CN214124919U - Non-contact type mining inspection robot charging device and system - Google Patents
Non-contact type mining inspection robot charging device and system Download PDFInfo
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- CN214124919U CN214124919U CN202023196562.8U CN202023196562U CN214124919U CN 214124919 U CN214124919 U CN 214124919U CN 202023196562 U CN202023196562 U CN 202023196562U CN 214124919 U CN214124919 U CN 214124919U
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- 238000007689 inspection Methods 0.000 title claims abstract description 64
- 238000005065 mining Methods 0.000 title claims abstract description 37
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 57
- 229910052802 copper Inorganic materials 0.000 claims abstract description 57
- 239000010949 copper Substances 0.000 claims abstract description 57
- 238000004891 communication Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 8
- 230000001960 triggered effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 239000003245 coal Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010892 electric spark Methods 0.000 description 2
- 208000037805 labour Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model provides a mining robot charging device and system of patrolling and examining of non-contact, among the charging device: the output end of the first controller is connected with the controlled end of the explosion-proof motor, and the explosion-proof motor is started after the first controller outputs a starting signal to the controlled end of the explosion-proof motor; the output end of the explosion-proof motor is coaxially connected with the copper rotor set, the explosion-proof motor drives the copper rotor set to rotate after being started, the copper rotor set is of a hollow structure, and a plurality of copper rotors are uniformly distributed on the inner wall of the hollow structure at fixed intervals; a plurality of permanent magnets are embedded in the surface of the permanent magnet group, and a rotating shaft of the permanent magnet group is connected with an explosion-proof generator inside the inspection robot; when the permanent magnet group extends into the copper rotor group and the copper rotor group rotates, the permanent magnet group is cut by the copper rotor group to rotate through magnetic lines of force, and a rotating shaft of the permanent magnet group rotates to drive the explosion-proof generator to charge a storage battery in the inspection robot. According to the scheme, the charging process is safe, and the cost of the charging device can be effectively reduced.
Description
Technical Field
The utility model relates to a mining robot technical field that patrols and examines, concretely relates to mining robot charging device and system of patrolling and examining of non-contact.
Background
With the continuous progress of automation and intelligent technology, the mining inspection robot starts to be popularized and applied in coal mines, and has important significance for reducing the labor intensity and the labor risk of workers and improving the inspection quality and efficiency. The power of the coal mine inspection robot is usually provided by a storage battery carried by the coal mine inspection robot, and when the electric quantity of a battery pack is insufficient, the inspection robot needs to be charged to supplement energy.
The charging mode of the mining inspection robot mainly comprises the following steps:
charging on the ground: when the inspection robot monitors that the electric quantity is insufficient, the inspection robot automatically drives to a ground charging station for charging. In the charging mode, the inspection robot is charged in a ground safety region, the safety requirement on a charging interface is low, but the inspection robot needs to return to the ground from the underground for charging, the energy of a battery pack is additionally consumed, the round trip time is long, the effective inspection time of the system is short, and the practicability is poor.
Charging a safety chamber: a special charging chamber is built for the inspection robot, and the inspection robot is charged in the charging chamber. The mode can realize safe and quick charging of the inspection robot, but the underground chamber has high manufacturing cost, large automatic charging difficulty and low cost performance.
Charging an explosion-proof interface: the mode can realize that the inspection robot can be charged quickly, but has high requirements on the explosion-proof interface and the butt joint control, the driving device and the locking mechanism are complex in design, the continuous effectiveness of the explosion-proof interface is difficult to guarantee in practical application, and the interface explosion risk is large.
Therefore, the charging method of the underground coal mine inspection robot has great improvement space.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a mining robot charging device and system of patrolling and examining of non-contact for solve among the prior art mining robot of patrolling and examining the problem that the convenience that exists is poor or the security is poor when charging.
Therefore, some embodiments of the utility model provide a mining robot charging device that patrols and examines of non-contact, including first controller, flame proof motor, copper rotor group and permanent magnet group, wherein:
the output end of the first controller is connected with the controlled end of the explosion-proof motor, and the explosion-proof motor is started after the first controller outputs a starting signal to the controlled end of the explosion-proof motor;
the output end of the explosion-proof motor is coaxially connected with the copper rotor set, the explosion-proof motor drives the copper rotor set to rotate after being started, the copper rotor set is of a hollow structure, and a plurality of copper rotors are uniformly distributed on the inner wall of the hollow structure at fixed intervals;
the permanent magnet group is in a shape matched with the inner wall of the hollow structure, a plurality of permanent magnets are embedded in the surface of the permanent magnet group, and a rotating shaft of the permanent magnet group is connected with a flameproof generator in the inspection robot; the permanent magnet group extends to in the copper rotor group and when the copper rotor group rotated, the permanent magnet group was by the copper rotor group cuts the magnetic line of force and rotates, the pivot of permanent magnet group is rotatory in order to drive the flame proof generator is for the battery in the robot patrols and examines charges.
Optionally, in the charging device of the non-contact mining inspection robot, the copper rotor set is a hollow cylinder, and the permanent magnet set is of a cylinder structure; the bottom surface of one side of the hollow cylinder, which is close to the flameproof motor, is provided with a sealing part, and the sealing part is coaxially connected with a rotating shaft of the flameproof motor.
Optionally, in the charging device of the non-contact mining inspection robot, the number of the permanent magnets is the same as that of the copper rotors, and the permanent magnets and the copper rotors have the same shape.
Optionally, in the foregoing non-contact mining inspection robot charging device, further include:
the travel switch is arranged on the surface of one side, close to the copper rotor set, of the permanent magnet set and sends a prompt signal after being triggered;
and the first controller outputs a starting signal to the controlled end of the explosion-proof motor after receiving the prompt signal sent by the travel switch.
Optionally, in the foregoing non-contact mining inspection robot charging device, further include:
the first transceiving antenna is in communication connection with the first controller;
the second transceiving antenna is in communication connection with a second controller in the inspection robot;
the travel switch is electrically connected with the second controller, the travel switch sends a prompt signal to the second controller after being triggered, and the second controller sends the prompt signal to the first controller through the first transceiving antenna and the second transceiving antenna.
Optionally, in the charging device for the non-contact mining inspection robot, the second controller is further configured to send information including a charging amount of the storage battery to the first controller via the first transceiver antenna and the second transceiver antenna.
Optionally, in the charging device for the non-contact type mining inspection robot, the first controller adjusts the driving current of the explosion-proof motor according to information including the charging amount of the storage battery.
Optionally, among the above-mentioned mining robot charging device that patrols and examines of non-contact, still include explosion-proof guard shield:
the explosion-proof shield is arranged outside the explosion-proof motor and the first controller, and a first through hole suitable for the output shaft of the explosion-proof motor to penetrate through and a second through hole suitable for the first transceiving antenna to penetrate through are formed in the explosion-proof shield.
The utility model also provides a mining robot charging system that patrols and examines of non-contact, including any more than a plurality of non-contact mining robot charging device that patrols and examines, charging device set up the position and patrol and examine the walking distance between the track of robot and be less than the settlement threshold value.
Optionally, in the above non-contact mining inspection robot charging system, the charging device is disposed at two ends of the traveling track, and the end surface of the copper rotor set is perpendicular to the traveling direction of the inspection robot.
The utility model provides an above technical scheme compares with prior art, has following beneficial effect at least: in the scheme, the explosion-proof motor drives the copper rotor set to rotate after being started, the copper rotor set is of a hollow structure, and a plurality of copper rotors are uniformly distributed on the inner wall of the hollow structure at fixed intervals; the permanent magnet group has a shape matched with the inner wall of the hollow structure, a plurality of permanent magnets are embedded on the surface of the permanent magnet group, and a rotating shaft of the permanent magnet group is connected with an explosion-proof generator inside the inspection robot; when the permanent magnet group extends into the copper rotor group and the copper rotor group rotates, the permanent magnet group is cut by the copper rotor group to rotate through magnetic lines of force, and a rotating shaft of the permanent magnet group rotates to drive the explosion-proof generator to charge a storage battery in the inspection robot. According to the scheme, permanent magnet transmission is adopted between the inspection robot and the charging device, no electrical connection exists between the inspection robot and the charging device, electric sparks cannot be generated, the charging process is safe, and the adopted devices are mature low-cost devices in the prior art, so that the cost of the charging device can be effectively reduced.
Drawings
Fig. 1 is a schematic structural diagram of a non-contact type mining inspection robot charging device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an inspection robot in the non-contact type charging device for the mining inspection robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a non-contact type mining inspection robot charging device according to another embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be further explained with reference to the drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention, and do not indicate or imply that the device or component to which the reference is made must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
The utility model discloses some embodiments provide a mining robot charging device that patrols and examines of non-contact, as shown in FIG. 1, including first controller 1, flame proof motor 2, copper rotor group 3 and permanent magnet group 4. The output end of the first controller 1 is connected with the controlled end of the explosion-proof motor 2, and after the first controller 1 outputs a starting signal to the controlled end of the explosion-proof motor 2, the explosion-proof motor 2 is started; the output end 21 of the explosion-proof motor 2 is coaxially connected with the copper rotor set 3, the explosion-proof motor 2 drives the copper rotor set 3 to rotate after being started, the copper rotor set 3 is of a hollow structure, and a plurality of copper rotors 31 are uniformly distributed on the inner wall of the hollow structure at fixed intervals; the permanent magnet group 4 has a shape adapted to the inner wall of the hollow structure, and a plurality of permanent magnets 41 are embedded in the surface of the permanent magnet group 4. Referring to fig. 2, a rotating shaft of the permanent magnet group 4 is connected with a rotating shaft 51 of an explosion-proof generator inside the inspection robot; the permanent magnet group 4 extends to in the copper rotor group 3 and when the copper rotor group 3 rotated, the permanent magnet group 4 was by the copper rotor group 3 cuts the magnetic line of force and rotates, the pivot of permanent magnet group 4 is rotatory in order to drive the flameproof generator 5 is for the battery 7 in the robot patrols and examines charges. As shown in fig. 2, the inspection robot further comprises a charging controller 6 connected between the explosion-proof generator 5 and the storage battery 7, the charging controller is controlled to be turned on or off under the control of a second controller 8 of the inspection robot, the second controller 8 can determine the residual electric quantity of the storage battery 7, the charging controller 6 can be controlled to be turned on when the charging is needed according to the residual electric quantity, meanwhile, the charging controller 6 can condition a driving signal of the explosion-proof generator 5, and therefore an electric signal capable of charging the storage battery 7 is obtained. The internal structure of the inspection robot has a similar configuration in the conventional inspection robot, and is a relevant component for controlling the inspection robot to perform a charging operation, and will not be described in detail herein.
In the above scheme, the first controller 1 can be realized by adopting a trigger switch, a single chip microcomputer, a PLC controller and the like, can be configured with a manual button, and sends a starting signal to the flameproof motor 2 to control the flameproof motor 2 to start after an operator controls the manual button.
According to the scheme, permanent magnet transmission is adopted between the inspection robot and the charging device, no electrical connection exists between the inspection robot and the charging device, electric sparks cannot be generated, the charging process is safe, and the adopted devices are mature low-cost devices in the prior art, so that the cost of the charging device can be effectively reduced.
In the charging device in the above scheme, preferably, the copper rotor set 3 is a hollow cylinder, and the permanent magnet set 4 is a cylinder structure; the hollow cylinder is close to one side bottom surface of flameproof motor 2 has the sealing, the sealing with flameproof motor 2's pivot coaxial coupling, the sealing can adopt the insulation board to realize. As shown, the diameter of the inner wall of the copper rotor set 3 is larger than the diameter of the outer wall of the permanent magnet set 4 in order not to hinder the relative rotation between the permanent magnet set 4 and the copper rotor set 3. Compared with other connection modes of quincunx cone/hole butt joint, the allowable relative position deviation is larger, the requirement on the rotating shaft angle is not met, the spatial position precision requirement of the inspection robot and the charging device is low, the probability of butt joint failure is lower, and the requirement of the underground coal mine environment on the robustness of equipment is met.
In the above-mentioned embodiment, the number of the permanent magnets 41 is preferably the same as that of the copper rotor 31, and the permanent magnets 41 and the copper rotor 31 have the same shape, for example, a rectangular shape, an arc-shaped bar shape, or the like.
Preferably, as shown in fig. 3, the charging device in the above scheme may further include:
the travel switch 43 is arranged on the surface of one side, close to the copper rotor set 3, of the permanent magnet set 4, and the travel switch 43 sends out a prompt signal after being triggered; and the first controller 1 outputs a starting signal to the controlled end of the explosion-proof motor 2 after receiving the prompt signal sent by the travel switch 43. Travel switch 43 is also called limit switch, can directly adopt ripe product among the prior art to realize, and travel switch 43 sets up on patrolling and examining the robot, and after patrolling and examining the robot and walking to the position of charging, permanent magnet group 4 can go deep into inside copper rotor group 3, and when travel switch 43 supported the sealing of copper rotor group 3, travel switch 43 was triggered promptly, explains can carry out the operation of charging this moment.
Further preferably, in the above scheme, as shown in fig. 3, a first transceiver antenna 91 may be further included, and is in communication connection with the first controller 1; the second transceiving antenna 92 is in communication connection with the second controller 8 in the inspection robot; the travel switch 43 is electrically connected to the second controller 8, the travel switch 43 sends a prompt signal to the second controller 8 after being triggered, and the second controller 8 sends the prompt signal to the first controller 1 through the second transceiver antenna 92 and the first transceiver antenna 91. In the underground coal mine, signals are transmitted in a wireless communication mode, so that the use of a communication cable can be simplified, and the structure of the device is simplified.
As described above, the second controller 8 itself inside the inspection robot can monitor the state of charge of the secondary battery 7, so that it can be determined whether the charging is completed. On this basis, the second controller 8 is also configured to transmit information including the battery charge amount to the first controller 1 via the second transmitting/receiving antenna 92 and the first transmitting/receiving antenna 91. The first controller 1 can control the driving current of the explosion-proof motor 2 according to the charging state, so that the charging speed of the storage battery 7 is adjusted, and the first controller 1 can cut off the power of the explosion-proof motor 2 after the storage battery 7 is charged. The first controller 1 has data storage and comparison functions, and when the charging state signal is received, the driving current of the explosion-proof motor can be determined by directly comparing the charging state signal with various state data stored in the first controller. For example, when the battery is charged to 50%, 75%, and 95%, three kinds of driving currents may be respectively corresponded, and the three kinds of driving currents are sequentially decreased.
The charging device in the above scheme may further include an explosion-proof shield, the explosion-proof shield is disposed outside the explosion-proof motor 2 and the first controller 1, and a first through hole suitable for the output shaft (the output end 21 in the figure) of the explosion-proof motor 2 to pass through and a second through hole suitable for the first transceiving antenna 91 to pass through are formed in the explosion-proof shield. The explosion-proof shield is prepared from an insulating and high-temperature-resistant explosion-proof material.
In another embodiment of this application still provides a mining robot charging system that patrols and examines of non-contact, can include a plurality of the mining robot charging device that patrols and examines of non-contact of a plurality of foretell, charging device sets up the position and patrols and examines the distance between the walking track of robot and be less than the settlement threshold value. The set threshold value is an appropriate distance which can be used for charging the inspection robot, and if the distance is too far or too close, the safety charging device cannot be connected with the inspection robot. Preferably set up safe charging device in orbital both ends, just the terminal surface perpendicular to of copper rotor group 3 patrol and examine the walking direction of robot, the permanent magnet group 4 of being convenient for is deepened to the inside of copper rotor group 3.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a mining robot charging device that patrols and examines of non-contact, its characterized in that includes first controller, flame proof motor, copper rotor group and permanent magnet group, wherein:
the output end of the first controller is connected with the controlled end of the explosion-proof motor, and the explosion-proof motor is started after the first controller outputs a starting signal to the controlled end of the explosion-proof motor;
the output end of the explosion-proof motor is coaxially connected with the copper rotor set, the explosion-proof motor drives the copper rotor set to rotate after being started, the copper rotor set is of a hollow structure, and a plurality of copper rotors are uniformly distributed on the inner wall of the hollow structure at fixed intervals;
the permanent magnet group is in a shape matched with the inner wall of the hollow structure, a plurality of permanent magnets are embedded in the surface of the permanent magnet group, and a rotating shaft of the permanent magnet group is connected with a flameproof generator in the inspection robot; the permanent magnet group extends to in the copper rotor group and when the copper rotor group rotated, the permanent magnet group was by the copper rotor group cuts the magnetic line of force and rotates, the pivot of permanent magnet group is rotatory in order to drive the flame proof generator is for the battery in the robot patrols and examines charges.
2. The non-contact mining inspection robot charging device according to claim 1, wherein:
the copper rotor group is a hollow cylinder, and the permanent magnet group is of a cylinder structure; the bottom surface of one side of the hollow cylinder, which is close to the flameproof motor, is provided with a sealing part, and the sealing part is coaxially connected with a rotating shaft of the flameproof motor.
3. The non-contact mining inspection robot charging device according to claim 2, wherein:
the number of the permanent magnets is the same as that of the copper rotors, and the permanent magnets and the copper rotors are the same in shape.
4. The non-contact mining inspection robot charging device according to any one of claims 1-3, further comprising:
the travel switch is arranged on the surface of one side, close to the copper rotor set, of the permanent magnet set and sends a prompt signal after being triggered;
and the first controller outputs a starting signal to the controlled end of the explosion-proof motor after receiving the prompt signal sent by the travel switch.
5. The non-contact mining inspection robot charging device according to claim 4, further comprising:
the first transceiving antenna is in communication connection with the first controller;
the second transceiving antenna is in communication connection with a second controller in the inspection robot;
the travel switch is electrically connected with the second controller, the travel switch sends a prompt signal to the second controller after being triggered, and the second controller sends the prompt signal to the first controller through the first transceiving antenna and the second transceiving antenna.
6. The non-contact mining inspection robot charging device according to claim 5, wherein:
the second controller is further configured to send information including a charge amount of the battery to the first controller via the first and second transceiving antennas.
7. The non-contact mining inspection robot charging device according to claim 6, wherein:
and the first controller adjusts the driving current of the explosion-proof motor according to the information containing the charging amount of the storage battery.
8. The non-contact mining inspection robot charging device according to claim 7, further comprising an explosion-proof shield:
the explosion-proof shield is arranged outside the explosion-proof motor and the first controller, and a first through hole suitable for the output shaft of the explosion-proof motor to penetrate through and a second through hole suitable for the first transceiving antenna to penetrate through are formed in the explosion-proof shield.
9. A non-contact mining inspection robot charging system is characterized by comprising a plurality of non-contact mining inspection robot charging devices according to any one of claims 1 to 8, wherein the distance between the setting position of the charging device and the walking track of the inspection robot is smaller than a set threshold value.
10. The non-contact mining inspection robot charging system according to claim 9, wherein:
charging device set up in orbital both ends of walking, the terminal surface perpendicular to of copper rotor group patrols and examines the walking direction of robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023196562.8U CN214124919U (en) | 2020-12-25 | 2020-12-25 | Non-contact type mining inspection robot charging device and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023196562.8U CN214124919U (en) | 2020-12-25 | 2020-12-25 | Non-contact type mining inspection robot charging device and system |
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| CN214124919U true CN214124919U (en) | 2021-09-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114142556A (en) * | 2021-10-29 | 2022-03-04 | 深圳市翌日科技有限公司 | Automatic charging device of inspection robot and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114142556A (en) * | 2021-10-29 | 2022-03-04 | 深圳市翌日科技有限公司 | Automatic charging device of inspection robot and control method thereof |
| CN114142556B (en) * | 2021-10-29 | 2024-05-03 | 深圳市翌日科技有限公司 | Automatic charging device of inspection robot and control method thereof |
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