the pin RXD and the pin GND of the 485-plus-232 converter are connected with the pin 3V3, the pin P5, the pin P4 and the pin GND of the camera chip openMV of the machine vision module.
The motor driving module comprises a motor driving chip, the motor driving chip comprises a pin DC +, a pin DC-, a pin SV, a pin COM, a pin F/R, a pin EN, a pin BRK, a pin SPEED, a pin ALARM, a pin U, a pin V, a pin W, a pin REF +, a pin HU, a pin HV, a pin REF-, a pin U, a pin V, a pin W, a pin REF +, a pin HU, a pin HV, a pin HW and a pin REF-which are connected with a motor of the walking control mechanism of the cow dung robot charging box, the pin DC + is connected with 36V +, the pin DC-is connected with 36V-, the pin COM is connected with 36V-, the pin BRK is connected with 36V-, the pin F/R and the pin EN are connected with a pin Y0 and a pin Y1 of the PLC control chip.
The cow dung robot charging system is used for charging a cow dung robot, the controller sends an execution instruction to the walking control mechanism, the walking control mechanism controls the charger to move forwards, the charger starts to charge after being in butt joint with the cow dung robot, the controller sends the execution instruction to the walking control mechanism after charging is finished, the walking control mechanism controls the charger to be retracted, and charging is finished. Cow dung robot charging system is used for controlling cow dung robot charging case to charge to the cow dung robot, power module is respectively to PLC control module, spacing module, infrared scanning module, video identification module and motor drive module power supply, when the charger antedisplacement or backward shift touched spacing module, spacing module sends the instruction to PLC control module, PLC control module sends control instruction to motor drive module, motor drive module control motor stall, infrared scanning module sensing when cow dung robot reachs the charging area, and the video identification module discerns that the charging panel is gone up in the cow dung cleaning robot in chargeable area. The distance between the central position of a charging plate on the cow dung cleaning robot and the central position of a charging port 10 of a charging box is given by a video identification template; the PLC control module sends a command, the PLC control module sends a control command to the motor driving module, the motor driving module controls the motor to rotate, the motor rotates to drive the walking control mechanism to move forwards, and the walking control mechanism drives the charger to move forwards, so that the charger is in contact with the charging position of the cow dung robot to start charging. Therefore, the automatic charging of the cow dung robot is realized, the real-time charging of the cow dung robot after the operation of the cow dung robot is finished is ensured, the electric quantity of the cow dung robot is ensured to be sufficient, and the operation efficiency of the cow dung robot is improved.
Claims (10)
1. The utility model provides a cow dung robot charging case which characterized in that: the cow dung robot charging box comprises a box body, a fixing frame, a charger, a walking control mechanism and a controller, wherein the fixing frame is assembled in the box body, the walking control mechanism is assembled on the fixing frame, the charger is assembled on the walking control mechanism, the controller is respectively in communication connection with the charger and the walking control mechanism, a charging port is formed in the box body, and the walking control mechanism controls the charger to extend out of the charging port and be connected with the cow dung robot.
2. The cow dung robot charging box of claim 1, wherein: the charger includes the brush that charges board, the brush piece that charges, the charging panel, fixed plate and binding post, the brush board that charges is joined in marriage automobile body one side of dress at cow dung robot, the brush board that charges is connected with the battery on the cow dung robot automobile body, the brush piece that charges is fixed to be joined in marriage the dress on the charging panel, fixed dress binding post is joined in marriage to the fixed dress on the charging panel, two brush pieces that charge are connected with two binding post through the power transmission line respectively, the charging panel passes through the screw rod to be fixed on the fixed plate, fixed plate fixed dress is joined in marriage and is adorned on walking.
3. The cow dung robot charging box of claim 2, wherein: the walking control mechanism comprises a left sliding block, a right sliding block, a left sliding rail, a right sliding rail, a lead screw, a screw nut, a lead screw supporting seat and a motor, the left sliding rail, the right sliding rail, the lead screw supporting seat and the motor are fixedly assembled on the fixing frame, the left sliding block and the right sliding block are respectively assembled on the left sliding rail and the right sliding rail, the lead screw is respectively assembled with the screw nut and the lead screw supporting seat, the output end of a rotating shaft of the motor is connected with one end of the lead screw, the screw nut, the left sliding block and the right sliding block are fixedly connected with the lower end of the fixing plate.
4. The cow dung robot charging box of claim 3, wherein: the cow dung robot charging case still includes ac contactor and auxiliary relay, and ac contactor is connected with auxiliary relay, and ac contactor's wiring end is corresponding to be connected with live wire and zero line, and ac contactor is connected with the binding post on the charging panel.
5. The cow dung robot charging box of claim 4, wherein: the fixing frame is provided with a first limit switch, a second limit switch and a third limit switch, the first limit switch and the second limit switch are assembled at the front ends of the left sliding rail and the right sliding rail and located on two sides, the third limit switch is assembled at the rear end of the left sliding rail or the right sliding rail, and the first limit switch, the second limit switch and the third limit switch are in communication connection with the controller.
6. A cow dung robot charging system for controlling a cow dung robot charging box according to any one of claims 1 to 5, wherein: cow dung robot charging system includes power module, PLC control module, spacing module, infrared scanning module, video identification module and motor drive module, and power module is connected with PLC control module, video identification module and motor drive module electricity respectively, and spacing module, infrared scanning module, video identification module and motor drive module are respectively with PLC control module communication connection.
7. The cow dung robot charging system of claim 6, wherein: the power supply module comprises a power supply circuit, the power supply circuit comprises a power indicator lamp, a 36V alternating current-to-direct current converter, a 36V direct current power supply, a 24V alternating current-to-direct current converter, a 24V direct current power supply, a 5V direct current power supply, a charging indicator lamp, an alternating current contactor, an intermediate relay and a 48V charger, one end of the power indicator lamp is connected with a live wire, the other end of the power indicator lamp is connected with a zero line, the 36V alternating current-to-direct current converter is connected with a live wire and a zero line, the 36V direct current power supply is connected with the 36V alternating current-to-direct current converter, the 36V direct current power supply is connected with a motor driving module, the 24V alternating current-to-direct current converter is connected with the live wire and the zero line, the 24V direct current power supply is connected with the 24V alternating current-to-direct current converter, the 24V direct current, and after the alternating current contactor is connected with the intermediate relay, the alternating current contactor is connected with a 48V charger, the 48V charger is assembled with the cow dung robot charging box, and a charging indicator lamp is connected with the alternating current contactor.
8. The cow dung robot charging system of claim 7, wherein: PLC control module includes PLC control chip, and PLC control chip is connected with spacing module, infrared scanning module intermediate relay and 485 supplyes 232 converter, and 485 supplyes 232 converter is connected with machine vision module.
9. The cow dung robot charging system of claim 8, wherein: the PLC control chip is a ZK3U industrial control chip and comprises a pin COM, a pin X0, a pin X1, a pin X2, a pin X3, a pin X4, a pin X5, a pin X6, a pin X7, a pin 485A-1, a pin 485B-1, a pin 485A-2, a pin 485B-2, a pin 24V, a pin 0V, a pin COM0, a pin Y0, a pin Y1, a pin Y2, a pin Y3, a pin Y4, a pin Y5, a pin Y6 and a pin Y7;
the limiting module comprises a first limiting switch, a second limiting switch and a third limiting switch, the first limiting switch is connected with a pin COM and a pin X0 of the PLC control chip, the second limiting switch is connected with the pin COM and the pin X1 of the PLC control chip, and the third limiting switch is connected with the pin COM and the pin X2 of the PLC control chip;
the infrared scanning module comprises a first infrared sensor and a second infrared sensor, the first infrared sensor is connected with a pin X6 of the PLC control chip, and the second infrared sensor is connected with a pin X7 of the PLC control chip;
the 485-232 converter chip comprises a pin A, a pin B, a pin 3V3, a pin TXD, a pin RXD and a pin GND, and the machine vision module comprises a camera and a camera chip;
the pin 485A-1 and the pin 485B-1 of the PLC control chip are connected with the chip pin A and the pin B end of the 485-plus-232 converter, and the pin 3V3, the pin TXD, the pin RXD and the pin GND of the 485-plus-232 converter are connected with the pin 3V3, the pin P5, the pin P4 and the pin GND of the camera chip of the machine vision module.
10. The cow dung robot charging system of claim 9, wherein: the motor driving module comprises a motor driving chip, the motor driving chip comprises a pin DC +, a pin DC-, a pin SV, a pin COM, a pin F/R, a pin EN, a pin BRK, a pin SPEED, a pin ALARM, a pin U, a pin V, a pin W, a pin REF +, a pin HU, a pin HV, a pin REF-, a pin U, a pin V, a pin W, a pin REF +, a pin HU, a pin HV, a pin HW and a pin REF-which are connected with a motor of the walking control mechanism of the cow dung robot charging box, the pin DC + is connected with 36V +, the pin DC-is connected with 36V-, the pin COM is connected with 36V-, the pin BRK is connected with 36V-, the pin F/R and the pin EN are connected with a pin Y0 and a pin Y1 of the PLC control chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011187398.6A CN112260362A (en) | 2020-10-29 | 2020-10-29 | Cow dung robot charging case and charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011187398.6A CN112260362A (en) | 2020-10-29 | 2020-10-29 | Cow dung robot charging case and charging system |
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| CN109986983A (en) * | 2019-05-08 | 2019-07-09 | 无锡恺韵来机器人有限公司 | It is a kind of that adaptive AGV automatic charge device is adjusted |
| CN214755554U (en) * | 2020-10-29 | 2021-11-16 | 宁夏大学 | Cow dung robot charging box and charging system |
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| CN105553061A (en) * | 2016-02-01 | 2016-05-04 | 凯迈(洛阳)电子有限公司 | DC charging pile control system |
| CN205970887U (en) * | 2016-07-12 | 2017-02-22 | 深圳市科陆电子科技股份有限公司 | Automatic interfacing apparatus |
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