CN114142556B - Automatic charging device of inspection robot and control method thereof - Google Patents
Automatic charging device of inspection robot and control method thereof Download PDFInfo
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- CN114142556B CN114142556B CN202111388364.8A CN202111388364A CN114142556B CN 114142556 B CN114142556 B CN 114142556B CN 202111388364 A CN202111388364 A CN 202111388364A CN 114142556 B CN114142556 B CN 114142556B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000007689 inspection Methods 0.000 title claims description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 116
- 230000005540 biological transmission Effects 0.000 claims abstract description 61
- 239000002360 explosive Substances 0.000 claims abstract description 11
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 34
- 238000004891 communication Methods 0.000 claims description 14
- 230000001960 triggered effect Effects 0.000 claims description 11
- 238000004880 explosion Methods 0.000 claims description 10
- 238000013459 approach Methods 0.000 claims description 5
- 230000005294 ferromagnetic effect Effects 0.000 claims description 5
- 230000005291 magnetic effect Effects 0.000 claims description 4
- 239000003245 coal Substances 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010892 electric spark Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/622—Screw-ring or screw-casing
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
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Abstract
The invention provides an automatic charging device of a patrol robot and a control method thereof, wherein the automatic charging device of the patrol robot comprises a charging connecting mechanism and a charging matching connecting mechanism, the charging connecting mechanism comprises a rotatable connecting piece and a first charging contact member, and the connecting piece is connected with the first charging contact member; the charging matching connection mechanism comprises a transmission mechanism and a second charging contact member; the transmission mechanism comprises a hollow cavity and a hollow transmission connecting member, and the second charging contact member is positioned in the hollow cavity; the driving mechanism drives the transmission mechanism to rotate, and the transmission connecting member is connected with the connecting piece through threads, so that the first charging contact member is connected with the second charging contact member positioned in the hollow cavity; an explosive gas sensor is arranged in the hollow cavity. By adopting the technical scheme of the invention, the safe and reliable explosion-proof cavity is formed on the electric connection part during charging, and the device is stable, reliable, efficient and safe.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an automatic charging device of an inspection robot and a control method thereof.
Background
Along with the continuous development of robot technology, robots are well applied in a plurality of fields, and the track inspection robot can well replace manpower to complete repetitive tasks, ensure that detected equipment operates normally, effectively release the work of operation and maintenance personnel, and is widely applied to industries such as electric power, coal mines, machine rooms, warehouses and the like. The underground explosion environment of the coal mine has particularly high demand on the inspection robot, and various devices need to be monitored for 24 hours all weather due to the special gas environment.
At present, a common charging mode of an underground coal mine environment mainly comprises the steps of charging a robot by externally hanging a generator through mechanical energy conversion, wireless charging and forming an explosion-proof cavity through conical surface matching, and charging the underground safety environment, wherein the charging modes have certain limitations and cannot meet the requirements of autonomous, efficient and 24-hour all-weather operation of the robot. Specifically, a generator is hung on the robot, a motor of the charging pile drives a rotating shaft of the generator on the robot, and the conversion mode of electric energy-mechanical energy-electric energy is realized to charge the robot. Meanwhile, wireless charging is limited to the regulations in GB3836.1, the charging power threshold value is not more than 6W, and the high-capacity battery of the robot is difficult to rapidly charge. The explosion-proof cavity is formed by conical surface matching, and high reliability cannot be ensured for occasions requiring long-term use of the robot because the matching precision requirement of the explosion-proof surface is high. Therefore, a long-term safe and reliable device capable of being used for rapidly charging the explosion-proof robot and the robot in the underground coal mine is urgently needed.
Disclosure of Invention
Aiming at the technical problems, the invention discloses an automatic charging device of a patrol robot and a control method thereof, which are safe and reliable, solve the problem that dangerous explosion is possibly caused by electric sparks generated when the patrol robot is directly charged in an underground explosion environment of a coal mine, solve the problem of continuous endurance of 24-hour all-weather monitoring operation of the patrol robot in the underground of the coal mine, and essentially improve the working efficiency of the patrol robot in the underground explosion environment of the coal mine.
In this regard, the technical scheme of the invention is as follows:
An automatic charging device of a patrol robot comprises a control module, a charging connecting mechanism and a charging matching connecting mechanism, wherein the charging connecting mechanism comprises a rotatable connecting piece and a first charging contact member, and the connecting piece is connected with the first charging contact member;
The charging matching connection mechanism comprises a transmission mechanism and a second charging contact member, and the transmission mechanism is connected with the driving mechanism; the transmission mechanism is positioned at one end of the charging matching connection mechanism and comprises a hollow cavity and a hollow transmission connection member, the hollow cavity is communicated with the hollow part of the transmission connection member, and the second charging contact member is positioned in the hollow cavity; the driving mechanism drives the transmission mechanism to rotate, the inner wall of the transmission connecting member is connected with the outer wall of the connecting piece through threads or the outer wall of the transmission connecting member is connected with the inner wall of the connecting piece through threads in a matching way, so that the first charging contact member is connected with the second charging contact member positioned in the hollow cavity; an explosive gas sensor is arranged in the hollow cavity;
The control module is arranged in the charging pile and is electrically connected with the driving mechanism, the explosive gas sensor and the second charging contact member.
Further, the drive connection member is located at an end of the drive mechanism.
By adopting the technical scheme, when the robot needs to be charged, the robot is close to the charging pile, then is connected with the matching connection mechanism through the matching of the charging connection mechanism, a safe and reliable explosion-proof cavity is formed through the threaded connection surface, and in the explosion-proof cavity, the first charging contact member and the second charging contact member are in complete contact for charging. And be equipped with explosion gas sensor in this flameproof cavity, when the concentration of explosion gas that explosion gas sensor monitored is less than standard requirement, can charge, has better security, can be used to flameproof robot and this ampere of robot quick charge.
As a further improvement of the invention, the first charging contact member and the second charging contact member are connected and provided with electrodes, and the positions of the electrodes of the first charging contact member and the second charging contact member are corresponding.
As a further development of the invention, the end of the first charging contact is provided with a connecting member for connecting with a second charging contact.
As a further improvement of the invention, the other end of the charging matching connection mechanism is provided with an explosion-proof horn mouth, and a power cable electrically connected with the charging contact member and a signal wire connected with the explosion gas sensor penetrate out through the horn mouth.
As a further improvement of the invention, the automatic charging device of the inspection robot comprises an anti-reversion mechanism, and the anti-reversion mechanism is connected with the transmission mechanism.
As a further improvement of the invention, the anti-reversion mechanism comprises a ratchet wheel, a pawl and a steering engine, wherein the pawl is positioned at one side of the transmission mechanism; the ratchet wheel is connected with the pawl, the steering engine is connected with the ratchet wheel to drive the pawl to rotate, and the rotation and the anti-reversion of the ratchet wheel are controlled by controlling the angle of the pawl. The structure of preventing the ratchet pawl from reversing is adopted, so that the explosion-proof cavity is prevented from being invalid due to other reasons after being formed.
As a further improvement of the invention, the automatic charging device of the inspection robot comprises a centering mechanism, the centering mechanism comprises a wedge-shaped block and a conical surface, the wedge-shaped block is arranged on one side of the charging matching connection mechanism, the inspection robot is provided with the conical surface, and when the inclined surface of the wedge-shaped block and the conical surface are in matching contact with each other, the charging connection mechanism is in matching connection with the charging matching connection mechanism. By adopting the technical scheme, the robot can be guided to accurately enter the corresponding position through the matching of the wedge-shaped block and the conical surface.
As a further improvement of the invention, the automatic charging device of the inspection robot comprises a track arranged at one side or the bottom of the charging pile, an electromagnet is arranged on one side of the track, which is close to the charging pile, a ferromagnetic component is arranged on the inspection robot, and the approaching of the robot is guided through the magnetic force of the electromagnet acting on the ferromagnetic component.
As a further improvement of the invention, the charging connection mechanism is arranged on the inspection robot, and the charging matching connection mechanism is arranged on the charging pile. Of course, the charging connection mechanism can be arranged on the charging pile in an interchangeable mode according to the requirement, and the charging matching connection mechanism is arranged on the inspection robot.
As a further development of the invention, the charging peg is provided with a control module and a charging module, which is electrically connected to the second charging contact member.
As a further improvement of the invention, a first travel switch, a second travel switch and a third travel switch which are electrically connected with the control module are sequentially arranged on the track, and the first travel switch is positioned at one side close to the charging pile.
As a further improvement of the invention, a second explosive gas sensor is arranged on one side of the charging pile, and the explosive gas sensor and the second explosive gas sensor are electrically connected with the control module.
As a further improvement of the invention, the inspection robot is provided with a charging module, and the charging module is electrically connected with the first charging contact member.
As a further improvement of the invention, the charging module is provided with a charging pile contactor, the charging module is provided with a robot contactor, the charging pile contactor is connected with the control module, and the robot contactor is connected with the robot control module.
As a further development of the invention, the charging module is an AC charging module or a DC charging module.
As a further improvement of the invention, the charging pile is provided with a communication module, and the control module is communicated with the cloud control center through the communication module. Furthermore, the inspection robot is provided with a communication unit, and the robot control module is communicated with the cloud control center through the communication unit.
As a further improvement of the invention, the transmission mechanism comprises a hollow gear shaft, the outer diameter of the transmission connection member being smaller than the outer diameter of the gear shaft; the gear shaft is meshed to a power shaft of the driving mechanism through a gear. Further, the driving mechanism is a driving motor.
As a further improvement of the invention, the connecting piece is a screw, and the first charging contact member is positioned at the front end of the connecting piece; the transmission connecting member is provided with internal threads, and is connected with the gear shaft through a bolt. Further, the lengths of the external threads of the connecting piece and the internal threads of the transmission connecting component are not smaller than 10mm. Further preferably, the external thread and the internal thread are of a medium precision M20, the thread pitch is 2mm, the length is 30mm, and the length of the explosion-proof surface formed after the scheme is matched is greater than the requirement of 8mm specified in GB 3836.2.
As a further improvement of the invention, the front end of the charging connecting mechanism is provided with an openable dustproof mechanism, and the outer side of the charging matching connecting mechanism is provided with an openable dustproof opening and closing cover. The driving part of the dustproof mechanism is electrically connected with the robot control module, and the driving part of the dustproof opening and closing cover is connected with the control module. By adopting the technical scheme, the charging connecting mechanism and the charging matching connecting mechanism are all provided with the dustproof mechanism and the dustproof opening and closing cover for protection in daily life, and the robot can be opened only when being charged, so that the use is more reliable.
Further, according to the signal of the third travel switch, the control module controls the opening or closing of the driving part of the dustproof opening and closing cover, and the robot control module controls the opening or closing of the driving part of the dustproof opening and closing cover.
Further, the charging connection mechanism is a charging plug, and the charging matching connection mechanism is a charging socket.
The invention also discloses a control method of the automatic charging device of the inspection robot, which comprises the following steps:
The robot moves to a track where the charging pile is located, a third travel switch is triggered, the robot control module controls the dustproof mechanism to be opened, and the control module controls the dustproof opening and closing cover of the charging pile to be opened;
the robot continues to move towards the charging pile, a second travel switch is triggered, the control module controls the electromagnet to work, the robot is guided to approach, and a motor of the robot is powered off;
The control module controls the driving motor to start, drives the transmission mechanism to rotate, and the charging plug is connected with the charging socket to enable the robot to be further close to the charging pile, and the charging plug is connected with the charging socket in a matched manner, so that an explosion-proof cavity is formed through a threaded connection surface; triggering a first travel switch, controlling the transmission mechanism to stop working by the control module, locking the anti-reversion mechanism, and completely forming an explosion-proof cavity, wherein the first charging contact member and the second charging contact member are completely contacted;
The control module receives that the concentration monitored by the first methane sensor and the second methane sensor is lower than the standard requirement, and the charging pile contactor and the robot contactor are respectively attracted to start charging the robot.
Compared with the prior art, the invention has the beneficial effects that:
by adopting the technical scheme, the safe and reliable explosion-proof cavity is formed at the electric connection part during charging, so that the electric charging device is stable, reliable, efficient and safe, and the adopted threaded connection surface is also beneficial to later maintenance and replacement, so that the charging safety of the whole system in an explosion environment is ensured; the charging device has the advantages of simple structure, low cost and light weight, and can be simultaneously used for the explosion-proof robot and the robot and rapidly charge; further, in the charging process, data can be uploaded to the cloud control center in real time through the communication module, visual display is achieved, safety and controllability are achieved, and the charging efficiency of the robot can be improved.
Drawings
Fig. 1 is a schematic structural diagram of an automatic charging device of a inspection robot according to an embodiment of the present invention.
Fig. 2 is a schematic view of another angle of an automatic charging device of a inspection robot according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a charging plug and a charging socket according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a charging plug and charging socket docking according to an embodiment of the present invention.
Fig. 5 is a schematic view illustrating an internal structure of a charging pile according to an embodiment of the present invention.
Fig. 6 is a schematic view of an external structure of a robot according to an embodiment of the present invention.
Fig. 7 is a functional block diagram of an automatic charging device of the inspection robot according to an embodiment of the present invention.
The reference numerals include:
100-robot, 200-charging pile and 300-track;
1-a charging plug; 2-charging socket, 3-anti-reversion mechanism, 4-centering mechanism;
11-a screw, 12-a first charging contact member, 13-a dust-proof mechanism;
The device comprises a first charging contact component, a second charging contact component, a driving motor, a hollow cavity, a transmission connecting component, a horn mouth, a first methane sensor, a gear shaft, a second methane sensor, a dustproof opening and closing cover and a dustproof cover, wherein the first charging contact component is connected with the hollow cavity through the transmission connecting component;
31-ratchet wheel, 32-pawl;
41-wedge block, 42-conical surface;
51-electromagnet, 52-first travel switch, 53-second travel switch, 54-third travel switch.
Detailed Description
Preferred embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 7, an automatic charging device for a patrol robot comprises a charging plug 1 arranged on the patrol robot 100, a charging socket 2 arranged on a charging pile 200, an anti-reversion mechanism 3, a centering mechanism 4 and a track 300, wherein the track 300 is positioned on one side or the bottom of the charging pile 200. The anti-reverse mechanism 3 is connected with a transmission mechanism 21.
The charging plug 1 includes a rotatable screw 11 and a first charging contact member 12, the first charging contact member 12 being connected to a front end of the screw 11.
The charging socket 2 comprises a transmission mechanism 21 and a second charging contact member 22, and the transmission mechanism 21 is connected with a driving motor 23; the transmission mechanism 21 is located at one end of the charging socket 2, the transmission mechanism 21 comprises a hollow cavity 24 and a hollow transmission connecting member 25, the hollow cavity 24 is communicated with the hollow part of the transmission connecting member 25, the transmission connecting member 25 is located at the end part of the transmission mechanism 21, and the second charging contact member 22 is located at the middle part of the bottom of the hollow cavity 24. The inner wall of the drive connection member 25 is provided with threads.
The driving motor 23 drives the transmission mechanism 21 to rotate, and the inner wall of the transmission connecting member 25 is connected with the screw 11 through threads, so that the first charging contact member 12 is connected with the second charging contact member 22 positioned in the hollow cavity 24; a first methane sensor 27 is disposed within the hollow cavity 24. The other end of the charging socket 2 is provided with an explosion-proof horn mouth 26, and a power cable electrically connected with the charging contact member and a signal wire connected with the first methane sensor 27 penetrate out through the horn mouth 26.
Further, the transmission mechanism 21 includes a hollow gear shaft 28, and the outer diameter of the transmission connection member 25 is smaller than the outer diameter of the gear shaft 28; the gear shaft 28 is engaged to a power shaft of the driving motor 23 through a gear, and the transmission connection member 25 is connected to the gear shaft 28 through a bolt. Further, the transmission connection member 25 is a flange provided with an internal thread.
Further, the length of the external thread of the screw 11 and the internal thread of the transmission connection member 25 is not less than 10mm. Further preferably, the external thread of the screw 11 and the internal thread of the transmission connecting member 25 have a medium precision M20, a pitch of 2mm and a length of 30mm, and the length of the explosion-proof surface formed by matching the scheme is greater than the requirement of 8mm specified in GB 3836.2.
The anti-reversion mechanism 3 comprises a ratchet wheel 31, a pawl 32 and a steering engine, wherein the pawl 32 is positioned on one side of the transmission mechanism 21; the ratchet wheel 31 is connected with the pawl 32, the steering engine is connected with the ratchet wheel 31 to drive the pawl 32 to rotate, and the rotation and the anti-reversion of the ratchet wheel 31 are controlled by controlling the angle of the pawl 32.
The centering mechanism 4 comprises a wedge-shaped block 41 and a conical surface 42, the wedge-shaped block 41 is arranged on one side of the charging socket 2, the inspection robot 100 is provided with the conical surface 42, the conical surface 42 is positioned on one side of the charging plug 1, and when the inclined surface of the wedge-shaped block 41 and the conical surface 42 are in mutual matching contact, the charging plug 1 and the charging socket 2 are in matching connection.
The rail 300 is provided with an electromagnet 51 at one side close to the charging pile 200, the inspection robot 100 is provided with an iron block, and the approach of the robot 100 is assisted and guided by the magnetic force of the electromagnet 51 acting on the iron block. The track 300 is sequentially provided with a first travel switch 52, a second travel switch 53 and a third travel switch 54 which are electrically connected with the control module, and the first travel switch 52 is positioned at one side close to the charging pile 200.
The charging pile 200 is provided with a control module and a charging module, the charging module is electrically connected with the second charging contact member 22, and the control module is electrically connected with the charging module.
The robot 100 is provided with a robot control module and a charging module, the charging module is electrically connected with the first charging contact member 12, and the robot control module is electrically connected with the charging module. The charging module is provided with a charging pile contactor, the charging module is provided with a robot contactor, the charging pile contactor is connected with the control module, and the robot contactor is connected with the robot control module. Further, the charging module is an AC charging module or a DC charging module.
A second methane sensor 29 is arranged on one side of the charging pile 200, and the first methane sensor 27 and the second methane sensor 29 are electrically connected with a control module. The driving motor 23, steering engine, first travel switch 52, second travel switch 53 and third travel switch 54 are electrically connected with the control module.
The front end of the charging plug 1 is provided with an openable dust-proof mechanism 13, and the outer side of the charging socket 2 is provided with an openable dust-proof opening and closing cover 30. The driving part of the dustproof mechanism 13 is electrically connected with the robot control module, and the driving part of the dustproof opening and closing cover 30 is electrically connected with the control module.
Further, the control module controls the opening or closing of the driving part of the dust-proof opening and closing cover 30 according to the signal of the third travel switch 54, and the robot control module controls the opening or closing of the driving part of the dust-proof opening and closing cover 30. The control module controls the switching of the electromagnet 51 according to the signal of the third travel switch 54.
The electric appliance parts in the charging pile 200 are protected by explosion-proof cavities.
Further, the charging pile 200 is provided with a wireless communication module, and the control module communicates with the cloud control center through the wireless communication module. Further, the inspection robot 100 is provided with a wireless communication module, and the robot control module communicates with the cloud control center through the wireless communication module. Further, the wireless communication module is a WIFI module.
The control method of the automatic charging device of the inspection robot comprises the following steps:
When the robot 100 needs to be charged, the robot 100 moves to the track 300 where the ground charging pile 200 is located, the third travel switch 54 is triggered, the dust-proof opening and closing cover 30 of the robot 100 is opened, and the dust-proof opening and closing cover 30 of the ground charging pile 200 is opened. The robot 100 continues to move towards the charging pile 200 on the ground, the second travel switch 53 is triggered, the electromagnet 51 works, the approach of the robot 100 is guided by the magnetic force of the electromagnet 51 acting on the ferromagnetic member, and the motor of the robot 100 is powered off. The driving motor 23 drives the transmission mechanism 21 to rotate, the charging plug 1 is connected with the charging socket 2, the robot 100 is further close to the charging pile 200, the charging plug 1 is connected with the charging socket 2 in a matched mode, and a safe and reliable explosion-proof cavity is formed through a threaded connection surface. The first travel switch 52 is triggered, the transmission mechanism 21 stops working, the anti-reversion mechanism 3 is locked, the explosion-proof cavity is completely formed, and the first charging contact member 12 and the second charging contact member 22 are completely contacted. When the concentrations monitored by the first and second methane sensors 27, 29 are below the standard requirements, the robot 100 may be ready to be charged. The charging stake contacts and the robot contacts are engaged, respectively, to begin charging the robot 100.
After the charging is completed, the separation of the robot 100 and the ground charging pile 200 is started, and before the explosion-proof cavity is separated, the first charging contact member 12 in the charging plug 1 and the second charging contact member 22 in the charging socket 2 of the robot 100 and the charging pile 200 are in a power-off state. The charging pile contactor and the robot contactor are respectively disconnected, the anti-reverse mechanism 3 is opened, the transmission mechanism 21 rotates, and the robot 100 starts to be far away from the charging device. Triggering the first stroke, the transmission 21 stops working. The robot 100 motor is energized and continues to move away from the charging stake 200. The second travel switch 53 is triggered and the anti-reverse mechanism 3 is locked. The third travel switch 54 is triggered, the dustproof opening and closing cover 30 of the robot 100 is closed, the dustproof opening and closing cover 30 of the ground charging pile 200 is closed, and the robot 100 is charged.
In the charging process of the robot 100, information such as voltage, current, methane concentration and the like can be uploaded to a cloud control center in real time through WIFI, and displayed on a state display screen in real time. When an abnormal condition occurs or an administrator actively operates remote excision, the ground charging pile 200 is instructed through WIFI, excision charging is performed, the operation cannot be recovered remotely, and charging safety is guaranteed. In the charging process, if the methane concentration monitored by the methane sensor exceeds the standard, the emergency power-off function is actively triggered, the state is uploaded to the cloud control center, and an alarm is triggered.
Further, in terms of control logic, the ground charging pile 200 and the robot 100 are provided with independent safety locking mechanisms in a butt joint state, a charging state and a separation state, so that before the charging interface is not reliably connected and the charging explosion-proof cavity is not formed, the charging interface of the robot 100 and the ground charging pile 200 is not electrified, and electric arcs, electric sparks and dangerous temperatures are avoided, and gas is detonated.
Meanwhile, an independent first methane sensor 27 is arranged in the flameproof hollow cavity 24, and when the concentration is monitored to be too high, the charging operation is not performed. Both the charging plug 1 and the charging socket 2 are protected by a dust-proof mechanism 13 or a dust-proof cover 30 after the charging is completed.
According to the scheme, when the underground charging of the robot is achieved, the charging of the explosion-proof robot and the intrinsic safety robot can be adapted only by installing a small number of mechanisms on the robot. Meanwhile, the explosion-proof cavity is formed stably and reliably in a threaded explosion-proof surface mode, the built-in methane concentration sensor monitors at any time, the dual safety design is realized, the stability of the whole design is improved, the cost is low, the economic benefit is good, and the engineering application is facilitated.
The ground charging pile, the track robot and the cloud control center are combined, the charging state can be monitored in real time, the charging process can be remotely and forcedly interrupted when emergency is met, and the charging process is safe and controllable and is more humanized.
The above embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, which is defined by the appended claims, but rather by the following claims.
Claims (10)
1. An automatic charging device of inspection robot, its characterized in that: the charging device comprises a control module, a charging connecting mechanism and a charging matching connecting mechanism, wherein the charging connecting mechanism comprises a rotatable connecting piece and a first charging contact member, and the connecting piece is connected with the first charging contact member;
The charging matching connection mechanism comprises a transmission mechanism and a second charging contact member, and the transmission mechanism is connected with the driving mechanism; the transmission mechanism is positioned at one end of the charging matching connection mechanism and comprises a hollow cavity and a hollow transmission connection member, the hollow cavity is communicated with the hollow part of the transmission connection member, and the second charging contact member is positioned in the hollow cavity; the driving mechanism drives the transmission mechanism to rotate, the inner wall of the transmission connecting member is connected with the outer wall of the connecting piece through threads or the outer wall of the transmission connecting member is connected with the inner wall of the connecting piece through threads in a matching way, so that the first charging contact member is connected with the second charging contact member positioned in the hollow cavity; an explosive gas sensor is arranged in the hollow cavity;
The control module is arranged in the charging pile and is electrically connected with the driving mechanism, the explosive gas sensor and the second charging contact member.
2. The inspection robot auto-charging device of claim 1, wherein: the other end of the charging matching connection mechanism is provided with an explosion-proof horn mouth, and a power cable electrically connected with the charging contact member and a signal wire connected with the explosion gas sensor penetrate out through the horn mouth.
3. The inspection robot auto-charging device of claim 1, wherein: the anti-reversion mechanism is connected with the transmission mechanism; the anti-reversion mechanism comprises a ratchet wheel, a pawl and a steering engine, and the pawl is positioned at one side of the transmission mechanism; the ratchet wheel is connected with the pawl, the steering engine is connected with the ratchet wheel to drive the pawl to rotate, and the rotation and the anti-reversion of the ratchet wheel are controlled by controlling the angle of the pawl.
4. The inspection robot auto-charging device of claim 3, wherein: the intelligent inspection robot comprises a centering mechanism, wherein the centering mechanism comprises a wedge-shaped block and a conical surface, the wedge-shaped block is arranged on one side of a charging matching connection mechanism, the inspection robot is provided with the conical surface, and when the inclined surface of the wedge-shaped block is in matching contact with the conical surface, the charging connection mechanism is in matching connection with the charging matching connection mechanism.
5. The inspection robot auto-charging device of claim 3, wherein: the intelligent charging device comprises a track arranged on one side or the bottom of a charging pile, an electromagnet is arranged on one side, close to the charging pile, of the track, a ferromagnetic component is arranged on the inspection robot, and the approach of the robot is assisted by the magnetic force of the electromagnet acting on the ferromagnetic component.
6. The inspection robot auto-charging device of claim 5, wherein: the transmission mechanism comprises a hollow gear shaft, and the outer diameter of the transmission connecting member is smaller than that of the gear shaft; the gear shaft is meshed to a power shaft of the driving mechanism through a gear.
7. The inspection robot auto-charging device of claim 6, wherein: the connecting piece is a screw rod, and the first charging contact member is positioned at the front end of the connecting piece; the transmission connecting member is provided with internal threads and is connected with the gear shaft through a bolt;
the lengths of the external threads of the connecting piece and the internal threads of the transmission connecting member are not less than 10mm;
The front end of the charging connecting mechanism is provided with an openable dustproof mechanism, and the outer side of the charging matching connecting mechanism is provided with an openable dustproof opening and closing cover; the driving part of the dustproof mechanism is electrically connected with the robot control module, and the driving part of the dustproof opening and closing cover is connected with the control module.
8. The inspection robot auto-charging device of claim 7, wherein: the charging connecting mechanism is arranged on the inspection robot, and the charging matching connecting mechanism is arranged on the charging pile;
The charging pile is provided with a charging module, and the charging module is electrically connected with the second charging contact member;
The track is sequentially provided with a first travel switch, a second travel switch and a third travel switch which are electrically connected with the control module, and the first travel switch is positioned at one side close to the charging pile;
A second explosive gas sensor is arranged on one side of the charging pile, and the explosive gas sensor and the second explosive gas sensor are electrically connected with the control module;
The inspection robot is provided with a charging module, and the charging module is electrically connected with the first charging contact member;
the charging module is provided with a charging pile contactor, the charging module is provided with a robot contactor, the charging pile contactor is connected with the control module, and the robot contactor is connected with the robot control module.
9. The inspection robot auto-charging device of claim 8, wherein: the charging module is an AC charging module or a DC charging module;
The charging pile is provided with a communication module, and the control module is communicated with a cloud control center through the communication module; the inspection robot is provided with a wireless communication module, and the robot control module is communicated with the cloud control center through the wireless communication module.
10. The control method of an automatic charging device for a patrol robot according to claim 9, wherein: it comprises the following steps:
The robot moves to a track where the charging pile is located, a third travel switch is triggered, the robot control module controls the dustproof mechanism to be opened, and the control module controls the dustproof opening and closing cover of the charging pile to be opened;
the robot continues to move towards the charging pile, a second travel switch is triggered, the control module controls the electromagnet to work, the robot is guided to approach, and a motor of the robot is powered off;
The control module controls the driving motor to start, drives the transmission mechanism to rotate, and the charging plug is connected with the charging socket to enable the robot to be further close to the charging pile, and the charging plug is connected with the charging socket in a matched manner, so that an explosion-proof cavity is formed through a threaded connection surface; triggering a first travel switch, controlling the transmission mechanism to stop working by the control module, locking the anti-reversion mechanism, and completely forming an explosion-proof cavity, wherein the first charging contact member and the second charging contact member are completely contacted;
The control module receives that the concentration monitored by the first methane sensor and the second methane sensor is lower than the standard requirement, and the charging pile contactor and the robot contactor are respectively attracted to start charging the robot.
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