CN116404729A - Non-stop charging system of track type inspection robot and use method - Google Patents
Non-stop charging system of track type inspection robot and use method Download PDFInfo
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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- 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
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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Abstract
The invention discloses a non-stop charging system of a track type inspection robot and a use method thereof, belonging to the field of power supply systems of the inspection robots for coal mines; the system comprises a charging device, a wire arranging device and a control device; a charging track is arranged beside the inspection track in parallel; a charging device and a wire arranging device are sequentially arranged below the charging track and are connected through a travelling crane cable; an infrared signal receiver is arranged on one side of the charging device, a stepping motor, a positioning rod, a charging plug, a sliding rail and sliding block mechanism and a ball screw transmission mechanism are arranged in the charging device, and a mechanical chute, an infrared signal emitter and a charging socket are arranged on one side of the inspection robot; position information and battery power information are transmitted between the inspection robot and the charging device through different coded infrared signals, and the inspection robot and the charging device are accurately abutted through the mechanical sliding groove and the positioning rod under the action of the control device. The invention adopts a parallel track design, reduces the charging space-time running stroke of the inspection robot and improves the charging efficiency.
Description
Technical Field
The invention relates to a non-stop charging system of a track type inspection robot and a use method thereof, and belongs to the field of power supply systems of coal mine inspection robots.
Background
The belt conveyor has large continuous transportation capacity, strong carrying capacity and good working environment adaptability, can realize long-distance transportation, and is widely applied to various large mines. However, the underground working environment is bad, and the belt conveyor is easy to fail due to long-time and high-load operation, so that sudden safety accidents are caused.
With the continuous promotion of unmanned and intelligent underground mine, the belt conveyor inspection robot is adopted to replace manual inspection at present, so that the problems of high labor intensity of workers, different inspection effects and the like in manual inspection are solved. At present, most of belt conveyor inspection robots are track inspection robots; the body weight of the inspection robot is borne by the track, and the battery carried by the robot supplies power for the running mechanism and the carried equipment, so that the endurance time of the inspection robot can be greatly prolonged. However, because the battery of the inspection robot needs to be supplied, the inspection efficiency of the inspection robot has a larger gap compared with that of manual inspection, and the efficient inspection brings higher requirements to the battery supply technology of the robot. By reasonably arranging the charging areas, selecting a proper charging method to reduce the charging and shutdown time of the robot is a key technology for truly landing the inspection robot.
Chinese patent CN114498167a discloses a "charging device and charging method for a rail-mounted inspection robot", wherein communication between the charging device and the robot is established through 2.4G wireless transmission signals, and the robot itself is used for position judgment by using its own coding positioning unit, and is autonomously moved to the charging device; the speed is reduced when the distance from the charging device is 0.5m, and free braking is carried out when the distance from the charging device is 0.03 m; and then the electrodes of the electromagnet are contacted with each other by the attraction of the electromagnet to carry out autonomous charging. The attraction force of the electromagnet is utilized to cope with vibration in the charging process, and the voltage and current passing through the electromagnet are reduced during the charging process, so that heat generation is reduced. In the charging method, although the vibration impact in the charging process is considered, the robot has a long idle running stroke in the charging process, so that the inspection efficiency is reduced.
Chinese patent CN111525317a discloses a "charging device for track-type intelligent inspection robot and charging method thereof"; the charging device is fixed on the track, and the inspection robot is connected with the charging device through wireless communication, so that intelligent charging control is realized. The charging device is provided with the buffer device to weaken the collision between the robot and the charging device, and the service time of the charging device is prolonged. The device is provided with an electric iron absorber to ensure that the charging electrode of the inspection robot does not generate relative motion during charging. Although the charging device is compact in structure, small in size and easy to install and arrange in a narrow environment, the charging device is fixed at one end of a track, and when the inspection robot detects that the electric quantity reaches the lower limit, an idle running stroke exists, so that the inspection efficiency can be reduced.
In current research, orbital inspection robot's charging device is fixed in orbital one end more, when inspection robot reaches the lower limit of electric quantity, all need through longer idle running journey, can reduce robot's inspection efficiency.
Disclosure of Invention
Aiming at the problems that the charging efficiency of the existing belt conveyor inspection robot under the mine is low and the inspection efficiency is further influenced, the invention provides a charging system for realizing the non-stop charging of the inspection robot by arranging parallel tracks. According to the invention, information transmission and relative position relation positioning between the charging device and the inspection robot are realized based on infrared signals, and the positioning rod is matched with the mechanical chute to reduce errors and realize accurate butt joint; the pressure sensor is matched with the electromagnetic relay, so that the generation of electric sparks is reduced; the automatic plug and socket of the charging plug is realized through the stepping motor, and the unmanned charging process is realized.
The conception of the invention: aiming at the phenomenon that the existing charging device is fixed at one end of a track, when the inspection robot detects that a longer idle running stroke exists when the electric quantity reaches the lower limit, the inspection efficiency can be reduced. Aiming at the complex detection content of the head position of the belt conveyor, the inspection robot needs slower inspection speed, which means longer detection time, so that the robot body can be charged in the process, and the influence on the normal inspection process of the inspection robot is reduced by designing a charging track parallel to the inspection track of the inspection robot; the track type inspection robot charging device is arranged on a charging track parallel to the inspection track of the inspection robot, and the charging track is arranged at the head position of the belt conveyor; the automation of the wired charging process is realized through the automatic emission of infrared signals and the automatic plugging and unplugging of the charging plug; the positioning error is reduced by realizing guiding and positioning through the cooperation between the positioning rod and the mechanical sliding groove, and the docking error is controlled within the allowable error of the charging plug and the socket.
The invention provides a non-stop charging system of a track type inspection robot, which can realize the non-stop charging of the track type inspection robot; the charging system comprises a charging device, a wire arrangement device and a control device; the charging tracks are arranged beside the inspection track in parallel to reduce the influence on the normal inspection process of the inspection robot; the track type inspection robot charging device is arranged on a charging track parallel to the inspection track of the inspection robot, and the charging track is arranged at the head position of the belt conveyor;
the charging track is arranged in parallel with the inspection track, the charging device runs along the charging track, the charging device and the wire arrangement device are sequentially arranged below the charging track, and the charging device and the wire arrangement device are connected through a travelling crane cable; the charging device is fixed below the charging track through a charging device walking roller, an infrared signal receiver is arranged on one side of the charging device, a stepping motor, a positioning rod, a charging plug, a sliding rail sliding block mechanism and a ball screw transmission mechanism are arranged in the charging device, a supporting piece is arranged in the middle of the charging device, the upper part of the supporting piece is connected with the ball screw transmission mechanism, the lower part of the supporting piece is connected with the sliding rail sliding block mechanism, one side of the supporting piece is respectively connected with the positioning rod and the charging plug from top to bottom, and the positioning rod and the charging plug are driven to slide along the sliding rail sliding block mechanism through the ball screw transmission mechanism;
the inspection robot is fixed below the inspection track through a travelling mechanism, and performs inspection back and forth on the inspection track; one side of the inspection robot is provided with a mechanical chute, an infrared signal emitter and a charging socket; the mechanical sliding groove is fixed on the side surface of the inspection robot, the positioning rod is arranged in the charging device, the two positioning rods are parallel and level in the horizontal direction, the inspection robot and the charging device are in butt joint through the mechanical sliding groove and the positioning rod in the operation process, the outer side of the mechanical sliding groove is of an arc-shaped groove structure, and a through hole is formed in the middle of the mechanical sliding groove; the stepping motor provides torque and pushes the positioning rod to slide forwards on the sliding rail sliding block through the ball screw transmission mechanism, the arc-shaped groove structure of the mechanical sliding groove is utilized to push the positioning rod and the charging device to slide on the charging track until the positioning rod slides into the through hole of the mechanical sliding groove, and accurate butt joint of the charging device and the inspection robot is realized.
The charging socket of the inspection robot is in butt joint with a charging plug of the charging device, a positive electrode plate, a negative electrode plate and a grounding electrode plate are arranged at the top of the charging plug, and a positive electrode plate, a negative electrode plate, a grounding electrode plate and a pressure sensor are arranged at the top of the charging socket; when the positive electrode plate, the negative electrode plate and the grounding electrode plate at the top of the charging plug are respectively contacted with the positive electrode plate, the negative electrode plate and the grounding electrode plate of the charging socket, the pressure sensor at the top of the charging socket feeds back the contact condition of the charging plug and the charging socket. After detecting that the charging plug and the charging socket are in full contact (i.e., the pressure sensor reaches a set upper limit), the electromagnetic relay of the charging device control portion is turned on to turn on the charging circuit, and charging is started.
The travelling crane cable is respectively connected with the charging device and the wire arranging device; the wire arranging device comprises a wire arranging device walking roller, an anti-collision block and a compacting plate; the wire arranging device is fixed below the charging track through a wire arranging device walking roller and can slide on the charging track; the four corners of the wire arranging device are respectively provided with an anti-collision block, the anti-collision blocks are cylindrical blocks made of rubber, so that energy during collision can be absorbed, and the charging device can realize the retreating of the wire arranging device and the charging device together by pushing the anti-collision blocks; the travelling cable is fixed on the wire arranging device by the compacting plate, and the charging device is pulled to advance by the charging device through the travelling cable; the travelling crane cable is connected with the charging device, can drag the wire arranging device to move forward along with the charging device, and enables the charging device to push the wire arranging device to move backward through an anti-collision block designed on the wire arranging device; the anti-collision block and the travelling cable enable the wire arranging device to advance and retreat on the charging track along with the charging device, a plurality of wire arranging devices are arranged according to the length of the charging track, and the wire arranging devices are connected through one travelling cable; and the charging device is communicated with the underground power grid through end-to-end connection of a plurality of wire arranging devices.
The sliding rail and sliding block mechanism comprises a sliding block and a sliding rail, the bottom of the sliding rail is fixedly connected with the bottom of the charging device through a bolt, the upper surface of the sliding block is fixed with the bottom surface of the supporting piece, and the supporting piece and the sliding block can slide on the sliding rail together with small resistance.
The ball screw transmission mechanism is arranged at the upper part of the charging device and comprises a screw, a sliding table and a shaft coupling, the upper part of the ball screw transmission mechanism is connected with the top shell of the charging device through a bolt, the sliding table at the lower part of the ball screw transmission mechanism is fixedly connected with the top of a supporting piece of the charging device, the sliding table can slide back and forth along with the rotation of the screw, the screw in the sliding table is connected with a motor shaft through the shaft coupling, the torque of the motor is converted into force for pushing the sliding table to slide back and forth, and the sliding table slides to drive the supporting piece to move; the forward, static and backward movements of the supporting piece, the positioning rod and the charging plug are realized through the control of forward rotation, locking and backward rotation of the stepping motor, and the automatic plug-in of the charging plug is realized.
The control device comprises a charging device control part and a patrol robot charging control part; the charging device control part comprises a singlechip, a stepping motor driver, a stepping motor, an infrared signal receiver, an electromagnetic relay, a 24V direct current power supply and a 5V direct current power supply, and the stepping motor and the electromagnetic relay are controlled to complete corresponding actions mainly by receiving hexadecimal infrared signals with different codes; the inspection robot charging control part comprises a singlechip, an infrared signal emitter, a pressure sensor and a 5V direct current power supply, and the infrared signal emitter is controlled to emit hexadecimal infrared signals with different codes mainly by receiving battery information and pressure sensor information.
The invention provides a use method of the non-stop charging system suitable for a track type belt conveyor inspection robot, which comprises the following steps:
(1) When the inspection robot inspects on the inspection track, when the power management chip detects that the electric quantity reaches the lower limit of the electric quantity, a signal is sent to a singlechip of a charging control part of the inspection robot; after receiving the signal, the singlechip controls the infrared signal emitter to emit an infrared signal a uninterruptedly;
(2) When the charging device passes through the charging area, an infrared signal receiver on the charging device receives an infrared signal a, a singlechip of a control part of the charging device controls a stepping motor in the charging device to rotate clockwise, and a positioning rod and a charging plug are pushed to slide forwards on a sliding rail and sliding block mechanism through a ball screw transmission mechanism;
(3) The positioning rod of the charging device passes through a chute structure on the inspection robot, so that the error of the infrared sensor is reduced, and the charging plug and the charging socket are accurately abutted;
(4) When the pressure sensor on the charging socket reaches the set upper pressure limit, an infrared signal emitter on the inspection robot emits an infrared signal b, an infrared signal receiver on the charging device receives the infrared signal b, so that the stepping motor stops rotating and is locked, and an electromagnetic relay is opened to charge a battery in the inspection robot; the speed of the inspection robot is reduced to be the charging speed, and the inspection robot and the charging device are connected through the positioning rod to realize the common speed of the track type inspection robot and the charging device;
(5) When a power management chip on the inspection robot detects that the battery power reaches the upper limit of the power, a signal is sent to a singlechip of a charging control part of the inspection robot; after receiving the signal, the singlechip controls the infrared signal emitter to emit an infrared signal c uninterruptedly; and an infrared signal receiver on the charging device receives the infrared signal c, the singlechip receives the signal, then the electromagnetic relay is closed, the stepping motor is controlled to rotate anticlockwise, and the positioning rod and the charging plug are pushed to slide backwards on the sliding rail and sliding block mechanism through the ball screw transmission mechanism, so that the charging device is separated from the inspection robot, and the inspection robot resumes the normal inspection speed to continue inspection.
The invention has the beneficial effects that:
(1) The track type inspection robot non-stop charging device designed by the invention adopts a parallel track design, and does not interfere with the normal inspection of the inspection robot; compared with the traditional fixed-point charging, the method has the advantages that the idle running stroke of the inspection robot during charging is greatly reduced, the charging efficiency is improved, and the inspection efficiency of the inspection robot can be remarkably improved by matching with a wired quick charging strategy of a lithium battery;
(2) Compared with other high-precision positioning butt joint methods, the butt joint method has smaller sensor power, reduces the error of a low-power sensor through a mechanical chute, and can provide a good butt joint method for wired charging;
(3) The charging method of the inspection robot is safe and reliable, the electromagnetic relay controlled by the singlechip is matched with the pressure sensor, and the electromagnetic relay is opened only after the pressure sensor reaches the upper pressure limit to supply power to the charging plug, so that the electrode can be effectively prevented from contacting with electric spark, and the inspection robot is suitable for underground flammable and explosive environments;
(4) The invention provides a wire arranging device for wired charging of a track robot, which can effectively prevent dangers caused by wire breakage through the wire arranging device on a parallel charging track and realize non-stop charging.
Drawings
Fig. 1 is a schematic diagram of a charging device for charging a track-type inspection robot without stopping the machine.
Fig. 2 is an external view of the charging device of the present invention.
Fig. 3 is a view showing a configuration of a robot charging docking system according to the present invention.
Fig. 4 is a schematic diagram of the cooperation of the positioning rod and the slide groove of the inspection robot. (a) guiding; (b) entering the position.
Fig. 5 is a schematic view of the docking of a robot and a charging device of the present invention.
Fig. 6 is a schematic structural view of a slide rail and slide block mechanism and a ball screw transmission mechanism of the charging device of the present invention.
Fig. 7 is a schematic diagram illustrating a connection relationship between a charging device and a wire management device according to the present invention.
Fig. 8 is a structural view of the wire arranging device of the present invention.
Fig. 9 is a schematic view of a charging plug and a charging receptacle of the present invention.
Fig. 10 is a circuit diagram of a control portion of the charging device of the present invention.
Fig. 11 is a circuit diagram of a charge control section of the inspection robot of the present invention.
Fig. 12 is a charge control flow chart of the present invention.
In the figure: 1 is an inspection robot, 1-1 is a mechanical sliding groove, 1-2 is an infrared signal transmitter, 1-3 is a charging socket, 1-3-1 is a charging socket positive electrode plate, 1-3-2 is a charging socket grounding electrode plate, 1-3-3 is a charging socket negative electrode plate, 1-3-4 is a pressure sensor, 2 is an inspection track, 3 is a charging track, 4 is a charging device, 4-1 is an infrared signal receiver, 4-2 is a charging device running roller, 4-3 is a positioning rod, 4-4 is a charging plug, 4-4-1 is a charging plug positive electrode plate, 4-4-2 is a charging plug ground electrode plate, 4-4-3 is a charging plug negative electrode plate, 4-5 is a sliding rail sliding block mechanism, 4-5-1 is a sliding block, 4-5-2 is a sliding rail, 4-6 is a stepping motor, 4-7 is a ball transmission mechanism, 4-7-1 is a sliding table, 4-7-2 is a lead screw, 4-7-3 is a coupling, 5 is a running cable, 6-1 is a line arrangement block, and 6-2 is a compression plate.
Detailed Description
The present invention is further illustrated by, but not limited to, the following examples.
As shown in fig. 1 to 9, a non-stop charging system of a track type inspection robot can realize non-stop charging of the track type inspection robot 1, the inspection robot 1 adopts a chargeable storage battery to supply power for carried equipment, and the inspection robot is inspected back and forth on an inspection track 2.
One side of the inspection robot 1 is provided with a mechanical chute 1-1, an infrared signal emitter 1-2 and a charging socket 1-3; the inspection robot 1 is fixed below the inspection track 2 through a travelling mechanism; the charging track 3 is arranged in parallel with the inspection track 2, the charging device 4 runs along the charging track 3, the charging device 4 and the wire arrangement device 6 are sequentially arranged below the charging track 3, and the charging device 4 and the wire arrangement device 6 are connected through the travelling crane cable 5; the charging device 4 is fixed below the charging track 3 through a charging device running roller 4-2, an infrared signal receiver 4-1 is arranged on one side of the charging device 4, a positioning rod 4-3, a charging plug 4-4, a sliding rail sliding block mechanism 4-5, a stepping motor 4-6 and a ball screw transmission mechanism 4-7 are arranged in the charging device 4, a supporting piece is arranged in the middle of the charging device 4, the upper part of the supporting piece is connected with a sliding table 4-7-1 of the ball screw transmission mechanism 4-7, the lower part of the supporting piece is connected with a sliding block 4-5-1 of the sliding rail sliding block mechanism 4-5, one side of the supporting piece is respectively connected with the positioning rod 4-3 and the charging plug 4-4 from top to bottom, and the positioning rod 4-3 and the charging plug 4-4 are driven to slide along the sliding rail sliding block mechanism 4-5 through the ball screw transmission mechanism 4-7;
the charging socket 1-3 of the inspection robot 1 is in butt joint with the charging plug 4-4 of the charging device 4, a charging plug positive electrode sheet 4-4-1, a charging plug grounding electrode sheet 4-4-2 and a charging plug negative electrode sheet 4-4-3 are arranged at the top of the charging plug 4-4, and a charging socket positive electrode sheet 1-3-1, a charging socket grounding electrode sheet 1-3-2, a charging socket negative electrode sheet 1-3-3 and a pressure sensor 1-3-4 are arranged at the top of the charging socket 1-3; when the charging plug positive electrode sheet 4-4-1, the charging plug negative electrode sheet 4-4-3, the charging plug grounding electrode sheet 4-4-2 and the charging socket positive electrode sheet 1-3-1, the charging socket negative electrode sheet 1-3-3 and the charging socket grounding electrode sheet 1-3-2 at the top of the charging plug 4-4 are respectively contacted, the pressure sensor 1-3-4 at the top of the charging socket 1-3 can feed back the contact condition of the charging plug 4-4 and the charging socket 1-3. After detecting that the charging plug 1-3 and the charging socket 4-4 are in full contact (i.e., the pressure sensor 1-3-4 reaches a set upper limit), the electromagnetic relay of the charging device control section is turned on to turn on the charging circuit, and charging is started.
The travelling crane cable 5 is respectively connected with the charging device 4 and the wire arranging device 6; as shown in fig. 7. The wire arranging device 6 comprises a wire arranging device running roller 6-1, an anti-collision block 6-2 and a pressing plate 6-3, wherein the wire arranging device 6 is fixed below the charging track 3 through the wire arranging device running roller 6-1, and the anti-collision blocks 6-2 are respectively arranged on four corners of the wire arranging device 6; the inside of the wire arranging device 6 is provided with the pressing plate 6-3, and the traveling cable 5 and the wire arranging device 6 can be relatively fixed by pressing downwards through the pressing plate 6-3; as shown in fig. 8. The travelling crane cable 5 is connected with the charging device 4, the travelling crane cable 5 is utilized to drag the wire arranging device 6 to move forward along with the charging device 4, and the charging device 4 is enabled to push the wire arranging device 6 to move backward through an anti-collision block 6-2 designed on the wire arranging device 6; the wire arranging device 6 can move forward and backward on the charging track 3 along with the charging device 4; according to the setting length of charging track 3, can install a plurality of reason line device 6, link to each other through same driving cable 5 between a plurality of reason line device 6, realize charging device 4 and the intercommunication of electric wire netting in pit through a plurality of reason line device 6 end to end.
The mechanical chute 1-1 is arranged on the side surface of the inspection robot, the outer side of the mechanical chute 1-1 is of an arc-shaped chute structure, and a through hole is formed in the middle of the mechanical chute; the locating rod is arranged inside the charging device 4, and the mechanical sliding groove and the locating rod are positioned in the same horizontal direction. Judging the relative position relationship between the inspection robot and the charging device by judging whether the infrared signal receiver 4-1 receives the infrared signal or not, and changing the extending speed of the positioning rod 4-3 by adjusting the rotating speed of the stepping motor by the control part of the charging device, so that the positioning rod 4-3 extends to fall into the range of the mechanical chute 1-1, and the stepping motor 4-6 provides torque to push the positioning rod 4-3 to slide forwards on the sliding rail and sliding block mechanism 4-5 through the ball screw transmission mechanism 4-7; the forward pushing force of the positioning rod is converted into tangential force by utilizing the arc-shaped groove structure of the mechanical chute 1-1, and the tangential force pushes the positioning rod 4-3 and the charging device 4 to slide on the charging track 3 until the positioning rod 4-3 slides into the through hole of the mechanical chute 1-1, so that the charging plug 4-4 and the charging socket 1-3 are accurately abutted as shown in fig. 4 (b).
As shown in fig. 3, the charging socket 1-3 is located directly below the mechanical chute 1-1; as shown in fig. 5, the charging plug 4-4 is located right under the positioning rod 4-3, and when the positioning rod 4-3 slides into the through hole of the mechanical chute 1-1, the charging plug 1-3 and the charging socket 4-4 are completely contacted.
The sliding rail and sliding block mechanism 4-5 mainly comprises a sliding block 4-5-1 and a sliding rail 4-5-2, the bottom of the sliding rail 4-5-2 is fixed with the bottom of the charging device 4 through a bolt, the upper surface of the sliding block 4-5-1 is fixed with the bottom surface of the supporting piece, and the supporting piece and the sliding block 4-5-1 can reciprocate back and forth on the sliding rail 4-5-2 with small resistance.
As shown in FIG. 6, the ball screw transmission mechanism 4-7 is arranged at the upper part of the charging device 4 and comprises a sliding table 4-7-1, a screw 4-7-2 and a coupler 4-7-3, wherein the upper part of the ball screw transmission mechanism 4-7 is fixedly connected with the top shell of the charging device 4 through bolts, the sliding table 4-7-1 at the lower part of the ball screw transmission mechanism is fixedly connected with the top of a supporting piece of the charging device 4, the sliding table 4-7-1 can slide forwards and backwards along with the rotation of the screw 4-7-2, the screw 4-7-2 is connected with the shaft of the stepping motor 4-6 through the coupler, the torque of the stepping motor 4-6 is converted into force for pushing the sliding table 4-7-1 to slide forwards and backwards, and the sliding of the sliding table 4-7-1 can drive the supporting piece to move; the forward rotation, locking and reverse rotation of the stepping motor 4-6 are controlled by the control part of the charging device, so that the forward movement, the static movement and the backward movement of the supporting piece, the positioning rod 4-3 and the charging plug 4-4 are realized, and the automatic plugging and unplugging of the charging plug 4-4 is realized.
The control device comprises a charging device control part and a patrol robot charging control part; in this embodiment, the charging device control part mainly comprises an Arduino UNO development board, a TB6600 stepper motor driver, a stepper motor, an infrared signal receiver, an electromagnetic relay, a 24V dc power supply and a 5V dc power supply, and mainly controls the stepper motor and the electromagnetic relay to complete corresponding actions by receiving hexadecimal infrared signals with different codes; as shown in fig. 10. The inspection robot charging control part mainly comprises an Arduino UNO development board, an infrared signal emitter, a pressure sensor and a 5V direct current power supply, and the infrared signal emitter is controlled to emit hexadecimal infrared signals with different codes mainly by receiving battery information and pressure sensor information; as shown in fig. 11.
In this embodiment, as shown in fig. 12, when the inspection robot inspects on the inspection track, and when the power management chip detects that the electric quantity reaches the "lower limit of the electric quantity", a signal is sent to the Arduino UNO development board of the charging control part of the inspection robot; after receiving the signal, the Arduino UNO development board controls the infrared signal emitter to emit an infrared signal a uninterruptedly; when the charging device passes through the charging area, an infrared signal receiver on the charging device receives an infrared signal a, an Arduino UNO development board of a control part of the charging device controls a stepping motor to rotate clockwise, and a positioning rod and a charging plug are pushed by a ball screw transmission mechanism to slide forwards on a sliding rail and sliding block mechanism; the positioning rod of the charging device passes through the chute structure on the inspection robot, so that the guiding and positioning actions shown in fig. 4 are realized, the error of the infrared sensor is reduced, and the accurate butt joint of the charging plug and the charging socket is realized. When a pressure sensor on a charging socket reaches the upper limit of the set pressure, an Arduino UNO development board of a charging control part of the inspection robot controls an infrared signal emitter to emit an infrared signal b, an infrared receiver on a charging device receives the infrared signal b, and the Arduino UNO development board of the charging device control part controls a stepping motor to stop rotating and lock, and an electromagnetic relay is opened to charge a battery in the inspection robot; the speed of the inspection robot is reduced to be the charging speed, and the inspection robot and the charging device are connected through the positioning rod to realize the common speed of the track type inspection robot and the charging device; when a power management chip on the inspection robot detects that the battery power reaches an upper limit of the power, a signal is sent to an Arduino UNO development board of a charging control part of the inspection robot; after receiving the signal, the Arduino UNO development board controls the infrared signal emitter to emit an infrared signal c; an infrared signal receiver on the charging device receives an infrared signal c, an Arduino UNO development board of a control part of the charging device controls a stepping motor to rotate anticlockwise, a positioning rod and a charging plug are pushed by a ball screw transmission mechanism to slide backwards on a sliding rail and sliding block mechanism, so that the charging device and the inspection robot are separated, the charging process is finished, and the inspection robot resumes normal inspection speed to continue inspection.
The invention provides a using method suitable for non-stop charging of a track type inspection robot, which comprises the following steps:
(1) When the inspection robot 1 inspects on the inspection track 2 and the power management chip detects that the battery power reaches the lower limit of the power, a signal is sent to an Arduino UNO development board of a charging control part of the inspection robot; the Arduino UNO development board receives the signals and then controls the infrared signal emitter 1-2 on the Arduino UNO development board to emit an infrared signal a uninterruptedly;
(2) When the charging device passes through a charging area, an infrared signal receiver 4-1 on the charging device 4 receives an infrared signal a, the charging device 4 controls a stepping motor 4-6 to rotate clockwise through an Arduino UNO development board of a charging device control part, and a positioning rod 4-3 and a charging plug 4-4 are pushed to slide forwards on a sliding rail and sliding block mechanism 4-5 through a ball screw transmission mechanism 4-7; in the invention, the charging area is fixed, and after the robot sends out a signal, the robot continues to patrol and check until the robot passes through the charging area, and the robot can not be in butt joint with the charging device. The lower limit of the electric quantity set in the charging system is higher, the electric quantity of a circle of inspection can be met, so that when the electric quantity of the inspection robot reaches the lower limit of the electric quantity, a charging area is not required to be specially removed, and the inspection is directly charged when the inspection passes through the charging area, thereby avoiding the problems of idle running of the robot and reduced inspection efficiency;
(3) The positioning rod 4-3 of the charging device 4 passes through the mechanical chute 1-1 on the inspection robot 1 to correct the error of the infrared sensor, so that the charging plug 4-4 and the charging socket 1-3 are accurately abutted. The track type inspection robot 1 and the charging device 4 can realize the common speed through the connection of the positioning rod 4-3 and the mechanical chute 1-1;
(4) When the pressure sensor 1-3-4 at the top of the charging socket 1-3 reaches a set limit value, the infrared signal emitter 1-2 on the inspection robot 1 emits an infrared signal b, the infrared signal receiver 4-1 on the charging device 4 receives the infrared signal b, the Arduino UNO development board of the charging device control part controls the stepping motor 4-6 to stop acting and electromagnetic lock, the electromagnetic relay is opened, and the current supplements electricity to the battery in the inspection robot 1 through the travelling cable 5, the charging plug 4-4 and the charging socket 1-3; the speed of the inspection robot 1 is reduced to be the charging speed, and the inspection robot 1 and the charging device 4 are connected through the positioning rod 4-3 to realize the co-speed of the track inspection robot 1 and the charging device 4;
(5) When a power management chip on the inspection robot detects that the battery power reaches an upper limit of the power, a signal is sent to an Arduino UNO development board of a charging control part of the inspection robot; after receiving the signal, the Arduino UNO development board controls the infrared signal emitter 1-2 to emit an infrared signal c uninterruptedly; an infrared signal receiver 4-1 on the charging device 4 receives an infrared signal c, an Arduino UNO development board of a control part of the charging device controls the electromagnetic relay to be closed, the stepping motor 4-6 rotates anticlockwise, the positioning rod 4-3 and the charging plug 4-4 are pushed by a ball screw transmission mechanism 4-7 to slide backwards on a sliding rail sliding block mechanism 4-5, the charging device 4 is separated from the inspection robot 1, and the inspection robot 1 resumes the normal inspection speed to continue inspection.
Claims (7)
1. Track formula inspection robot does not shut down charging system, its characterized in that: the charging system comprises a charging device, a wire arrangement device and a control device;
a charging track is arranged beside the inspection track in parallel; the charging track is arranged at the head position of the belt conveyor; the charging device runs along a charging track, a charging device and a wire arranging device are sequentially arranged below the charging track, and the charging device and the wire arranging device are connected through a travelling crane cable; the charging device is fixed below the charging track through a charging device walking roller, an infrared signal receiver is arranged on one side of the charging device, a stepping motor, a positioning rod, a charging plug, a sliding rail sliding block mechanism and a ball screw transmission mechanism are arranged in the charging device, a supporting piece is arranged in the middle of the charging device, the upper part of the supporting piece is connected with the ball screw transmission mechanism, the lower part of the supporting piece is connected with the sliding rail sliding block mechanism, one side of the supporting piece is respectively connected with the positioning rod and the charging plug from top to bottom, and the positioning rod and the charging plug are driven to slide along the sliding rail sliding block mechanism through the ball screw transmission mechanism;
the inspection robot is fixed below the inspection track through a travelling mechanism, and performs inspection back and forth on the inspection track; one side of the inspection robot is provided with a mechanical chute, an infrared signal emitter and a charging socket; the mechanical sliding groove is fixed on the side surface of the inspection robot, the positioning rod is arranged in the charging device, the mechanical sliding groove and the positioning rod are parallel and level in the horizontal direction, and the inspection robot and the charging device are in butt joint through the mechanical sliding groove and the positioning rod in the operation process;
the control device comprises a charging device control part and a patrol robot charging control part; the charging device control part comprises a singlechip, a stepping motor driver, a stepping motor, an infrared signal receiver, an electromagnetic relay and a direct-current power supply, and the stepping motor and the electromagnetic relay are controlled to complete corresponding actions by receiving hexadecimal infrared signals with different codes; the inspection robot charging control part comprises a singlechip, an infrared signal emitter, a pressure sensor and a direct current power supply, and the infrared signal emitter is controlled to emit hexadecimal infrared signals with different codes by receiving battery information and pressure sensor information.
2. The track inspection robot non-stop charging system of claim 1, wherein: the outer side of the mechanical chute is of an arc-shaped chute structure, and a through hole is arranged in the middle of the mechanical chute; the stepping motor provides torque and pushes the positioning rod to slide forwards on the sliding rail sliding block through the ball screw transmission mechanism, the arc-shaped groove structure of the mechanical sliding groove is utilized to push the positioning rod and the charging device to slide on the charging track until the positioning rod slides into the through hole of the mechanical sliding groove, and accurate butt joint of the charging device and the inspection robot is realized.
3. The track inspection robot non-stop charging system of claim 1, wherein: the top of the charging plug is provided with a positive electrode plate, a negative electrode plate and a grounding electrode plate, and the top of the charging socket is provided with a positive electrode plate, a negative electrode plate, a grounding electrode plate and a pressure sensor; when the positive electrode plate, the negative electrode plate and the grounding electrode plate at the top of the charging plug are respectively contacted with the positive electrode plate, the negative electrode plate and the grounding electrode plate of the charging socket, the pressure sensor at the top of the charging socket feeds back the contact condition of the charging plug and the charging socket; after detecting that the charging plug and the charging socket are in full contact, an electromagnetic relay of a control part of the charging device is opened to switch on a charging circuit, and charging is started.
4. The track inspection robot non-stop charging system of claim 1, wherein: the travelling crane cable is respectively connected with the charging device and the wire arranging device; the wire arranging device comprises a wire arranging device walking roller, an anti-collision block and a compacting plate; the wire arranging device is fixed below the charging track through a wire arranging device walking roller and can slide on the charging track; the four corners of the wire arranging device are respectively provided with an anti-collision block, the anti-collision blocks are cylindrical blocks made of rubber, energy during collision can be absorbed, and the charging device can realize simultaneous retreating of the wire arranging device and the charging device by pushing the anti-collision blocks; the travelling cable is fixed on the wire arranging device by the compacting plate, and the charging device pulls the wire arranging device to advance through the travelling cable; the travelling crane cable can drag the wire arranging device to move forward along with the charging device, and the charging device pushes the wire arranging device to move backward through an anti-collision block designed on the wire arranging device; the driving cable and the anti-collision block enable the wire arranging device to move forwards and backwards on the charging track along with the charging device, a plurality of wire arranging devices are arranged according to the length of the charging track, and the wire arranging devices are connected through one driving cable; and the charging device is communicated with the underground power grid through end-to-end connection of a plurality of wire arranging devices.
5. The track inspection robot non-stop charging system of claim 1, wherein: the sliding rail and sliding block mechanism comprises a sliding block and a sliding rail, wherein the bottom of the sliding rail is connected with the bottom of the charging device through a bolt, and the upper surface of the sliding block is fixed with the bottom of the supporting piece, so that the supporting piece and the sliding block slide together on the sliding rail with small resistance.
6. The track inspection robot non-stop charging system of claim 1, wherein: the ball screw transmission mechanism is arranged at the upper part of the charging device and comprises a screw, a sliding table and a coupler, the upper part of the ball screw transmission mechanism is connected with the top shell of the charging device through a bolt, the sliding table at the lower part of the ball screw transmission mechanism is fixedly connected with the top of a supporting piece of the charging device, the sliding table slides back and forth along with the rotation of the screw, the screw in the sliding table is connected with a motor shaft through the coupler, the torque of the motor is converted into force for pushing the sliding table to slide back and forth, and the sliding table slides to drive the supporting piece to move; the forward, static and backward movements of the supporting piece, the positioning rod and the charging plug are realized through the control of forward rotation, locking and backward rotation of the stepping motor, and the automatic plug-in of the charging plug is realized.
7. A method of using the track inspection robot non-stop charging system of any one of claims 1-6, comprising the steps of:
(1) When the inspection robot inspects on the inspection track, when the power management chip detects that the electric quantity reaches the lower limit of the electric quantity, a signal is sent to a singlechip of a charging control part of the inspection robot; after receiving the signal, the singlechip controls the infrared signal emitter to emit an infrared signal a uninterruptedly;
(2) When the charging device passes through the charging area, an infrared signal receiver on the charging device receives an infrared signal a, a singlechip of a control part of the charging device controls a stepping motor in the charging device to rotate clockwise, and a positioning rod and a charging plug are pushed to slide forwards on a sliding rail and sliding block mechanism through a ball screw transmission mechanism;
(3) The positioning rod of the charging device passes through a chute structure on the inspection robot, so that the error of the infrared sensor is reduced, and the charging plug and the charging socket are accurately abutted;
(4) When the pressure sensor on the charging socket reaches the set upper pressure limit, an infrared signal emitter on the inspection robot emits an infrared signal b, an infrared signal receiver on the charging device receives the infrared signal b, so that the stepping motor stops rotating and is locked, and an electromagnetic relay is opened to charge a battery in the inspection robot; the speed of the inspection robot is reduced to be the charging speed, and the inspection robot and the charging device are connected through the positioning rod to realize the speed sharing of the track type inspection robot and the charging device;
(5) When a power management chip on the inspection robot detects that the battery power reaches the upper limit of the power, a signal is sent to a singlechip of a charging control part of the inspection robot; after receiving the signal, the singlechip controls the infrared signal emitter to emit an infrared signal c uninterruptedly; and an infrared signal receiver on the charging device receives the infrared signal c, the singlechip receives the signal, then the electromagnetic relay is closed, the stepping motor is controlled to rotate anticlockwise, and the positioning rod and the charging plug are pushed to slide backwards on the sliding rail and sliding block mechanism through the ball screw transmission mechanism, so that the charging device is separated from the inspection robot, and the inspection robot resumes the normal inspection speed to continue inspection.
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